text: /*
   * Copyright (c) 2011-2018, The DART development contributors
   * All rights reserved.
   *
   * The list of contributors can be found at:
   *   https://github.com/dartsim/dart/blob/master/LICENSE
   *
   * This file is provided under the following "BSD-style" License:
   *   Redistribution and use in source and binary forms, with or
   *   without modification, are permitted provided that the following
   *   conditions are met:
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
   *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
   *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
   *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
   *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
   *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
   *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
   *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *   POSSIBILITY OF SUCH DAMAGE.
   */
  
  #ifndef DART_DYNAMICS_MESHSHAPE_HPP_
  #define DART_DYNAMICS_MESHSHAPE_HPP_
  
  #include <string>
  
  #include <assimp/scene.h>
  
  #include "dart/dynamics/Shape.hpp"
  #include "dart/common/ResourceRetriever.hpp"
  
  namespace Assimp {
  
  class IOSystem;
  
  } // namespace Assimp
  
  namespace dart {
  namespace dynamics {
  
  class MeshShape : public Shape
  {
  public:
    enum ColorMode
    {
      MATERIAL_COLOR = 0, ///< Use the colors specified by the Mesh's material
      COLOR_INDEX,        ///< Use the colors specified by aiMesh::mColor
      SHAPE_COLOR,        ///< Use the color specified by the Shape base class
    };
  
    /// Constructor.
    MeshShape(const Eigen::Vector3d& scale,
      const aiScene* mesh,
      const common::Uri& uri = "",
      common::ResourceRetrieverPtr resourceRetriever = nullptr);
  
    /// Destructor.
    virtual ~MeshShape();
  
    // Documentation inherited.
    const std::string& getType() const override;
  
    /// Returns shape type for this class
    static const std::string& getStaticType();
  
    const aiScene* getMesh() const;
  
    /// Updates positions of the vertices or the elements. By default, this does
    /// nothing; you must extend the MeshShape class and implement your own
    /// version of this function if you want the mesh data to get updated before
    /// rendering
    virtual void update();
  
    // Documentation inherited
    void notifyAlphaUpdated(double alpha) override;
  
    void setMesh(
      const aiScene* mesh,
      const std::string& path = "",
      common::ResourceRetrieverPtr resourceRetriever = nullptr);
  
    void setMesh(
      const aiScene* mesh,
      const common::Uri& path,
      common::ResourceRetrieverPtr resourceRetriever = nullptr);
  
    /// Returns URI to the mesh as std::string; an empty string if unavailable.
    std::string getMeshUri() const;
    // TODO(DART 7): Replace with getMeshUri2().
  
    /// Returns URI to the mesh; an empty string if unavailable.
    const common::Uri& getMeshUri2() const;
    // TODO(DART 7): Remove.
  
    /// Returns path to the mesh on disk; an empty string if unavailable.
    const std::string& getMeshPath() const;
  
    common::ResourceRetrieverPtr getResourceRetriever();
  
    void setScale(const Eigen::Vector3d& scale);
  
    const Eigen::Vector3d& getScale() const;
  
    /// Set how the color of this mesh should be determined
    void setColorMode(ColorMode mode);
  
    /// Get the coloring mode that this mesh is using
    ColorMode getColorMode() const;
  
    /// Set which entry in aiMesh::mColor should be used when the color mode is
    /// COLOR_INDEX. This value must be smaller than AI_MAX_NUMBER_OF_COLOR_SETS.
    /// If the color index is higher than what the mesh has available, then we
    /// will use the highest index possible.
    void setColorIndex(int index);
  
    /// Get the index that will be used when the ColorMode is set to COLOR_INDEX
    int getColorIndex() const;
  
    int getDisplayList() const;
  
    void setDisplayList(int index);
  
    static const aiScene* loadMesh(const std::string& filePath);
  
    static const aiScene* loadMesh(
      const std::string& _uri, const common::ResourceRetrieverPtr& retriever);
  
    static const aiScene* loadMesh(
      const common::Uri& uri, const common::ResourceRetrieverPtr& retriever);
  
    // Documentation inherited.
    Eigen::Matrix3d computeInertia(double mass) const override;
  
  protected:
    // Documentation inherited.
    void updateBoundingBox() const override;
  
    // Documentation inherited.
    void updateVolume() const override;
  
    const aiScene* mMesh;
  
    /// URI the mesh, if available).
    common::Uri mMeshUri;
  
    /// Path the mesh on disk, if available.
    std::string mMeshPath;
  
    /// Optional method of loading resources by URI.
    common::ResourceRetrieverPtr mResourceRetriever;
  
    /// OpenGL DisplayList id for rendering
    int mDisplayList;
  
    /// Scale
    Eigen::Vector3d mScale;
  
    /// Specifies how the color of this mesh should be determined
    ColorMode mColorMode;
  
    /// Specifies which color index should be used when mColorMode is COLOR_INDEX
    int mColorIndex;
  };
  
  }  // namespace dynamics
  }  // namespace dart
  
  #endif  // DART_DYNAMICS_MESHSHAPE_HPP_
  