worldsim/include/wmesh.h

/********************************************************************************
 *  WorldSim -- library for robot simulations                                   *
 *  Copyright (C) 2008-2011 Gianluca Massera <emmegian@yahoo.it>                *
 *                                                                              *
 *  This program is free software; you can redistribute it and/or modify        *
 *  it under the terms of the GNU General Public License as published by        *
 *  the Free Software Foundation; either version 2 of the License, or           *
 *  (at your option) any later version.                                         *
 *                                                                              *
 *  This program 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, write to the Free Software                 *
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA  *
 ********************************************************************************/

#ifndef WMESH_H
#define WMESH_H

#include "worldsimconfig.h"
#include "world.h"

namespace farsa {

class FARSA_WSIM_API WMesh : public WObject {
    Q_OBJECT
public:
    WMesh( World* world, QString name="unamed", const wMatrix& tm = wMatrix::identity() );
    virtual ~WMesh();
    bool loadMS3DModel( QString filename );
    void attachTo( WObject* obj );
    WObject* attachedTo() {
        return attacho;
    };
    struct Mesh {
        int m_materialIndex;
        int m_numTriangles;
        int *m_pTriangleIndices;
    };
    struct Material {
        float m_ambient[4], m_diffuse[4], m_specular[4], m_emissive[4];
        float m_shininess;
        QString m_pTextureFilename;
    };
    struct Triangle {
        float m_vertexNormals[3][3];
        float m_s[3], m_t[3];
        int m_vertexIndices[3];
    };
    struct Vertex {
        char m_boneID;
        float m_location[3];
    };

    Mesh* meshes() {
        return m_pMeshes;
    };
    int meshesCount() {
        return m_numMeshes;
    };
    Material* materials() {
        return m_pMaterials;
    };
    int materialsCount() {
        return m_numMaterials;
    };
    Triangle* triangles() {
        return m_pTriangles;
    };
    int trianglesCount() {
        return m_numTriangles;
    };
    Vertex* vertices() {
        return m_pVertices;
    };
    int verticesCount() {
        return m_numVertices;
    };
private:
    WObject* attacho;
    //--- Data representing the mesh
    int m_numMeshes;
    Mesh *m_pMeshes;
    int m_numMaterials;
    Material *m_pMaterials;
    int m_numTriangles;
    Triangle *m_pTriangles;
    int m_numVertices;
    Vertex *m_pVertices;
};

} // end namespace farsa

#endif