solid_3d_object.h

#pragma once
 
#include <GL/glut.h>
#include <vector>
#include <Eigen/Dense>
#include <fstream>
 
#include "SOLID.h"
#include "MT_Scalar.h"
#include "MT_Point3.h"
#include "stl_shape.h"
 
 
namespace bmpf {
    class Solid3Object {
    public:
        Solid3Object() = default;
 
        Solid3Object(const Solid3Object &) = delete;
 
        Solid3Object &operator=(const Solid3Object &) = delete;
 
        Solid3Object(const std::shared_ptr<bmpf::StlShape> &shape, bool isRobot, MT_Scalar margin = 0.0f)
                : _stl_shape(shape),
                  _object(DT_CreateObject(this, shape->getDTShape())),
                  _isRobot(isRobot) {
            DT_SetMargin(_object, margin);
        }
 
        virtual ~Solid3Object() { DT_DestroyObject(_object); }
 
        static std::shared_ptr<Solid3Object>
        fromStlFile(const std::string &path, bool isRobot, MT_Scalar margin = 0.0f);
 
        void paintGL(bool onlyRobot = false) const;
 
        DT_ObjectHandle getHandle() const { return _object; }
 
        std::vector<float> getTransformedPointsList();
 
    private:
        bool _isRobot{};
        std::shared_ptr<bmpf::StlShape> _stl_shape;
        DT_ObjectHandle _object{};
    };
}