MeshShape.hpp

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#ifndef DART_DYNAMICS_MESHSHAPE_HPP_
#define DART_DYNAMICS_MESHSHAPE_HPP_
 
#include <string>
 
#include <assimp/scene.h>
 
#include "dart/dynamics/Shape.hpp"
#include "dart/common/ResourceRetriever.hpp"
 
namespace Assimp {
 
class IOSystem;
 
} // namespace Assimp
 
namespace dart {
namespace dynamics {
 
class MeshShape : public Shape
{
public:
  enum ColorMode
  {
    MATERIAL_COLOR = 0, 
    COLOR_INDEX,        
    SHAPE_COLOR,        
  };
 
  MeshShape(const Eigen::Vector3d& scale,
    const aiScene* mesh,
    const common::Uri& uri = "",
    common::ResourceRetrieverPtr resourceRetriever = nullptr);
 
  virtual ~MeshShape();
 
  // Documentation inherited.
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  const aiScene* getMesh() const;
 
  virtual void update();
 
  // Documentation inherited
  void notifyAlphaUpdated(double alpha) override;
 
  void setMesh(
    const aiScene* mesh,
    const std::string& path = "",
    common::ResourceRetrieverPtr resourceRetriever = nullptr);
 
  void setMesh(
    const aiScene* mesh,
    const common::Uri& path,
    common::ResourceRetrieverPtr resourceRetriever = nullptr);
 
  std::string getMeshUri() const;
  // TODO(DART 7): Replace with getMeshUri2().
 
  const common::Uri& getMeshUri2() const;
  // TODO(DART 7): Remove.
 
  const std::string& getMeshPath() const;
 
  common::ResourceRetrieverPtr getResourceRetriever();
 
  void setScale(const Eigen::Vector3d& scale);
 
  const Eigen::Vector3d& getScale() const;
 
  void setColorMode(ColorMode mode);
 
  ColorMode getColorMode() const;
 
  void setColorIndex(int index);
 
  int getColorIndex() const;
 
  int getDisplayList() const;
 
  void setDisplayList(int index);
 
  static const aiScene* loadMesh(const std::string& filePath);
 
  static const aiScene* loadMesh(
    const std::string& _uri, const common::ResourceRetrieverPtr& retriever);
 
  static const aiScene* loadMesh(
    const common::Uri& uri, const common::ResourceRetrieverPtr& retriever);
 
  // Documentation inherited.
  Eigen::Matrix3d computeInertia(double mass) const override;
 
protected:
  // Documentation inherited.
  void updateBoundingBox() const override;
 
  // Documentation inherited.
  void updateVolume() const override;
 
  const aiScene* mMesh;
 
  common::Uri mMeshUri;
 
  std::string mMeshPath;
 
  common::ResourceRetrieverPtr mResourceRetriever;
 
  int mDisplayList;
 
  Eigen::Vector3d mScale;
 
  ColorMode mColorMode;
 
  int mColorIndex;
};
 
}  // namespace dynamics
}  // namespace dart
 
#endif  // DART_DYNAMICS_MESHSHAPE_HPP_