MeshShape.hpp

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#ifndef DART_DYNAMICS_MESHSHAPE_HPP_
#define DART_DYNAMICS_MESHSHAPE_HPP_

#include <string>

#include <assimp/scene.h>

#include "dart/common/ResourceRetriever.hpp"
#include "dart/dynamics/Shape.hpp"

namespace dart {
namespace dynamics {

class MeshShape : public Shape
{
public:
  enum ColorMode
  {
    MATERIAL_COLOR = 0, 
    COLOR_INDEX,        
    SHAPE_COLOR,        
  };

  enum AlphaMode
  {
    BLEND = 0,

    AUTO,

    SHAPE_ALPHA
  };

  MeshShape(
      const Eigen::Vector3d& scale,
      const aiScene* mesh,
      const common::Uri& uri = "",
      common::ResourceRetrieverPtr resourceRetriever = nullptr);

  ~MeshShape() override;

  // Documentation inherited.
  const std::string& getType() const override;

  static const std::string& getStaticType();

  const aiScene* getMesh() const;

  virtual void update();

  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 setAlphaMode(AlphaMode mode);

  AlphaMode getAlphaMode() 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;

  AlphaMode mAlphaMode;

  int mColorIndex;
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_MESHSHAPE_HPP_