294 lines
12 KiB
C++
294 lines
12 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_MESHMANAGER_HH_
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#define _GAZEBO_MESHMANAGER_HH_
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#include <map>
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#include <utility>
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#include <string>
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#include <vector>
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#include <boost/thread/mutex.hpp>
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#include <ignition/math/Plane.hh>
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#include <ignition/math/Matrix3.hh>
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#include <ignition/math/Matrix4.hh>
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#include <ignition/math/Vector2.hh>
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/math/Vector2d.hh"
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#include "gazebo/math/Vector2i.hh"
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#include "gazebo/math/Pose.hh"
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#include "gazebo/math/Plane.hh"
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#include "gazebo/common/SingletonT.hh"
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#include "gazebo/common/CommonTypes.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace common
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{
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class ColladaLoader;
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class ColladaExporter;
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class STLLoader;
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class Mesh;
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class Plane;
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class SubMesh;
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/// \addtogroup gazebo_common Common
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/// \{
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/// \class MeshManager MeshManager.hh common/common.hh
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/// \brief Maintains and manages all meshes
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class GZ_COMMON_VISIBLE MeshManager : public SingletonT<MeshManager>
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{
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/// \brief Constructor
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private: MeshManager();
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/// \brief Destructor.
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///
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/// Destroys the collada loader, the stl loader and all the meshes
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private: virtual ~MeshManager();
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/// \brief Load a mesh from a file
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/// \param[in] _filename the path to the mesh
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/// \return a pointer to the created mesh
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public: const Mesh *Load(const std::string &_filename);
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/// \brief Export a mesh to a file
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/// \param[in] _mesh Pointer to the mesh to be exported
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/// \param[in] _filename Exported file's path and name
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/// \param[in] _extension Exported file's format ("dae" for Collada)
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/// \param[in] _exportTextures True to export texture images to
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/// '../materials/textures' folder
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public: void Export(const Mesh *_mesh, const std::string &_filename,
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const std::string &_extension, bool _exportTextures = false);
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/// \brief Checks a path extension against the list of valid extensions.
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/// \return true if the file extension is loadable
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public: bool IsValidFilename(const std::string &_filename);
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/// \brief Get mesh aabb and center.
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/// \param[in] _mesh the mesh
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/// \param[out] _center the AAB center position
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/// \param[out] _min_xyz the bounding box minimum
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/// \param[out] _max_xyz the bounding box maximum
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public: void GetMeshAABB(const Mesh *_mesh,
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ignition::math::Vector3d &_center,
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ignition::math::Vector3d &_min_xyz,
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ignition::math::Vector3d &_max_xyz);
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/// \brief generate spherical texture coordinates
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/// \param[in] _mesh Pointer to the mesh
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/// \param[in] _center Center of the mesh
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public: void GenSphericalTexCoord(const Mesh *_mesh,
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const ignition::math::Vector3d &_center);
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/// \brief Add a mesh to the manager.
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///
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/// This MeshManager takes ownership of the mesh and will destroy it.
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/// See ~MeshManager.
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/// \param[in] the mesh to add.
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public: void AddMesh(Mesh *_mesh);
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/// \brief Get a mesh by name.
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/// \param[in] _name the name of the mesh to look for
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/// \return the mesh or NULL if not found
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public: const Mesh *GetMesh(const std::string &_name) const;
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/// \brief Return true if the mesh exists.
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/// \param[in] _name the name of the mesh
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public: bool HasMesh(const std::string &_name) const;
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/// \brief Create a sphere mesh.
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/// \param[in] _name the name of the mesh
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/// \param[in] _radius radius of the sphere in meter
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/// \param[in] _rings number of circles on th y axis
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/// \param[in] _segments number of segment per circle
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public: void CreateSphere(const std::string &_name, float _radius,
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int _rings, int _segments);
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/// \brief Create a Box mesh
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/// \param[in] _name the name of the new mesh
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/// \param[in] _sides the x y x dimentions of eah side in meter
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/// \param[in] _uvCoords the texture coordinates
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public: void CreateBox(const std::string &_name,
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const ignition::math::Vector3d &_sides,
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const ignition::math::Vector2d &_uvCoords);
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/// \brief Create an extruded mesh from polylines. The polylines are
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/// assumed to be closed and non-intersecting. Delaunay triangulation is
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/// applied to create the resulting mesh. If there is more than one
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/// polyline, a ray casting algorithm will be used to identify the
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/// exterior/interior edges and remove holes from the 2D shape before
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/// extrusion.
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/// \param[in] _name the name of the new mesh
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/// \param[in] _vertices A multidimensional vector of polylines and their
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/// vertices. Each element in the outer vector consists of a vector of
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/// vertices that describe one polyline.
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/// edges and remove the holes in the shape.
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/// \param[in] _height the height of extrusion
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public: void CreateExtrudedPolyline(const std::string &_name,
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const std::vector<std::vector<ignition::math::Vector2d> >
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&_vertices, double _height);
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/// \brief Create a cylinder mesh
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/// \param[in] _name the name of the new mesh
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/// \param[in] _radius the radius of the cylinder in the x y plane
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/// \param[in] _height the height along z
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/// \param[in] _rings the number of circles along the height
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/// \param[in] _segments the number of segment per circle
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public: void CreateCylinder(const std::string &_name,
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float _radius,
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float _height,
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int _rings,
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int _segments);
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/// \brief Create a cone mesh
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/// \param[in] _name the name of the new mesh
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/// \param[in] _radius the radius of the cylinder in the x y plane
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/// \param[in] _height the height along z
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/// \param[in] _rings the number of circles along the height
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/// \param[in] _segments the number of segment per circle
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public: void CreateCone(const std::string &_name,
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float _radius,
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float _height,
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int _rings,
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int _segments);
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/// \brief Create a tube mesh.
