Interface for indexed triangle meshes. More...

#include <IndexedTriMesh.hpp>

Public Types
typedef T	value_type
	the basic value type of this mesh (for instance double or float)

typedef std::vector< rw::math::Vector3D< T > >	VertexArray
	the vertex array type

typedef rw::core::Ptr< rw::geometry::IndexedTriMesh< T > >	Ptr
	the smart pointer type of this triangle mesh

Public Types inherited from TriMesh
typedef rw::core::Ptr< TriMesh >	Ptr
	smart pointer type to this class

Public Types inherited from GeometryData
enum	GeometryType { PointCloud , LineMesh , PlainTriMesh , IdxTriMesh , SpherePrim , BoxPrim , OBBPrim , AABBPrim , LinePrim , PointPrim , PyramidPrim , ConePrim , TrianglePrim , CylinderPrim , TubePrim , PlanePrim , RayPrim , Implicit , Quadratic , UserType }
	geometry data types

typedef rw::core::Ptr< GeometryData >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< const GeometryData >	CPtr
	const smart pointer type to this class

Public Member Functions
const std::vector< rw::math::Vector3D< T > > &	getNormals () const
	Get vector of normals. More...

std::vector< rw::math::Vector3D< T > > &	getNormals ()
	Get vector of normals. More...

const std::vector< rw::math::Vector3D< T > > &	getVertices () const
	Get vector of vertices. More...

std::vector< rw::math::Vector3D< T > > &	getVertices ()
	Get vector of vertices. More...

uint8_t	getTriangleStride () const
	The stride of a triangle. More...

uint8_t	getIndexSize () const
	The size of the index type used. More...

uint8_t *	getIndexPtr ()
	Pointer to the start of the index array. More...

virtual size_t	size () const
	gets the number of triangles in the triangle array. More...

rw::math::Vector3D< T > &	getVertex (size_t i)
	Get vertex from vertex list. More...

const rw::math::Vector3D< T > &	getVertex (size_t i) const
	Get vertex from vertex list. More...

bool	hasVertexNormals () const
	Check if trimesh has vertex normals defined. More...

bool	hasFaceNormals () const
	Check if trimesh has face normals defined. More...

virtual const rw::math::Vector3D< T > &	getVertexNormal (size_t i, VertexIdx vidx) const =0
	Get normal of vertex vidx of triangle at index i. More...

virtual rw::math::Vector3D< T > &	getVertexNormal (size_t i, VertexIdx vidx)=0
	Get normal of vertex vidx of triangle at index i. More...

virtual const rw::math::Vector3D< T > &	getVertex (size_t i, VertexIdx vidx) const =0
	get vertex vidx of triangle at index i. More...

virtual rw::math::Vector3D< T > &	getVertex (size_t i, VertexIdx vidx)=0
	get vertex vidx of triangle at index i. More...

virtual rw::geometry::IndexedTriangle< uint32_t >	getIndexedTriangle (size_t i) const =0
	get the indexed triangle at index i More...

virtual int	getNrTris () const =0
	The number of triangles in the mesh. More...

GeometryData::GeometryType	getType () const
	the type of this primitive More...

void *	getIndices ()
	Get pointer to first element of index array. More...

void	scale (double scale)
	Scale all vertices in the mesh. More...

Public Member Functions inherited from TriMesh
virtual	~TriMesh ()
	destructor

virtual rw::geometry::Triangle< double >	getTriangle (size_t idx) const =0
	gets the triangle at index idx. More...

virtual void	getTriangle (size_t idx, rw::geometry::Triangle< double > &dst) const =0
	gets the triangle at index idx. More...

virtual void	getTriangle (size_t idx, rw::geometry::Triangle< float > &dst) const =0
	gets the triangle at index idx. Using Floating point presicion More...

virtual size_t	getSize () const
	gets the number of triangles in the triangle array.

virtual rw::core::Ptr< TriMesh >	clone () const =0
	make a clone of this triangle mesh More...

rw::core::Ptr< TriMesh >	getTriMesh (bool forceCopy=true)
	gets a trimesh representation of this geometry data. More...

rw::core::Ptr< const TriMesh >	getTriMesh (bool forceCopy=true) const
	gets a trimesh representation of this geometry data. More...

virtual bool	isConvex ()
	test if this geometry data is convex More...

void	setConvexEnabled (bool isConvex)

double	getVolume () const
	calculate a volume of this triangle mesh

Public Member Functions inherited from GeometryData
virtual	~GeometryData ()
	Destructor.

