graphics.h

 
#ifndef SPATIAL_DYN_STRUCTS_GRAPHICS_H_
#define SPATIAL_DYN_STRUCTS_GRAPHICS_H_
 
#include <iostream>  // std::istream, std::ostream
#include <string>    // std::string
 
#include "spatial_dyn/eigen/spatial_math.h"
 
namespace spatial_dyn {
 
// TODO: Finish
 
struct Graphics {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  struct Geometry {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    enum class Type {
      kUndefined,  
      kBox,        
      kCapsule,    
      kCylinder,   
      kSphere,     
      kMesh        
    };
 
    Type type = Type::kUndefined;
 
    Eigen::Vector3d scale = Eigen::Vector3d::Ones();
 
    double radius = 0;
 
    double length = 0;
 
    std::string mesh;
  };
 
  struct Material {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    std::string name;
    Eigen::Vector4d rgba = Eigen::Vector4d::Ones();
    std::string texture;  // Texture filename
  };
 
  Graphics(const std::string& name = "") : name(name) {}
 
  std::string name;
  Eigen::Isometry3d T_to_parent = Eigen::Isometry3d::Identity();
  Geometry geometry;
  Material material;
};
 
std::ostream& operator<<(std::ostream& os, const Graphics::Geometry::Type& type);
 
std::istream& operator>>(std::istream& is, Graphics::Geometry::Type& type);
 
}  // namespace spatial_dyn
 
#endif  // SPATIAL_DYN_STRUCTS_RIGID_BODY_H_