RemoteAR2/src/scene_manager.hpp

#ifndef REMOTEAR2_SCENE_MANAGER_HPP
#define REMOTEAR2_SCENE_MANAGER_HPP

#include "sophiar_connect.h"

#include <vtkActor.h>
#include <vtkMatrix4x4.h>
#include <vtkPolyDataMapper.h>
#include <vtkProperty.h>
#include <vtkSmartPointer.h>
#include <vtkSTLReader.h>

#include <vector>

struct scene_manager {

    struct actor_info {
        vtkSmartPointer<vtkActor> actor;
        vtkSmartPointer<vtkMatrix4x4> pose;
        int pose_variable_id = -1; // -1 will not be updated
    };

    using actor_pool_type = std::vector<actor_info>;
    actor_pool_type actor_pool;

    sophiar::variable_io *var_io = nullptr;

    static void transform_to_vtk_matrix(const sophiar::transform_type &trans, vtkMatrix4x4 *matrix) {
        if (matrix == nullptr) return;
        for (int i = 0; i < 4; ++i) {
            for (int j = 0; j < 4; ++j) {
                matrix->SetElement(i, j, trans(i, j));
            }
        }
        matrix->Modified();
    }

    vtkActor *add_actor(std::string_view file_name, int variable_id) {
        vtkNew<vtkSTLReader> reader;
        reader->SetFileName(file_name.data());
        reader->Update();
        vtkNew<vtkPolyDataMapper> mapper;
        mapper->SetInputData(reader->GetOutput());
        vtkNew<vtkActor> actor;
        actor->SetMapper(mapper);
        vtkNew<vtkMatrix4x4> pose_matrix;
        actor->SetUserMatrix(pose_matrix);

        auto &next_actor = actor_pool.emplace_back();
        next_actor.actor = actor;
        next_actor.pose = pose_matrix;
        next_actor.pose_variable_id = variable_id;

        return actor;
    }

    void update_pose() {
        assert(var_io != nullptr);
        for (auto &actor: actor_pool) {
            assert(actor.pose_variable_id != -1);
            auto next_pose = var_io->query_transform_variable(actor.pose_variable_id);
            if (next_pose.has_value()) {
                transform_to_vtk_matrix(*next_pose.value(), actor.pose);
                actor.actor->SetVisibility(true);
            } else {
                actor.actor->SetVisibility(false);
            }
            actor.actor->Modified();
        }
    }

};

#endif //REMOTEAR2_SCENE_MANAGER_HPP