Gazebo Common

API Reference

6.0.0
MeshManager.hh
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1/*
2 * Copyright (C) 2016 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef GZ_COMMON_MESHMANAGER_HH_
18#define GZ_COMMON_MESHMANAGER_HH_
19
20#include <map>
21#include <utility>
22#include <string>
23#include <vector>
24#include <memory>
25
26#include <gz/math/Plane.hh>
27#include <gz/math/Matrix3.hh>
28#include <gz/math/Matrix4.hh>
29#include <gz/math/Vector2.hh>
30#include <gz/math/Vector3.hh>
31#include <gz/math/Pose3.hh>
32
33#include <gz/utils/ImplPtr.hh>
34
37#include <gz/common/graphics/Export.hh>
38
39namespace gz
40{
41 namespace common
42 {
44 class Mesh;
45 class SubMesh;
46
53 class GZ_COMMON_GRAPHICS_VISIBLE MeshManager
54 : public SingletonT<MeshManager>
55 {
57 private: MeshManager();
58
62 private: virtual ~MeshManager();
63
67 public: static MeshManager* Instance();
68
74 public: const Mesh *Load(const std::string &_filename);
75
82 public: void Export(const Mesh *_mesh, const std::string &_filename,
83 const std::string &_extension, bool _exportTextures = false);
84
87 public: bool IsValidFilename(const std::string &_filename);
88
94 public: void MeshAABB(const Mesh *_mesh,
95 gz::math::Vector3d &_center,
96 gz::math::Vector3d &_min_xyz,
97 gz::math::Vector3d &_max_xyz);
98
102 public: void GenSphericalTexCoord(const Mesh *_mesh,
103 const gz::math::Vector3d &_center);
104
110 public: void AddMesh(Mesh *_mesh);
111
116 public: bool RemoveMesh(const std::string &_name);
117
119 public: void RemoveAll();
120
125 const std::string &_name) const;
126
129 public: bool HasMesh(const std::string &_name) const;
130
136 public: void CreateSphere(const std::string &_name, const float _radius,
137 const int _rings, const int _segments);
138
143 public: void CreateBox(const std::string &_name,
144 const gz::math::Vector3d &_sides,
145 const gz::math::Vector2d &_uvCoords);
146
159 public: void CreateExtrudedPolyline(const std::string &_name,
161 &_vertices, const double _height);
162
169 public: void CreateCylinder(const std::string &_name,
170 const float _radius,
171 const float _height,
172 const int _rings,
173 const int _segments);
174
180 public: void CreateEllipsoid(const std::string &_name,
181 const gz::math::Vector3d &_radii,
182 const unsigned int _rings,
183 const unsigned int _segments);
184
191 public: void CreateCapsule(const std::string &_name,
192 const double radius,
193 const double length,
194 const unsigned int _rings,
195 const unsigned int _segments);
196
203 public: void CreateCone(const std::string &_name,
204 const float _radius,
205 const float _height,
206 const int _rings,
207 const int _segments);
208
220 public: void CreateTube(const std::string &_name,
221 const float _innerRadius,
222 const float _outterRadius,
223 const float _height,
224 const int _rings,
225 const int _segments,
226 const double _arc = 2.0 * GZ_PI);
227
233 public: void CreatePlane(const std::string &_name,
234 const gz::math::Planed &_plane,
235 const gz::math::Vector2d &_segments,
236 const gz::math::Vector2d &_uvTile);
237
245 public: void CreatePlane(const std::string &_name,
246 const gz::math::Vector3d &_normal,
247 const double _d,
248 const gz::math::Vector2d &_size,
249 const gz::math::Vector2d &_segments,
250 const gz::math::Vector2d &_uvTile);
251
255 public: void SetAssimpEnvs();
256
263 private: void Tesselate2DMesh(SubMesh *_sm,
264 const int _meshWidth,
265 const int _meshHeight,
266 const bool _doubleSided);
267
271 public: void CreateCamera(const std::string &_name, const float _scale);
272
284 const common::SubMesh &_subMesh,
285 std::size_t _maxConvexHulls = 16u,
286 std::size_t _voxelResolution = 200000u);
287
292 const common::Mesh &_mesh);
293
301 private: static void ConvertPolylinesToVerticesAndEdges(
303 &_polys,
304 const double _tol,
307
315 private: static size_t AddUniquePointToVerticesTable(
317 const gz::math::Vector2d &_p,
318 const double _tol);
319
321 GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
322
323
324 private: friend class SingletonT<MeshManager>;
325 };
326 }
327}
328#endif