Protected Member Functions
	IndexedTriMesh (rw::core::Ptr< VertexArray > vertices, rw::core::Ptr< VertexArray > normals, uint8_t triStride, uint8_t idxsize)
	generic constructor More...

	~IndexedTriMesh ()
	Destructor.

void	setTriArray (uint8_t *triarray)
	Sets the indice array. More...

Protected Attributes
VertexArray *	_vertices
	pointer to vertice array

rw::core::Ptr< VertexArray >	_vertPtr
	Smart pointer to maintain ownership of vertice array.

VertexArray *	_normals
	pointer to normal array

rw::core::Ptr< VertexArray >	_normPtr
	Smart pointer to maintain ownership of normals array.

uint8_t *	_triIdxArr
	pointer to indice array

const uint8_t	_stride
	The stride.

const uint8_t	_idxsize
	Size of index.

Additional Inherited Members
Static Public Member Functions inherited from GeometryData
static std::string	toString (GeometryType type)
	format GeometryType to string More...

Detailed Description

template<class T = double>
class rw::geometry::IndexedTriMesh< T >

Interface for indexed triangle meshes.

An indexed triangle mesh has a list of vertices and a list of indicies. The indicies is used as reference into the vertex list. Indicies are grouped into threes such that one triangle is defined by three following indicies.

In the IndexedTriMesh classes the indice list is hidden under a list of IndexedTriangle.

Constructor & Destructor Documentation

◆ IndexedTriMesh()

IndexedTriMesh	(	rw::core::Ptr< VertexArray >	vertices,
		rw::core::Ptr< VertexArray >	normals,
		uint8_t	triStride,
		uint8_t	idxsize
	)

inlineprotected

generic constructor

Parameters

vertices	[in] pointer to vertice array (ownership taken)
normals	[in] pointer to normal array (NULL if not used) (ownership taken)
triStride	[in] the stride of the indice array (set using setTriArray).
idxsize	[in] the size in bytes of an indice in the indice array

Member Function Documentation

◆ getIndexedTriangle()

virtual rw::geometry::IndexedTriangle<uint32_t> getIndexedTriangle ( size_t i ) const

pure virtual

get the indexed triangle at index i

Parameters

i	[in] the index of the triangle

Returns: an indexed triangle

Warning: Using the virtual function comes with a performance penalty. If possible, use functions implemented on subtypes directly.

Implemented in IndexedTriMeshN0< T, S >.

◆ getIndexPtr()

uint8_t* getIndexPtr ( )

inline

Pointer to the start of the index array.

Returns: pointer to byte array.

◆ getIndexSize()

uint8_t getIndexSize ( ) const

inline

The size of the index type used.

Returns: Typically 2 (uint16_t) or 4 (uint32_t).

◆ getIndices()

void* getIndices ( )

inline

Get pointer to first element of index array.

Returns: pointer to first element.

◆ getNormals() [1/2]

std::vector<rw::math::Vector3D<T> >& getNormals ( )

inline

Get vector of normals.

Returns: reference to vector.

◆ getNormals() [2/2]

const std::vector<rw::math::Vector3D<T> >& getNormals ( ) const

inline

Get vector of normals.

Returns: reference to vector.

◆ getNrTris()

virtual int getNrTris ( ) const

pure virtual

The number of triangles in the mesh.

Returns: nr of triangles

Implemented in IndexedTriMeshN0< T, S >.

◆ getTriangleStride()

uint8_t getTriangleStride ( ) const

inline

The stride of a triangle.

Returns: the stride.

◆ getType()

GeometryData::GeometryType getType ( ) const

inlinevirtual

the type of this primitive

Implements GeometryData.

◆ getVertex() [1/4]

rw::math::Vector3D<T>& getVertex ( size_t i )

inline

Get vertex from vertex list.

Parameters

i	[in] the vertex id (NOT the triangle id).

Returns: a reference to the vertex.

◆ getVertex() [2/4]

const rw::math::Vector3D<T>& getVertex ( size_t i ) const

inline

Get vertex from vertex list.

