mesh_shape.hpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *     * Redistributions in binary form must reproduce the above copyright
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#pragma once
 
#include <rviz_rendering/objects/shape.hpp>
 
namespace Ogre
{
class ManualObject;
}
 
// TODO(JafarAbdi): This's taken from https://github.com/ros2/rviz for MoveIt 2 beta release -- remove when it's ported
namespace rviz_rendering
{
class MeshShape : public Shape
{
public:
  MeshShape(Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node = nullptr);
  ~MeshShape() override;
 
  /* \brief Estimate the number of vertices ahead of time. */
  void estimateVertexCount(size_t vcount);
 
  void beginTriangles();
 
  void addVertex(const Ogre::Vector3& position);
 
  void addVertex(const Ogre::Vector3& position, const Ogre::Vector3& normal);
 
  void addVertex(const Ogre::Vector3& position, const Ogre::Vector3& normal, const Ogre::ColourValue& color);
 
  void addNormal(const Ogre::Vector3& normal);
 
  void addColor(const Ogre::ColourValue& color);
 
  void addTriangle(unsigned int p1, unsigned int p2, unsigned int p3);
 
  void endTriangles();
 
  void clear();
 
  Ogre::ManualObject* getManualObject()
  {
    return manual_object_;
  }
 
private:
  // true in between calls to beginTriangles() and endTriangles()
  bool started_;
  Ogre::ManualObject* manual_object_;
};
 
}  // namespace rviz_rendering