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///
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/// Generates rings inside and outside the cylinder
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/// Needs at least two rings and 3 segments
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/// \param[in] _name the name of the new mesh
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/// \param[in] _innerRadius the inner radius of the tube in the x y plane
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/// \param[in] _outterRadius the outer radius of the tube in the x y plane
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/// \param[in] _height the height along z
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/// \param[in] _rings the number of circles along the height
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/// \param[in] _segments the number of segment per circle
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/// \param[in] _arc the arc angle in radians
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public: void CreateTube(const std::string &_name,
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float _innerRadius,
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float _outterRadius,
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float _height,
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int _rings,
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int _segments,
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double _arc = 2.0 * M_PI);
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/// \brief Create mesh for a plane
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/// \param[in] _name
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/// \param[in] _plane plane parameters
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/// \param[in] _segments number of segments in x and y
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/// \param[in] _uvTile the texture tile size in x and y
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public: void CreatePlane(const std::string &_name,
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const ignition::math::Planed &_plane,
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const ignition::math::Vector2d &_segments,
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const ignition::math::Vector2d &_uvTile);
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/// \brief Create mesh for a plane
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/// \param[in] _name the name of the new mesh
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/// \param[in] _normal the normal to the plane
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/// \param[in] _d distance from the origin along normal
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/// \param[in] _size the size of the plane in x and y
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/// \param[in] _segments the number of segments in x and y
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/// \param[in] _uvTile the texture tile size in x and y
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public: void CreatePlane(const std::string &_name,
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const ignition::math::Vector3d &_normal,
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const double _d,
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const ignition::math::Vector2d &_size,
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const ignition::math::Vector2d &_segments,
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const ignition::math::Vector2d &_uvTile);
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/// \brief Tesselate a 2D mesh
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///
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/// Makes a zigzag pattern compatible with strips
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/// \param[in] _sm the mesh to tesselate
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/// \param[in] _meshWith mesh width
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/// \param[in] _meshHeight the mesh height
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/// \param[in] _doubleSided flag to specify single or double sided
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private: void Tesselate2DMesh(SubMesh *_sm,
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int _meshWidth,
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int _meshHeight,
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bool _doubleSided);
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/// \brief Create a Camera mesh
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/// \param[in] _name name of the new mesh
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/// \param[in] _scale scaling factor for the camera
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public: void CreateCamera(const std::string &_name, float _scale);
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#ifdef HAVE_GTS
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/// \brief Create a boolean mesh from two meshes
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/// \param[in] _name the name of the new mesh
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/// \param[in] _m1 the parent mesh in the boolean operation
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/// \param[in] _m2 the child mesh in the boolean operation
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/// \param[in] _operation the boolean operation applied to the two meshes
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/// \param[in] _offset _m2's pose offset from _m1
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public: void CreateBoolean(const std::string &_name, const Mesh *_m1,
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const Mesh *_m2, const int _operation,
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const ignition::math::Pose3d &_offset = ignition::math::Pose3d::Zero);
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#endif
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/// \brief Converts a vector of polylines into a table of vertices and
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/// a list of edges (each made of 2 points from the table of vertices.
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/// \param[in] _polys the polylines
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/// \param[in] _tol tolerence for 2 vertices to be considered the same
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/// \param[out] _vertices a table of unique vertices
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/// \param[out] _edges a list of edges (made of start/end point indices
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/// from the vertex table)
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private: static void ConvertPolylinesToVerticesAndEdges(
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const std::vector<std::vector<ignition::math::Vector2d> >
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&_polys,
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double _tol,
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std::vector<ignition::math::Vector2d> &_vertices,
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std::vector<ignition::math::Vector2i> &_edges);
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/// \brief Check a point againts a list, and only adds it to the list
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/// if it is not there already.
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/// \param[in] _vertices the vertex table where points are stored
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/// \param[in] _p the point coordinates
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/// \param[in] _tol the maximum distance under which 2 points are
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/// considered to be the same point.
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/// \return the index of the point.
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private: static size_t AddUniquePointToVerticesTable(
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std::vector<ignition::math::Vector2d> &_vertices,
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const ignition::math::Vector2d &_p,
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double _tol);
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/// \brief 3D mesh loader for COLLADA files
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private: ColladaLoader *colladaLoader;
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/// \brief 3D mesh exporter for COLLADA files
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private: ColladaExporter *colladaExporter;
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/// \brief 3D mesh loader for STL files
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private: STLLoader *stlLoader;
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/// \brief Dictionary of meshes, indexed by name
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private: std::map<std::string, Mesh*> meshes;
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/// \brief supported file extensions for meshes
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private: std::vector<std::string> fileExtensions;
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private: boost::mutex mutex;
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/// \brief Singleton implementation
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private: friend class SingletonT<MeshManager>;
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};
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/// \}
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}
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}
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#endif
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