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/* Author: Ioan Sucan */
#ifndef GEOMETRIC_SHAPES_MESH_OPERATIONS_
#define GEOMETRIC_SHAPES_MESH_OPERATIONS_
#include "geometric_shapes/shapes.h"
#include <eigen_stl_containers/eigen_stl_containers.h>
#include <vector>
// forward declaration of aiScene (caller needs to include assimp if aiScene is used)
class aiScene;
namespace shapes
{
/** \brief Load a mesh from a set of vertices. Triangles are
constructed using index values from the triangles
vector. Triangle k has vertices at index values triangles[3k],
triangles[3k+1], triangles[3k+2] */
Mesh* createMeshFromVertices(const EigenSTL::vector_Vector3d &vertices, const std::vector<unsigned int> &triangles);
/** \brief Load a mesh from a set of vertices. Every 3 vertices
are considered a triangle. Repeating vertices are identified
and the set of triangle indices is constructed. The normal at
each triangle is also computed */
Mesh* createMeshFromVertices(const EigenSTL::vector_Vector3d &source);
/** \brief Load a mesh from a resource that contains a mesh that can be loaded by assimp */
Mesh* createMeshFromResource(const std::string& resource);
/** \brief Load a mesh from a resource that contains a mesh that can be loaded by assimp */
Mesh* createMeshFromResource(const std::string& resource, const Eigen::Vector3d &scale);
/** \brief Load a mesh from a binary stream that contains a mesh that can be loaded by assimp */
Mesh* createMeshFromBinary(const char* buffer, std::size_t size,
const std::string &assimp_hint = std::string());
/** \brief Load a mesh from a resource that contains a mesh that can be loaded by assimp */
Mesh* createMeshFromBinary(const char *buffer, std::size_t size, const Eigen::Vector3d &scale,
const std::string &assimp_hint = std::string());
/** \brief Load a mesh from an assimp datastructure */
Mesh* createMeshFromAsset(const aiScene* scene, const Eigen::Vector3d &scale,
const std::string &assimp_hint = std::string());
/** \brief Load a mesh from an assimp datastructure */
Mesh* createMeshFromAsset(const aiScene* scene,
const std::string &assimp_hint = std::string());
/** \brief Construct a mesh from a primitive shape that is NOT already a mesh. This call allocates a new object. */
Mesh* createMeshFromShape(const Shape *shape);
/** \brief Construct a mesh from a box */
Mesh* createMeshFromShape(const Box &box);
/** \brief Construct a mesh from a sphere */
Mesh* createMeshFromShape(const Sphere &sphere);
/** \brief Construct a mesh from a cylinder */
Mesh* createMeshFromShape(const Cylinder &cylinder);
/** \brief Construct a mesh from a cone */
Mesh* createMeshFromShape(const Cone &cone);
/** \brief Write the mesh to a buffer in STL format */
void writeSTLBinary(const Mesh* mesh, std::vector<char> &buffer);
}
#endif
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