polygon_parts.h

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#ifndef ROBOT_NAV_RVIZ_PLUGINS_POLYGON_PARTS_H
#define ROBOT_NAV_RVIZ_PLUGINS_POLYGON_PARTS_H

#include <nav_2d_msgs/Polygon2D.h>
#include <nav_2d_msgs/ComplexPolygon2D.h>
#include <OgreManualObject.h>
#include <OgreSceneManager.h>
#include <rviz/properties/color_property.h>
#include <rviz/properties/enum_property.h>
#include <rviz/properties/float_property.h>
#include <std_msgs/ColorRGBA.h>
#include <string>

namespace robot_nav_rviz_plugins
{
std_msgs::ColorRGBA getColor(rviz::ColorProperty* color_property, rviz::FloatProperty* alpha_property = nullptr);

class PolygonOutline
{
public:
  PolygonOutline(Ogre::SceneManager& scene_manager, Ogre::SceneNode& scene_node);
  virtual ~PolygonOutline();

  void reset();

  void setPolygon(const nav_2d_msgs::Polygon2D& polygon, const Ogre::ColourValue& color, double z_offset);

protected:
  Ogre::ManualObject* manual_object_;

  Ogre::SceneManager& scene_manager_;
  Ogre::SceneNode& scene_node_;
};

class PolygonFill
{
public:
  PolygonFill(Ogre::SceneManager& scene_manager, Ogre::SceneNode& scene_node, const std::string& material_name);
  virtual ~PolygonFill();

  void reset();

  void setPolygon(const nav_2d_msgs::Polygon2D& polygon, const std_msgs::ColorRGBA& color, double z_offset);

  void setPolygon(const nav_2d_msgs::ComplexPolygon2D& polygon, const std_msgs::ColorRGBA& color, double z_offset);
protected:
  Ogre::ManualObject* manual_object_;
  unsigned int last_vertex_count_ { 0 };

  Ogre::SceneManager& scene_manager_;
  Ogre::SceneNode& scene_node_;
  std::string material_name_;
};

class PolygonMaterial
{
public:
  PolygonMaterial();
  virtual ~PolygonMaterial();
  const std::string& getName() const { return name_; }
protected:
  std::string name_;
  Ogre::MaterialPtr material_;
};

class PolygonDisplayModeProperty
{
public:
  explicit PolygonDisplayModeProperty(rviz::Property* parent, const char *changed_slot = 0);

  bool shouldDrawOutlines() const { return getDisplayMode() != DisplayMode::FILLED; }
  bool shouldDrawFiller() const { return getDisplayMode() != DisplayMode::OUTLINE; }
protected:
  enum struct DisplayMode {OUTLINE, FILLED, FILLED_OUTLINE};
  DisplayMode getDisplayMode() const { return static_cast<DisplayMode>(property_->getOptionInt()); }
  rviz::EnumProperty* property_;
};

}  // namespace robot_nav_rviz_plugins

#endif  // ROBOT_NAV_RVIZ_PLUGINS_POLYGON_PARTS_H