mesh.h

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#ifndef TESSERACT_GEOMETRY_MESH_H
#define TESSERACT_GEOMETRY_MESH_H
 
#include <tesseract_common/macros.h>
#include <tesseract_common/resource_locator.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/types.h>
#include <tesseract_geometry/geometry.h>
#include <tesseract_geometry/impl/mesh_material.h>
#include <tesseract_geometry/impl/polygon_mesh.h>
 
namespace tesseract_geometry
{
class Mesh : public PolygonMesh
{
public:
  // LCOV_EXCL_START
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  // LCOV_EXCL_STOP
 
  using Ptr = std::shared_ptr<Mesh>;
  using ConstPtr = std::shared_ptr<const Mesh>;
 
  Mesh(std::shared_ptr<const tesseract_common::VectorVector3d> vertices,
       std::shared_ptr<const Eigen::VectorXi> triangles,
       tesseract_common::Resource::Ptr resource = nullptr,
       const Eigen::Vector3d& scale = Eigen::Vector3d(1, 1, 1),
       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)
    : PolygonMesh(std::move(vertices),
                  std::move(triangles),
                  std::move(resource),
                  scale,
                  std::move(normals),
                  std::move(vertex_colors),
                  std::move(mesh_material),
                  std::move(mesh_textures),
                  GeometryType::MESH)
  {
    if ((static_cast<long>(getFaceCount()) * 4) != getFaces()->size())
      std::throw_with_nested(std::runtime_error("Mesh is not triangular"));  // LCOV_EXCL_LINE
  }
 
  Mesh(std::shared_ptr<const tesseract_common::VectorVector3d> vertices,
       std::shared_ptr<const Eigen::VectorXi> triangles,
       int triangle_count,
       tesseract_common::Resource::ConstPtr resource = nullptr,
       const Eigen::Vector3d& scale = Eigen::Vector3d(1, 1, 1),
       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)
    : PolygonMesh(std::move(vertices),
                  std::move(triangles),
                  triangle_count,
                  std::move(resource),
                  scale,
                  std::move(normals),
                  std::move(vertex_colors),
                  std::move(mesh_material),
                  std::move(mesh_textures),
                  GeometryType::MESH)
  {
    if ((static_cast<long>(getFaceCount()) * 4) != getFaces()->size())
      std::throw_with_nested(std::runtime_error("Mesh is not triangular"));  // LCOV_EXCL_LINE
  }
 
  Mesh() = default;
  ~Mesh() override = default;
 
  Geometry::Ptr clone() const override
  {
    // getMaterial returns a pointer-to-const, so deference and make_shared, but also guard against nullptr
    std::shared_ptr<Mesh> ptr;
    if (getMaterial() != nullptr)
    {
      ptr = std::make_shared<Mesh>(getVertices(),
                                   getFaces(),
                                   getFaceCount(),
                                   getResource(),
                                   getScale(),
                                   getNormals(),
                                   getVertexColors(),
                                   std::make_shared<MeshMaterial>(*getMaterial()),
                                   getTextures());
    }
    else
    {
      ptr = std::make_shared<Mesh>(getVertices(),
                                   getFaces(),
                                   getFaceCount(),
                                   getResource(),
                                   getScale(),
                                   getNormals(),
                                   getVertexColors(),
                                   nullptr,
                                   getTextures());
    }
    return ptr;
  }
  bool operator==(const Mesh& rhs) const;
  bool operator!=(const Mesh& rhs) const;
 
private:
  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::Mesh, "Mesh")
#endif