DART  6.10.1
MeshShapeNode.hpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2011-2021, The DART development contributors
3  * All rights reserved.
4  *
5  * The list of contributors can be found at:
6  * https://github.com/dartsim/dart/blob/master/LICENSE
7  *
8  * This file is provided under the following "BSD-style" License:
9  * Redistribution and use in source and binary forms, with or
10  * without modification, are permitted provided that the following
11  * conditions are met:
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19  * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20  * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26  * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27  * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30  * POSSIBILITY OF SUCH DAMAGE.
31  */
32 
33 #ifndef DART_GUI_OSG_RENDER_MESHSHAPENODE_HPP_
34 #define DART_GUI_OSG_RENDER_MESHSHAPENODE_HPP_
35 
36 #include <map>
37 
38 #include <osg/Material>
39 #include <osg/MatrixTransform>
40 
42 
43 struct aiNode;
44 
45 namespace dart {
46 
47 namespace dynamics {
48 class MeshShape;
49 } // namespace dynamics
50 
51 namespace gui {
52 namespace osg {
53 namespace render {
54 
55 class osgAiNode;
56 class MeshShapeGeode;
57 class MeshShapeGeometry;
58 
59 class MeshShapeNode : public ShapeNode, public ::osg::MatrixTransform
60 {
61 public:
63  std::shared_ptr<dart::dynamics::MeshShape> shape,
64  ShapeFrameNode* parentNode);
65 
66  void refresh();
67  void extractData(bool firstTime);
68 
69  ::osg::Material* getMaterial(std::size_t index) const;
70  std::vector<std::string> getTextureImagePaths(std::size_t index) const;
71 
72 protected:
73  virtual ~MeshShapeNode();
74 
75  std::shared_ptr<dart::dynamics::MeshShape> mMeshShape;
77  std::vector<::osg::ref_ptr<::osg::Material>> mMaterials;
78  std::vector<std::vector<std::string>> mTextureImageArrays;
79 };
80 
81 } // namespace render
82 } // namespace osg
83 } // namespace gui
84 } // namespace dart
85 
86 #endif // DART_GUI_OSG_RENDER_MESHSHAPENODE_HPP_
std::size_t index
Definition: SkelParser.cpp:1672
Definition: ShapeFrameNode.hpp:61
Definition: MeshShapeNode.hpp:60
MeshShapeNode(std::shared_ptr< dart::dynamics::MeshShape > shape, ShapeFrameNode *parentNode)
Definition: MeshShapeNode.cpp:172
osgAiNode * mRootAiNode
Definition: MeshShapeNode.hpp:76
void extractData(bool firstTime)
Definition: MeshShapeNode.cpp:210
std::shared_ptr< dart::dynamics::MeshShape > mMeshShape
Definition: MeshShapeNode.hpp:75
std::vector<::osg::ref_ptr<::osg::Material > > mMaterials
Definition: MeshShapeNode.hpp:77
std::vector< std::string > getTextureImagePaths(std::size_t index) const
Definition: MeshShapeNode.cpp:376
void refresh()
Update all rendering data for this ShapeNode.
Definition: MeshShapeNode.cpp:182
std::vector< std::vector< std::string > > mTextureImageArrays
Definition: MeshShapeNode.hpp:78
::osg::Material * getMaterial(std::size_t index) const
Definition: MeshShapeNode.cpp:356
virtual ~MeshShapeNode()
Definition: MeshShapeNode.cpp:405
Definition: ShapeNode.hpp:59
Definition: MeshShapeNode.cpp:90
Definition: BulletCollisionDetector.cpp:65