Mesh.hh

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/*
 * Copyright 2018 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef SDF_MESH_HH_
#define SDF_MESH_HH_
 
#include <string>
#include <optional>
 
#include <gz/math/Vector3.hh>
#include <gz/math/Inertial.hh>
#include <gz/math/AxisAlignedBox.hh>
#include <gz/utils/ImplPtr.hh>
#include <sdf/CustomInertiaCalcProperties.hh>
#include <sdf/Element.hh>
#include <sdf/Error.hh>
#include <sdf/sdf_config.h>
 
namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //
 
  // Forward declarations.
  class ParserConfig;
 
  enum class MeshOptimization
  {
    NONE,
    CONVEX_HULL,
    CONVEX_DECOMPOSITION
  };
 
  class SDFORMAT_VISIBLE ConvexDecomposition
  {
    public: ConvexDecomposition();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: sdf::ElementPtr Element() const;
 
    public: unsigned int MaxConvexHulls() const;
 
    public: void SetMaxConvexHulls(unsigned int _maxConvexHulls);
 
    public: unsigned int VoxelResolution() const;
 
    public: void SetVoxelResolution(unsigned int _voxelResolution);
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
 
  class SDFORMAT_VISIBLE Mesh
  {
    public: using AxisAlignedBoxCalculator =
      std::function<std::optional<gz::math::AxisAlignedBox>(
        const sdf::Mesh &_sdfMesh)>;
 
    public: Mesh();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
 
    public: MeshOptimization Optimization() const;
 
    public: std::string OptimizationStr() const;
 
    public: void SetOptimization(MeshOptimization _optimization);
 
    public: bool SetOptimization(const std::string &_optimizationStr);
 
    public: const sdf::ConvexDecomposition *ConvexDecomposition() const;
 
    public: void SetConvexDecomposition(
        const sdf::ConvexDecomposition &_convexDecomposition);
 
    public: std::string Uri() const;
 
    public: void SetUri(const std::string &_uri);
 
    public: const std::string &FilePath() const;
 
    public: void SetFilePath(const std::string &_filePath);
 
    public: gz::math::Vector3d Scale() const;
 
    public: void SetScale(const gz::math::Vector3d &_scale);
 
    public: std::string Submesh() const;
 
    public: void SetSubmesh(const std::string &_submesh);
 
    public: bool CenterSubmesh() const;
 
    public: void SetCenterSubmesh(const bool _center);
 
    public: std::optional<gz::math::Inertiald>
            CalculateInertial(sdf::Errors &_errors,
                              double _density,
                              const sdf::ElementPtr _autoInertiaParams,
                              const ParserConfig &_config);
 
    public: std::optional<gz::math::AxisAlignedBox>
            AxisAlignedBox(const AxisAlignedBoxCalculator &_aabbCalc) const;
 
    public: sdf::ElementPtr Element() const;
 
    public: sdf::ElementPtr ToElement() const;
 
    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
#endif