DebugDrawerUtils.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2017, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ArmarX
 * @author     Mirko Waechter( mirko.waechter at kit dot edu)
 * @date       2018
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
#include <VirtualRobot/Visualization/TriMeshModel.h>
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
#include <Eigen/Core>
namespace armarx
{
    class DebugDrawerUtils
    {
    public:
        static DebugDrawerTriMesh convertTriMesh(const VirtualRobot::TriMeshModel& trimesh)
        {
            DebugDrawerTriMesh ddMesh;
 
            auto addVertex = [&](const Eigen::Vector3f & v)
            {
                ddMesh.vertices.push_back({v(0), v(1), v(2)});
                return (int)ddMesh.vertices.size() - 1;
            };
 
            auto addColor = [&](const VirtualRobot::VisualizationFactory::Color & c)
            {
                ddMesh.colors.push_back(DrawColor {c.r, c.g, c.b, c.transparency});
                return (int)ddMesh.colors.size() - 1;
            };
            ddMesh.faces.reserve(trimesh.faces.size());
            ddMesh.vertices.reserve(trimesh.vertices.size());
            ddMesh.colors.reserve(trimesh.colors.size());
 
            for (auto& f : trimesh.faces)
            {
                DebugDrawerFace f2;
                f2.vertex1.vertexID = addVertex(trimesh.vertices.at(f.id1));
                f2.vertex2.vertexID = addVertex(trimesh.vertices.at(f.id2));
                f2.vertex3.vertexID = addVertex(trimesh.vertices.at(f.id3));
                if (f.idNormal1 != UINT_MAX)
                {
                    f2.vertex1.normalID = addVertex(trimesh.normals.at(f.idNormal1));
                    f2.vertex2.normalID = addVertex(trimesh.normals.at(f.idNormal2));
                    f2.vertex3.normalID = addVertex(trimesh.normals.at(f.idNormal3));
                }
                else
                {
                    //                    f2.vertex1.normalID = f2.vertex2.normalID = f2.vertex3.normalID = addVertex(f.normal);
                    f2.normal = {f.normal.x(), f.normal.y(), f.normal.z()};
                }
                f2.vertex1.colorID = addColor(trimesh.colors.at(f.idColor1));
                f2.vertex2.colorID = addColor(trimesh.colors.at(f.idColor2));
                f2.vertex3.colorID = addColor(trimesh.colors.at(f.idColor3));
 
                ddMesh.faces.push_back(f2);
            }
            return ddMesh;
        }
 
    };
}