CAssimpModel.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_CAssimpModel_H
#define opengl_CAssimpModel_H

#include <mrpt/opengl/CRenderizableDisplayList.h>
#include <mrpt/opengl/COpenGLScene.h>
#include <mrpt/utils/CMemoryChunk.h>
#include <map>

namespace mrpt
{
namespace opengl
{
/** This class can load & render 3D models in a number of different formats
 * (requires the library assimp).
  *  - All supported formats:
 * http://assimp.sourceforge.net/main_features_formats.html
  *  - Most common ones: AutoCAD DXF ( .dxf ), Collada ( .dae ), Blender 3D (
 * .blend ), 3ds Max 3DS ( .3ds ), 3ds Max ASE ( .ase ), Quake I ( .mdl ), Quake
 * II ( .md2 ), Quake III Mesh ( .md3 ), etc.
  *
  *  Models are loaded via CAssimpModel::loadScene()
  *
  *  <div align="center">
  *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 * border-style: solid;">
  *   <tr> <td> mrpt::opengl::CAssimpModel </td> <td> \image html
 * preview_CAssimpModel.png </td> </tr>
  *  </table>
  *  </div>
  *
  *  \sa opengl::COpenGLScene
  * \ingroup mrpt_opengl_grp
  * \note Class introduced in MRPT 1.2.2
  */
class CAssimpModel : public CRenderizableDisplayList
{
        DEFINE_SERIALIZABLE(CAssimpModel)

   public:
        /** Render child objects */
        void render_dl() const 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 override;

        /**  Loads a scene from a file in any supported file.
          * \exception std::runtime_error On any error during loading or importing
         * the file.
          */
        void loadScene(const std::string& file_name);

        /** Empty the object */
        void clear();

        /** Evaluates the scene at a given animation time */
        void evaluateAnimation(double time_anim);

        /* Simulation of ray-trace. */
        bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const override;

        struct TInfoPerTexture
        {
                /** indices in \a m_textureIds. string::npos for non-initialized ones.
                 */
                size_t id_idx;
                mrpt::utils::CImage::Ptr img_rgb, img_alpha;
                TInfoPerTexture() : id_idx(std::string::npos) {}
        };

        CAssimpModel();
        /** Private, virtual destructor: only can be deleted from smart pointers */
        virtual ~CAssimpModel();

   private:
        /** A container for automatic deletion of lib3ds's scene when the last
         * reference of the smart_ptr's is destroyed.
          */
        struct TImplAssimp
        {
                TImplAssimp();
                ~TImplAssimp();
                /** aiScene* */
                void* scene;
        };
        std::shared_ptr<TImplAssimp> m_assimp_scene;

        /** Bounding box */
        mrpt::math::TPoint3D m_bbox_min, m_bbox_max;

        mutable bool m_textures_loaded;
        std::string m_modelPath;
        mutable std::vector<unsigned int> m_textureIds;

        mutable std::map<std::string, TInfoPerTexture> m_textureIdMap;
};

}  // end namespace
}  // End of namespace

#endif