mesh_material.h

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#ifndef TESSERACT_GEOMETRY_MESH_MATERIAL_H
#define TESSERACT_GEOMETRY_MESH_MATERIAL_H
 
#include <tesseract_common/macros.h>
#include <tesseract_common/resource_locator.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <Eigen/Geometry>
#include <memory>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_geometry/geometry.h>
#include <tesseract_common/types.h>
 
namespace tesseract_geometry
{
class MeshMaterial
{
public:
  using Ptr = std::shared_ptr<MeshMaterial>;
  using ConstPtr = std::shared_ptr<const MeshMaterial>;
 
  MeshMaterial(Eigen::Vector4d baseColorFactor,
               double metallicFactor,
               double roughnessFactor,
               Eigen::Vector4d emissiveFactor)
    : base_color_factor_(std::move(baseColorFactor))
    , metallic_factor_(metallicFactor)
    , roughness_factor_(roughnessFactor)
    , emissive_factor_(std::move(emissiveFactor))
  {
  }
  MeshMaterial() = default;
 
  Eigen::Vector4d getBaseColorFactor() const { return base_color_factor_; }
 
  double getMetallicFactor() const { return metallic_factor_; }
 
  double getRoughnessFactor() const { return roughness_factor_; }
 
  Eigen::Vector4d getEmissiveFactor() const { return emissive_factor_; }
 
private:
  // Mesh material based on simplified glTF 2.0 pbrMetallicRoughness parameters
  Eigen::Vector4d base_color_factor_;
  double metallic_factor_ = 0;
  double roughness_factor_ = 0.5;
  Eigen::Vector4d emissive_factor_;
};
 
class MeshTexture
{
public:
  using Ptr = std::shared_ptr<MeshTexture>;
  using ConstPtr = std::shared_ptr<const MeshTexture>;
 
  MeshTexture(tesseract_common::Resource::Ptr texture_image,
              std::shared_ptr<const tesseract_common::VectorVector2d> uvs)
    : uvs_(std::move(uvs)), texture_image_(std::move(texture_image))
  {
  }
 
  tesseract_common::Resource::Ptr getTextureImage() const { return texture_image_; }
 
  const std::shared_ptr<const tesseract_common::VectorVector2d>& getUVs() { return uvs_; }
 
private:
  std::shared_ptr<const tesseract_common::VectorVector2d> uvs_;
 
  // texture_image shall be jpg or png
  tesseract_common::Resource::Ptr texture_image_;
};
}  // namespace tesseract_geometry
 
#endif