CMesh3D.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, 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/utils/color_maps.h>
#include <Eigen/Dense>

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

namespace mrpt
{
        namespace opengl
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CMesh3D, CRenderizableDisplayList, OPENGL_IMPEXP )

                /** 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 OPENGL_IMPEXP CMesh3D : public CRenderizableDisplayList
                {
                        DEFINE_SERIALIZABLE(CMesh3D)

                        typedef int f_verts[4];
                        typedef float coord3D[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
                        unsigned int    m_num_verts;    //!< Number of vertices of the mesh
                        unsigned int    m_num_faces;    //!< Number of faces of the mesh
                        bool                    *m_is_quad;             //!< Pointer storing whether a face is a quad (1) or a triangle (0)
                        f_verts                 *m_face_verts;  //!< Pointer storing the vertices that compose each face. Size: 4 x num_faces (4 for the possible max number - quad)
                        coord3D                 *m_vert_coords; //!< Pointer storing the coordinates of the vertices. Size: 3 x num_vertices
                        coord3D                 *m_normals;             //!< Pointer storing the face normals. Size: 3 x num_faces
                        
                        //Colors
                        float edge_color[4];                    //!< Color of the edges (when shown)
                        float face_color[4];                    //!< Color of the faces (when shown)
                        float vert_color[4];                    //!< Color of the vertices (when shown)
                        mrpt::utils::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 CMesh3DPtr Create(bool enableTransparency, bool enableShowEdges, bool enableShowFaces, bool enableShowVertices);

                        /** Render
                          */
                        void  render_dl() const MRPT_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 MRPT_OVERRIDE;


                private:
                        /** 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();

                };
                DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CMesh3D, CRenderizableDisplayList, OPENGL_IMPEXP )

        } // end namespace

} // End of namespace

#endif