Added method to remove meshes from the MeshManager (#222)

Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: Nate Koenig <nate@openrobotics.org>

Co-authored-by: Louise Poubel <louise@openrobotics.org>
Co-authored-by: Michael Carroll <michael@openrobotics.org>
Co-authored-by: Nate Koenig <nate@openrobotics.org>
Co-authored-by: Nate Koenig <nkoenig@users.noreply.github.com>

graphics/include/ignition/common/MeshManager.hh

@@ -100,6 +100,15 @@ namespace ignition
       /// \param[in] the mesh to add.
       public: void AddMesh(Mesh *_mesh);
 
+      /// \brief Remove a mesh based on a name.
+      /// \param[in] _name Name of the mesh to remove.
+      /// \return True if the mesh was removed, false if the mesh with the
+      /// provided name could not be found.
+      public: bool RemoveMesh(const std::string &_name);
+
+      /// \brief Remove all meshes.
+      public: void RemoveAll();
+
       /// \brief Get a mesh by name.
       /// \param[in] _name the name of the mesh to look for
       /// \return the mesh or nullptr if not found

graphics/src/MeshManager.cc

@@ -241,6 +241,33 @@ const Mesh *MeshManager::MeshByName(const std::string &_name) const
   return nullptr;
 }
 
+//////////////////////////////////////////////////
+void MeshManager::RemoveAll()
+{
+  std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
+  for (auto m : this->dataPtr->meshes)
+  {
+    delete m.second;
+  }
+  this->dataPtr->meshes.clear();
+}
+
+//////////////////////////////////////////////////
+bool MeshManager::RemoveMesh(const std::string &_name)
+{
+  std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
+
+  auto iter = this->dataPtr->meshes.find(_name);
+  if (iter != this->dataPtr->meshes.end())
+  {
+    delete iter->second;
+    this->dataPtr->meshes.erase(iter);
+    return true;
+  }
+
+  return false;
+}
+
 //////////////////////////////////////////////////
 bool MeshManager::HasMesh(const std::string &_name) const
 {

graphics/src/MeshManager_TEST.cc

@@ -267,6 +267,28 @@ TEST_F(MeshManager, CreateExtrudedPolylineInvalid)
   EXPECT_TRUE(!common::MeshManager::Instance()->HasMesh(meshName));
 }
 
+/////////////////////////////////////////////////
+TEST_F(MeshManager, Remove)
+{
+  auto mgr = common::MeshManager::Instance();
+
+  EXPECT_FALSE(mgr->HasMesh("box"));
+  mgr->CreateBox("box",
+      ignition::math::Vector3d(1, 1, 1),
+      ignition::math::Vector2d(0, 0));
+  EXPECT_TRUE(mgr->HasMesh("box"));
+
+  mgr->CreateSphere("sphere", 1.0, 1, 1);
+  EXPECT_TRUE(mgr->HasMesh("sphere"));
+
+  EXPECT_TRUE(mgr->RemoveMesh("box"));
+  EXPECT_FALSE(mgr->HasMesh("box"));
+  EXPECT_TRUE(mgr->HasMesh("sphere"));
+
+  mgr->RemoveAll();
+  EXPECT_FALSE(mgr->HasMesh("sphere"));
+}
+
 /////////////////////////////////////////////////
 int main(int argc, char **argv)
 {