VisualObject.h

/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2026  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */
 
#pragma once
 
#include <mrpt/core/optional_ref.h>
#include <mrpt/math/TBoundingBox.h>
#include <mrpt/opengl/COpenGLScene.h>
#include <mrpt/opengl/opengl_frwds.h>
#include <mrpt/poses/CPose3D.h>
#include <mvsim/Shape2p5.h>
#include <mvsim/basic_types.h>
 
#include <cstdint>
#include <memory>
 
namespace mvsim
{
class World;
 
class VisualObject
{
   public:
    VisualObject(
        World* parent, bool insertCustomVizIntoViz = true, bool insertCustomVizIntoPhysical = true);
 
    virtual ~VisualObject();
 
    VisualObject(const VisualObject&) = delete;
    VisualObject& operator=(const VisualObject&) = delete;
    VisualObject(VisualObject&&) = delete;
    VisualObject& operator=(VisualObject&&) = delete;
 
    virtual void guiUpdate(
        const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& viz,
        const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& physical);
 
    World* parent() { return world_; }
    const World* parent() const { return world_; }
 
    void customVisualVisible(const bool visible);
    bool customVisualVisible() const;
 
    const std::optional<Shape2p5>& collisionShape() const { return collisionShape_; }
 
    void showCollisionShape(bool show);
 
    static void FreeOpenGLResources();
 
    static double GeometryEpsilon;
 
   protected:
    bool parseVisual(const rapidxml::xml_node<char>& rootNode);
    bool parseVisual(const JointXMLnode<>& rootNode);
 
    World* world_;
 
    std::shared_ptr<mrpt::opengl::CSetOfObjects> glCustomVisual_;
    std::shared_ptr<mrpt::opengl::CSetOfObjects> glCollision_;
    int32_t glCustomVisualId_ = -1;
 
    const bool insertCustomVizIntoViz_ = true;
    const bool insertCustomVizIntoPhysical_ = true;
 
    virtual void internalGuiUpdate(
        const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& viz,
        const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& physical,
        bool childrenOnly = false) = 0;
 
    void addCustomVisualization(
        const mrpt::opengl::CRenderizable::Ptr& glModel, const mrpt::poses::CPose3D& modelPose = {},
        const float modelScale = 1.0f, const std::string& modelName = "group",
        const std::optional<std::string>& modelURI = std::nullopt,
        const bool initialShowBoundingBox = false,
        const std::optional<double>& scaleOverride = std::nullopt);
 
    void setCollisionShape(const Shape2p5& cs) { collisionShape_ = cs; }
 
   private:
    std::optional<Shape2p5> collisionShape_;
 
    bool implParseVisual(const rapidxml::xml_node<char>& visual_node);
};
}  // namespace mvsim