polygon_mesh.h

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#ifndef TESSERACT_GEOMETRY_POLYGON_MESH_H
#define TESSERACT_GEOMETRY_POLYGON_MESH_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/access.hpp>
#include <boost/serialization/export.hpp>
#include <Eigen/Geometry>
#include <memory>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/eigen_serialization.h>
#include <tesseract_common/types.h>
#include <tesseract_common/resource_locator.h>
#include <tesseract_geometry/geometry.h>
#include <tesseract_geometry/impl/mesh_material.h>
 
namespace tesseract_geometry
{
class PolygonMesh : public Geometry
{
public:
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  using Ptr = std::shared_ptr<PolygonMesh>;
  using ConstPtr = std::shared_ptr<const PolygonMesh>;
 
  PolygonMesh(std::shared_ptr<const tesseract_common::VectorVector3d> vertices,
              std::shared_ptr<const Eigen::VectorXi> faces,
              tesseract_common::Resource::ConstPtr resource = nullptr,
              const Eigen::Vector3d& scale = Eigen::Vector3d(1, 1, 1),  // NOLINT
              std::shared_ptr<const tesseract_common::VectorVector3d> normals = nullptr,
              std::shared_ptr<const tesseract_common::VectorVector4d> vertex_colors = nullptr,
              MeshMaterial::Ptr mesh_material = nullptr,
              std::shared_ptr<const std::vector<MeshTexture::Ptr>> mesh_textures = nullptr,
              GeometryType type = GeometryType::CONVEX_MESH)
    : Geometry(type)
    , vertices_(std::move(vertices))
    , faces_(std::move(faces))
    , vertex_count_(static_cast<int>(vertices_->size()))
    , resource_(std::move(resource))
    , scale_(scale)
    , normals_(std::move(normals))
    , vertex_colors_(std::move(vertex_colors))
    , mesh_material_(std::move(mesh_material))
    , mesh_textures_(std::move(mesh_textures))
  {
    for (int i = 0; i < faces_->size(); ++i)
    {
      ++face_count_;
      int num_verts = (*faces_)(i);  // NOLINT
      i += num_verts;
    }
  }
 
  PolygonMesh(std::shared_ptr<const tesseract_common::VectorVector3d> vertices,
              std::shared_ptr<const Eigen::VectorXi> faces,
              int face_count,
              tesseract_common::Resource::ConstPtr resource = nullptr,
              const Eigen::Vector3d& scale = Eigen::Vector3d(1, 1, 1),  // NOLINT
              std::shared_ptr<const tesseract_common::VectorVector3d> normals = nullptr,
              std::shared_ptr<const tesseract_common::VectorVector4d> vertex_colors = nullptr,
              MeshMaterial::Ptr mesh_material = nullptr,
              std::shared_ptr<const std::vector<MeshTexture::Ptr>> mesh_textures = nullptr,
              GeometryType type = GeometryType::CONVEX_MESH)
    : Geometry(type)
    , vertices_(std::move(vertices))
    , faces_(std::move(faces))
    , vertex_count_(static_cast<int>(vertices_->size()))
    , face_count_(face_count)
    , resource_(std::move(resource))
    , scale_(scale)
    , normals_(std::move(normals))
    , vertex_colors_(std::move(vertex_colors))
    , mesh_material_(std::move(mesh_material))
    , mesh_textures_(std::move(mesh_textures))
  {
  }
 
  PolygonMesh() = default;
  ~PolygonMesh() override = default;
 
  const std::shared_ptr<const tesseract_common::VectorVector3d>& getVertices() const { return vertices_; }
 
  const std::shared_ptr<const Eigen::VectorXi>& getFaces() const { return faces_; }
 
  int getVertexCount() const { return vertex_count_; }
 
  int getFaceCount() const { return face_count_; }
 
  tesseract_common::Resource::ConstPtr getResource() const { return resource_; }
 
  const Eigen::Vector3d& getScale() const { return scale_; }
 
  const std::shared_ptr<const tesseract_common::VectorVector3d>& getNormals() const { return normals_; }
 
  const std::shared_ptr<const tesseract_common::VectorVector4d>& getVertexColors() const { return vertex_colors_; }
 
  MeshMaterial::ConstPtr getMaterial() const { return mesh_material_; }
 
  const std::shared_ptr<const std::vector<MeshTexture::Ptr>>& getTextures() const { return mesh_textures_; }
 
  Geometry::Ptr clone() const override
  {
    return std::make_shared<PolygonMesh>(vertices_, faces_, face_count_, resource_, scale_);
  }
  bool operator==(const PolygonMesh& rhs) const;
  bool operator!=(const PolygonMesh& rhs) const;
 
private:
  std::shared_ptr<const tesseract_common::VectorVector3d> vertices_;
  std::shared_ptr<const Eigen::VectorXi> faces_;
 
  int vertex_count_{ 0 };
  int face_count_{ 0 };
  tesseract_common::Resource::ConstPtr resource_;
  Eigen::Vector3d scale_;
  std::shared_ptr<const tesseract_common::VectorVector3d> normals_;
  std::shared_ptr<const tesseract_common::VectorVector4d> vertex_colors_;
  MeshMaterial::Ptr mesh_material_;
  std::shared_ptr<const std::vector<MeshTexture::Ptr>> mesh_textures_;
 
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
 
}  // namespace tesseract_geometry
 
BOOST_CLASS_EXPORT_KEY2(tesseract_geometry::PolygonMesh, "PolygonMesh")
#endif  // POLYGON_MESH_H