mesh_material.h

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#ifndef TESSERACT_GEOMETRY_MESH_MATERIAL_H
#define TESSERACT_GEOMETRY_MESH_MATERIAL_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <Eigen/Core>
#include <memory>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_geometry/geometry.h>
#include <tesseract_common/fwd.h>
#include <tesseract_common/eigen_types.h>
 
namespace tesseract_geometry
{
class MeshMaterial
{
public:
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  using Ptr = std::shared_ptr<MeshMaterial>;
  using ConstPtr = std::shared_ptr<const MeshMaterial>;
 
  MeshMaterial(const Eigen::Vector4d& base_color_factor,
               double metallic_factor,
               double roughness_factor,
               const Eigen::Vector4d& emissive_factor);
 
  MeshMaterial() = default;
 
  Eigen::Vector4d getBaseColorFactor() const;
 
  double getMetallicFactor() const;
 
  double getRoughnessFactor() const;
 
  Eigen::Vector4d getEmissiveFactor() const;
 
private:
  // Mesh material based on simplified glTF 2.0 pbrMetallicRoughness parameters
  Eigen::Vector4d base_color_factor_;
  double metallic_factor_ = 0;
  double roughness_factor_ = 0.5;
  Eigen::Vector4d emissive_factor_;
};
 
class MeshTexture
{
public:
  using Ptr = std::shared_ptr<MeshTexture>;
  using ConstPtr = std::shared_ptr<const MeshTexture>;
 
  MeshTexture(std::shared_ptr<tesseract_common::Resource> texture_image,
              std::shared_ptr<const tesseract_common::VectorVector2d> uvs);
 
  std::shared_ptr<tesseract_common::Resource> getTextureImage() const;
 
  const std::shared_ptr<const tesseract_common::VectorVector2d>& getUVs();
 
private:
  std::shared_ptr<const tesseract_common::VectorVector2d> uvs_;
 
  // texture_image shall be jpg or png
  std::shared_ptr<tesseract_common::Resource> texture_image_;
};
}  // namespace tesseract_geometry
 
#endif