VisualizationMesh.h

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#pragma once
 
#include <RobotAPI/interface/ArViz/Elements.h>
 
#include "ElementVisualizer.h"
#include <Inventor/SbColor.h>
 
class SoCoordinate3;
class SoIndexedFaceSet;
 
namespace armarx::viz::coin
{
    struct VisualizationMesh : TypedElementVisualization<SoSeparator>
    {
        using ElementType = data::ElementMesh;
 
        VisualizationMesh();
 
        bool update(ElementType const& element);
 
        SoMaterial* materials;
        SoCoordinate3* coords;
        SoIndexedFaceSet* faceSet;
 
        std::vector<SbColor> matColor;
        std::vector<float> transp;
        std::vector<SbVec3f> vertexPositions;
        std::vector<int32_t> faces;
        std::vector<int32_t> matInx;
    };
} // namespace armarx::viz::coin