DART  6.7.3
MeshShape.hpp
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32 
33 #ifndef DART_DYNAMICS_MESHSHAPE_HPP_
34 #define DART_DYNAMICS_MESHSHAPE_HPP_
35 
36 #include <string>
37 
38 #include <assimp/scene.h>
39 
40 #include "dart/dynamics/Shape.hpp"
42 
43 namespace Assimp {
44 
45 class IOSystem;
46 
47 } // namespace Assimp
48 
49 namespace dart {
50 namespace dynamics {
51 
52 class MeshShape : public Shape
53 {
54 public:
55  enum ColorMode
56  {
60  };
61 
63  MeshShape(const Eigen::Vector3d& scale,
64  const aiScene* mesh,
65  const common::Uri& uri = "",
66  common::ResourceRetrieverPtr resourceRetriever = nullptr);
67 
69  virtual ~MeshShape();
70 
71  // Documentation inherited.
72  const std::string& getType() const override;
73 
75  static const std::string& getStaticType();
76 
77  const aiScene* getMesh() const;
78 
83  virtual void update();
84 
85  // Documentation inherited
86  void notifyAlphaUpdated(double alpha) override;
87 
88  void setMesh(
89  const aiScene* mesh,
90  const std::string& path = "",
91  common::ResourceRetrieverPtr resourceRetriever = nullptr);
92 
93  void setMesh(
94  const aiScene* mesh,
95  const common::Uri& path,
96  common::ResourceRetrieverPtr resourceRetriever = nullptr);
97 
99  std::string getMeshUri() const;
100  // TODO(DART 7): Replace with getMeshUri2().
101 
103  const common::Uri& getMeshUri2() const;
104  // TODO(DART 7): Remove.
105 
107  const std::string& getMeshPath() const;
108 
110 
111  void setScale(const Eigen::Vector3d& scale);
112 
113  const Eigen::Vector3d& getScale() const;
114 
116  void setColorMode(ColorMode mode);
117 
119  ColorMode getColorMode() const;
120 
125  void setColorIndex(int index);
126 
128  int getColorIndex() const;
129 
130  int getDisplayList() const;
131 
132  void setDisplayList(int index);
133 
134  static const aiScene* loadMesh(const std::string& filePath);
135 
136  static const aiScene* loadMesh(
137  const std::string& _uri, const common::ResourceRetrieverPtr& retriever);
138 
139  static const aiScene* loadMesh(
140  const common::Uri& uri, const common::ResourceRetrieverPtr& retriever);
141 
142  // Documentation inherited.
143  Eigen::Matrix3d computeInertia(double mass) const override;
144 
145 protected:
146  // Documentation inherited.
147  void updateBoundingBox() const override;
148 
149  // Documentation inherited.
150  void updateVolume() const override;
151 
152  const aiScene* mMesh;
153 
156 
158  std::string mMeshPath;
159 
162 
165 
167  Eigen::Vector3d mScale;
168 
171 
174 };
175 
176 } // namespace dynamics
177 } // namespace dart
178 
179 #endif // DART_DYNAMICS_MESHSHAPE_HPP_
std::size_t index
Definition: SkelParser.cpp:1617
Definition: MeshShape.hpp:53
void notifyAlphaUpdated(double alpha) override
Notify that the alpha of this shape has updated.
Definition: MeshShape.cpp:189
common::ResourceRetrieverPtr mResourceRetriever
Optional method of loading resources by URI.
Definition: MeshShape.hpp:161
const aiScene * mMesh
Definition: MeshShape.hpp:152
int mColorIndex
Specifies which color index should be used when mColorMode is COLOR_INDEX.
Definition: MeshShape.hpp:173
common::ResourceRetrieverPtr getResourceRetriever()
Definition: MeshShape.cpp:206
Eigen::Vector3d mScale
Scale.
Definition: MeshShape.hpp:167
const common::Uri & getMeshUri2() const
Returns URI to the mesh; an empty string if unavailable.
Definition: MeshShape.cpp:177
static const std::string & getStaticType()
Returns shape type for this class.
Definition: MeshShape.cpp:158
MeshShape(const Eigen::Vector3d &scale, const aiScene *mesh, const common::Uri &uri="", common::ResourceRetrieverPtr resourceRetriever=nullptr)
Constructor.
Definition: MeshShape.cpp:131
void setScale(const Eigen::Vector3d &scale)
Definition: MeshShape.cpp:248
ColorMode
Definition: MeshShape.hpp:56
@ COLOR_INDEX
Use the colors specified by aiMesh::mColor.
Definition: MeshShape.hpp:58
@ MATERIAL_COLOR
Use the colors specified by the Mesh's material.
Definition: MeshShape.hpp:57
@ SHAPE_COLOR
Use the color specified by the Shape base class.
Definition: MeshShape.hpp:59
void updateVolume() const override
Updates volume.
Definition: MeshShape.cpp:351
int getDisplayList() const
Definition: MeshShape.cpp:290
ColorMode mColorMode
Specifies how the color of this mesh should be determined.
Definition: MeshShape.hpp:170
void updateBoundingBox() const override
Updates bounding box.
Definition: MeshShape.cpp:309
int mDisplayList
OpenGL DisplayList id for rendering.
Definition: MeshShape.hpp:164
std::string mMeshPath
Path the mesh on disk, if available.
Definition: MeshShape.hpp:158
int getColorIndex() const
Get the index that will be used when the ColorMode is set to COLOR_INDEX.
Definition: MeshShape.cpp:284
const Eigen::Vector3d & getScale() const
Definition: MeshShape.cpp:260
Eigen::Matrix3d computeInertia(double mass) const override
Computes the inertia.
Definition: MeshShape.cpp:302
void setColorMode(ColorMode mode)
Set how the color of this mesh should be determined.
Definition: MeshShape.cpp:266
virtual ~MeshShape()
Destructor.
Definition: MeshShape.cpp:146
const std::string & getMeshPath() const
Returns path to the mesh on disk; an empty string if unavailable.
Definition: MeshShape.cpp:200
const aiScene * getMesh() const
Definition: MeshShape.cpp:165
std::string getMeshUri() const
Returns URI to the mesh as std::string; an empty string if unavailable.
Definition: MeshShape.cpp:171
ColorMode getColorMode() const
Get the coloring mode that this mesh is using.
Definition: MeshShape.cpp:272
virtual void update()
Updates positions of the vertices or the elements.
Definition: MeshShape.cpp:183
void setColorIndex(int index)
Set which entry in aiMesh::mColor should be used when the color mode is COLOR_INDEX.
Definition: MeshShape.cpp:278
common::Uri mMeshUri
URI the mesh, if available).
Definition: MeshShape.hpp:155
const std::string & getType() const override
Returns a string representing the shape type.
Definition: MeshShape.cpp:152
static const aiScene * loadMesh(const std::string &filePath)
Definition: MeshShape.cpp:431
void setDisplayList(int index)
Definition: MeshShape.cpp:296
void setMesh(const aiScene *mesh, const std::string &path="", common::ResourceRetrieverPtr resourceRetriever=nullptr)
Definition: MeshShape.cpp:212
Definition: Shape.hpp:53
Definition: MeshShape.hpp:43
std::shared_ptr< ResourceRetriever > ResourceRetrieverPtr
Definition: ResourceRetriever.hpp:76
Definition: BulletCollisionDetector.cpp:63
The Uri struct provides URI parsing and merging functionality based on RFC 3986.
Definition: Uri.hpp:87