Add VisualActor

include/overworld/Engine/Common/Urdf/VisualActor.h

@@ -0,0 +1,50 @@
+#ifndef OWDS_COMMON_VISUALACTOR_H
+#define OWDS_COMMON_VISUALACTOR_H
+
+#include <array>
+#include <set>
+#include <vector>
+
+#include "overworld/Engine/Common/Shapes/Shape.h"
+#include "overworld/Engine/Common/Urdf/Actor.h"
+
+namespace owds {
+
+  class VisualActor : public Actor
+  {
+  public:
+    explicit VisualActor(const std::vector<owds::Shape>& visual_shapes);
+
+    ~VisualActor() noexcept override {};
+    void setup(const std::array<double, 3>& position,
+               const std::array<double, 4>& orientation) override;
+
+    void remove() override {}
+
+    void setPhysicsEnabled(bool enabled) override;
+    void setSimulationEnabled(bool enabled) override;
+    void setMass(float mass_kg) override;
+    void setStaticFriction(float coefficient) override;
+    void setDynamicFriction(float coefficient) override;
+    void setRestitution(float coefficient) override;
+
+    /**
+     * @param position Absolute position.
+     * @param orientation Absolute rotation, in radians.
+     */
+    void setPositionAndOrientation(const std::array<double, 3>& position, const std::array<double, 4>& orientation) override;
+    void setVelocity(const std::array<double, 3>& linear_velocity, const std::array<double, 3>& angular_velocity) override;
+
+    AABB_t getAABB() override;
+    AABB_t getLocalAABB() override;
+
+    std::array<float, 16> getModelMatrix() const override;
+    std::pair<std::array<double, 3>, std::array<double, 4>> getPositionAndOrientation() const override;
+
+  private:
+    std::array<double, 3> position_;
+    std::array<double, 4> orientation_;
+  };
+} // namespace owds
+
+#endif // OWDS_COMMON_VISUALACTOR_H

include/overworld/Engine/Common/World.h

@@ -110,6 +110,10 @@ namespace owds {
                        const glm::vec3& position = {0., 0., 0.},
                        const glm::vec3& rotation = {0., 0., 0.});
 
+    size_t createVisualActor(const std::vector<owds::urdf::Geometry_t>& visual_geometries,
+                             const glm::vec3& position = {0., 0., 0.},
+                             const glm::vec3& rotation = {0., 0., 0.});
+
     size_t loadUrdf(const std::string& path,
                     const std::array<float, 3>& position,
                     const std::array<float, 3>& orientation,

models/trees/Tree1.mtl

@@ -0,0 +1,22 @@
+# Blender MTL File: 'Tree1.blend'
+# Material Count: 2
+
+newmtl Leaves
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Material.001
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2