CMesh3D.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#ifndef opengl_CMesh3D_H
#define opengl_CMesh3D_H

#include <mrpt/opengl/CRenderizableDisplayList.h>
#include <mrpt/utils/color_maps.h>
#include <Eigen/Dense>

using Eigen::Array;
using Eigen::Dynamic;

namespace mrpt
{
namespace opengl
{
/** A 3D mesh composed of Triangles and/or Quads.
  * A typical usage example would be a 3D model of an object.
  *  \sa opengl::COpenGLScene,opengl::CMesh,opengl::CAssimpModel
  *
  *  <div align="center">
  *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 * border-style: solid;">
  *   <tr> <td> mrpt::opengl::CMesh3D </td> <td> \image html preview_CMesh3D.png
 * </td> </tr>
  *  </table>
  *  </div>
  *
  * \ingroup mrpt_opengl_grp
  */
class CMesh3D : public CRenderizableDisplayList
{
        DEFINE_SERIALIZABLE(CMesh3D)

        typedef int f_verts[4];
        typedef float coord3D[3];

   protected:
        bool m_enableTransparency;
        bool m_antiAliasing;
        bool m_showEdges;
        bool m_showFaces;
        bool m_showVertices;
        bool m_computeNormals;
        float m_lineWidth;
        float m_pointSize;

        // Data
        /** Number of vertices of the mesh */
        unsigned int m_num_verts;
        /** Number of faces of the mesh */
        unsigned int m_num_faces;
        /** Pointer storing whether a face is a quad (1) or a triangle (0) */
        bool* m_is_quad;
        /** Pointer storing the vertices that compose each face. Size: 4 x num_faces
         * (4 for the possible max number - quad) */
        f_verts* m_face_verts;
        /** Pointer storing the coordinates of the vertices. Size: 3 x num_vertices
         */
        coord3D* m_vert_coords;
        /** Pointer storing the face normals. Size: 3 x num_faces */
        coord3D* m_normals;

        // Colors
        /** Color of the edges (when shown) */
        float edge_color[4];
        /** Color of the faces (when shown) */
        float face_color[4];
        /** Color of the vertices (when shown) */
        float vert_color[4];
        mrpt::utils::TColormap m_colorMap;  // Not used yet. I leave it here in case
        // I want to use it in the future

   public:
        void enableTransparency(bool v)
        {
                m_enableTransparency = v;
                CRenderizableDisplayList::notifyChange();
        }
        void enableAntiAliasing(bool v)
        {
                m_antiAliasing = v;
                CRenderizableDisplayList::notifyChange();
        }
        void enableShowEdges(bool v)
        {
                m_showEdges = v;
                CRenderizableDisplayList::notifyChange();
        }
        void enableShowFaces(bool v)
        {
                m_showFaces = v;
                CRenderizableDisplayList::notifyChange();
        }
        void enableShowVertices(bool v)
        {
                m_showVertices = v;
                CRenderizableDisplayList::notifyChange();
        }
        void enableFaceNormals(bool v)
        {
                m_computeNormals = v;
                CRenderizableDisplayList::notifyChange();
        }

        /** Load a 3D mesh. The arguments indicate:
                - num_verts: Number of vertices of the mesh
                - num_faces: Number of faces of the mesh
                - verts_per_face: An array (pointer) with the number of vertices of each
           face. The elements must be set either to 3 (triangle) or 4 (quad).
                - face_verts: An array (pointer) with the vertices of each face. The
           vertices of each face must be consecutive in this array.
                - vert_coords: An array (pointer) with the coordinates of each vertex.
           The xyz coordinates of each vertex must be consecutive in this array.
          */
        void loadMesh(
                unsigned int num_verts, unsigned int num_faces, int* verts_per_face,
                int* face_verts, float* vert_coords);

        /** Load a 3D mesh. The arguments indicate:
                - num_verts: Number of vertices of the mesh
                - num_faces: Number of faces of the mesh
                - is_quad: A binary array (Eigen) saying whether the face is a quad (1)
           or a triangle (0)
                - face_verts: An array (Eigen) with the vertices of each face. For every
           column (face), each row contains the num of a vertex. The fourth does not
           need
                  to be filled if the face is a triangle.
                - vert_coords: An array (Eigen) with the coordinates of each vertex. For
           every column (vertex), each row contains the xyz coordinates of the
           vertex.
         */
        void loadMesh(
                unsigned int num_verts, unsigned int num_faces,
                const Array<bool, 1, Dynamic>& is_quad,
                const Array<int, 4, Dynamic>& face_verts,
                const Array<float, 3, Dynamic>& vert_coords);

        void setEdgeColor(float r, float g, float b, float a = 1.f);
        void setFaceColor(float r, float g, float b, float a = 1.f);
        void setVertColor(float r, float g, float b, float a = 1.f);
        void setLineWidth(float lw) { m_lineWidth = lw; }
        void setPointSize(float ps) { m_pointSize = ps; }
        /** Class factory
          */
        static CMesh3D::Ptr Create(
                bool enableTransparency, bool enableShowEdges, bool enableShowFaces,
                bool enableShowVertices);

        /** Render
          */
        void render_dl() const override;

        /** Evaluates the bounding box of this object (including possible children)
         * in the coordinate frame of the object parent.
          */
        void getBoundingBox(
                mrpt::math::TPoint3D& bb_min,
                mrpt::math::TPoint3D& bb_max) const override;

        /** Constructor */
        CMesh3D(
                bool enableTransparency = false, bool antiAliasing = false,
                bool enableShowEdges = true, bool enableShowFaces = true,
                bool enableShowVertices = false);
        /** Private, virtual destructor: only can be deleted from smart pointers  */
        virtual ~CMesh3D();
};

}  // end namespace

}  // End of namespace

#endif