Parameters

i	[in] the vertex id (NOT the triangle id).

Returns: a reference to the vertex.

◆ getVertex() [3/4]

virtual const rw::math::Vector3D<T>& getVertex	(	size_t	i,
		VertexIdx	vidx
	)		const

pure virtual

get vertex vidx of triangle at index i.

Parameters

i	[in] the index of the triangle
vidx	[in] the index of the triangle vertex

Returns: reference to vertex.

Warning: Using the virtual function comes with a performance penalty. If possible, use functions implemented on subtypes directly (like IndexedTriMeshN0::getTriVertex).

Implemented in IndexedTriMeshN0< T, S >.

◆ getVertex() [4/4]

virtual rw::math::Vector3D<T>& getVertex	(	size_t	i,
		VertexIdx	vidx
	)

pure virtual

get vertex vidx of triangle at index i.

Parameters

i	[in] the index of the triangle
vidx	[in] the index of the triangle vertex

Returns: reference to vertex.

Warning: Using the virtual function comes with a performance penalty. If possible, use functions implemented on subtypes directly (like IndexedTriMeshN0::getTriVertex).

Implemented in IndexedTriMeshN0< T, S >.

◆ getVertexNormal() [1/2]

virtual const rw::math::Vector3D<T>& getVertexNormal	(	size_t	i,
		VertexIdx	vidx
	)		const

pure virtual

Get normal of vertex vidx of triangle at index i.

Parameters

i	[in] the index of the triangle.
vidx	[in] the triangle vertex.

Returns: reference to normal vector.

Warning: Using the virtual function comes with a performance penalty. If possible, use functions implemented on subtypes directly.

Implemented in IndexedTriMeshN0< T, S >.

◆ getVertexNormal() [2/2]

virtual rw::math::Vector3D<T>& getVertexNormal	(	size_t	i,
		VertexIdx	vidx
	)

pure virtual

Get normal of vertex vidx of triangle at index i.

Parameters

i	[in] the index of the triangle.
vidx	[in] the triangle vertex.

Returns: reference to normal vector.

Warning: Using the virtual function comes with a performance penalty. If possible, use functions implemented on subtypes directly.

Implemented in IndexedTriMeshN0< T, S >.

◆ getVertices() [1/2]

std::vector<rw::math::Vector3D<T> >& getVertices ( )

inline

Get vector of vertices.

Returns: reference to vector.

◆ getVertices() [2/2]

const std::vector<rw::math::Vector3D<T> >& getVertices ( ) const

inline

Get vector of vertices.

Returns: reference to vector.

◆ hasFaceNormals()

bool hasFaceNormals ( ) const

inline

Check if trimesh has face normals defined.

Returns: true if face normals are defined.

◆ hasVertexNormals()

bool hasVertexNormals ( ) const

inline

Check if trimesh has vertex normals defined.

Returns: true if vertex normals are defined.

◆ scale()

void scale ( double scale )

inlinevirtual

Scale all vertices in the mesh.

Implements TriMesh.

◆ setTriArray()

void setTriArray ( uint8_t * triarray )

inlineprotected

Sets the indice array.

Parameters

triarray [in] the array.

◆ size()

virtual size_t size ( ) const

inlinevirtual

gets the number of triangles in the triangle array.

Implements TriMesh.

The documentation for this class was generated from the following file:

IndexedTriMesh.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<class T = double> class rw::geometry::IndexedTriMesh< T >

Constructor & Destructor Documentation

◆ IndexedTriMesh()

Member Function Documentation

◆ getIndexedTriangle()

◆ getIndexPtr()

◆ getIndexSize()

◆ getIndices()

◆ getNormals() [1/2]

◆ getNormals() [2/2]

◆ getNrTris()

◆ getTriangleStride()

◆ getType()

◆ getVertex() [1/4]

◆ getVertex() [2/4]

◆ getVertex() [3/4]

◆ getVertex() [4/4]

◆ getVertexNormal() [1/2]

◆ getVertexNormal() [2/2]

◆ getVertices() [1/2]

◆ getVertices() [2/2]

◆ hasFaceNormals()

◆ hasVertexNormals()

◆ scale()

◆ setTriArray()

◆ size()

template<class T = double>
class rw::geometry::IndexedTriMesh< T >