CMesh3D.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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/img/color_maps.h>
#include <Eigen/Dense>

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

namespace mrpt::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)

    using f_verts = int[4];
    using coord3D = float[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::img::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();
};

}
#endif