248 lines
8.0 KiB
C++
248 lines
8.0 KiB
C++
// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include <vector>
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#include <carla/geom/Vector3D.h>
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#include <carla/geom/Vector2D.h>
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#ifdef LIBCARLA_INCLUDED_FROM_UE4
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#include <compiler/enable-ue4-macros.h>
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#include "Util/ProceduralCustomMesh.h"
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#include <compiler/disable-ue4-macros.h>
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#endif // LIBCARLA_INCLUDED_FROM_UE4
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namespace carla {
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namespace geom {
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/// Material that references the vertex index start and end of
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/// a mesh where it is affecting.
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struct MeshMaterial {
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MeshMaterial(
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const std::string &new_name,
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size_t start = 0u,
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size_t end = 0u)
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: name(new_name),
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index_start(start),
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index_end(end) {}
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const std::string name;
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size_t index_start;
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size_t index_end;
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};
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/// Mesh data container, validator and exporter.
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class Mesh {
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public:
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using vertex_type = Vector3D;
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using normal_type = Vector3D;
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using index_type = size_t;
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using uv_type = Vector2D;
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using material_type = MeshMaterial;
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// =========================================================================
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// -- Constructor ----------------------------------------------------------
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// =========================================================================
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Mesh(const std::vector<vertex_type> &vertices = {},
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const std::vector<normal_type> &normals = {},
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const std::vector<index_type> &indexes = {},
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const std::vector<uv_type> &uvs = {})
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: _vertices(vertices),
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_normals(normals),
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_indexes(indexes),
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_uvs(uvs) {}
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// =========================================================================
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// -- Validate methods -----------------------------------------------------
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// =========================================================================
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/// Check if the mesh can be valid or not.
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bool IsValid() const;
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// =========================================================================
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// -- Mesh build methods ---------------------------------------------------
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// =========================================================================
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/// Adds a triangle strip to the mesh, vertex order is counterclockwise.
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void AddTriangleStrip(const std::vector<vertex_type> &vertices);
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/// Adds a triangle fan to the mesh, vertex order is counterclockwise.
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void AddTriangleFan(const std::vector<vertex_type> &vertices);
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/// Appends a vertex to the vertices list.
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void AddVertex(vertex_type vertex);
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/// Appends a vertex to the vertices list.
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void AddVertices(const std::vector<vertex_type> &vertices);
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/// Appends a normal to the normal list.
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void AddNormal(normal_type normal);
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/// Appends a index to the indexes list.
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void AddIndex(index_type index);
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/// Appends a vertex to the vertices list, they will be read 3 in 3.
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void AddUV(uv_type uv);
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/// Appends uvs.
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void AddUVs(const std::vector<uv_type> & uv);
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/// Starts applying a new material to the new added triangles.
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void AddMaterial(const std::string &material_name);
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/// Stops applying the material to the new added triangles.
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void EndMaterial();
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// =========================================================================
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// -- Export methods -------------------------------------------------------
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// =========================================================================
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/// Returns a string containing the mesh encoded in OBJ.
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/// Units are in meters. It is in Unreal space.
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std::string GenerateOBJ() const;
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/// Returns a string containing the mesh encoded in OBJ.
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/// Units are in meters. This function exports the OBJ file
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/// specifically to be consumed by Recast library.
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/// Changes the build face direction and the coordinate space.
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std::string GenerateOBJForRecast() const;
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/// Returns a string containing the mesh encoded in PLY.
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/// Units are in meters.
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std::string GeneratePLY() const;
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// =========================================================================
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// -- Other methods --------------------------------------------------------
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// =========================================================================
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const std::vector<vertex_type> &GetVertices() const;
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std::vector<vertex_type> &GetVertices();
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size_t GetVerticesNum() const;
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const std::vector<normal_type> &GetNormals() const;
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const std::vector<index_type>& GetIndexes() const;
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std::vector<index_type> &GetIndexes();
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size_t GetIndexesNum() const;
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const std::vector<uv_type> &GetUVs() const;
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const std::vector<material_type> &GetMaterials() const;
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/// Returns the index of the last added vertex (number of vertices).
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size_t GetLastVertexIndex() const;
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/// Merges two meshes into a single mesh
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Mesh& ConcatMesh(const Mesh& rhs, int num_vertices_to_link);
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/// Merges two meshes into a single mesh
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Mesh &operator+=(const Mesh &rhs);
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friend Mesh operator+(const Mesh &lhs, const Mesh &rhs);
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// =========================================================================
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// -- Conversions to UE4 types ---------------------------------------------
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// =========================================================================
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#ifdef LIBCARLA_INCLUDED_FROM_UE4
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operator FProceduralCustomMesh() const {
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FProceduralCustomMesh Mesh;
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// Build the mesh
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for (const auto Vertex : GetVertices())
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{
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// From meters to centimeters
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Mesh.Vertices.Add(FVector{1e2f * Vertex.x, 1e2f * Vertex.y, 1e2f * Vertex.z});
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}
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const auto Indexes = GetIndexes();
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TArray<FTriIndices> TriIndices;
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for (auto i = 0u; i < Indexes.size(); i += 3)
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{
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FTriIndices Triangle;
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// "-1" since mesh indexes in Unreal starts from index 0.
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Mesh.Triangles.Add(Indexes[i] - 1);
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// Since Unreal's coords are left handed, invert the last 2 indices.
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Mesh.Triangles.Add(Indexes[i + 2] - 1);
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Mesh.Triangles.Add(Indexes[i + 1] - 1);
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Triangle.v0 = Indexes[i] - 1;
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Triangle.v1 = Indexes[i + 2] - 1;
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Triangle.v2 = Indexes[i + 1] - 1;
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TriIndices.Add(Triangle);
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}
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// Compute the normals
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TArray<FVector> Normals;
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Mesh.Normals.Init(FVector::UpVector, Mesh.Vertices.Num());
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for (const auto &Triangle : TriIndices) {
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FVector Normal;
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const FVector U = Mesh.Vertices[Triangle.v1] - Mesh.Vertices[Triangle.v0];
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const FVector V = Mesh.Vertices[Triangle.v2] - Mesh.Vertices[Triangle.v0];
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Normal.X = (U.Y * V.Z) - (U.Z * V.Y);
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Normal.Y = (U.Z * V.X) - (U.X * V.Z);
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Normal.Z = (U.X * V.Y) - (U.Y * V.X);
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Normal = -Normal;
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Normal = Normal.GetSafeNormal(.0001f);
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if (Normal != FVector::ZeroVector)
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{
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// fix to prevent ugly x-fighting in geometries with very large curvatures,
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// ensures that all road geometry is facing upwards
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if (FVector::DotProduct(Normal, FVector(0,0,1)) < 0)
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{
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Normal = -Normal;
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}
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Mesh.Normals[Triangle.v0] = Normal;
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Mesh.Normals[Triangle.v1] = Normal;
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Mesh.Normals[Triangle.v2] = Normal;
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}
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}
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for (const auto uv : GetUVs())
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{
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// From meters to centimeters
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Mesh.UV0.Add(FVector2D{uv.x, uv.y});
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}
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return Mesh;
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}
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#endif // LIBCARLA_INCLUDED_FROM_UE4
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private:
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// =========================================================================
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// -- Private data members -------------------------------------------------
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// =========================================================================
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std::vector<vertex_type> _vertices;
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std::vector<normal_type> _normals;
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std::vector<index_type> _indexes;
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std::vector<uv_type> _uvs;
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std::vector<material_type> _materials;
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};
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} // namespace geom
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} // namespace carla
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