A concrete 3d object consisting of geometry information, material and texture. More...

#include <Object3D.hpp>

Public Types
typedef rw::core::Ptr< Object3D >	Ptr
	Smart pointer type for Object3D.

Public Types inherited from Object3DGeneric
typedef rw::core::Ptr< Object3DGeneric >	Ptr
	Smart pointer type for Object3DGeneric.

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
	Object3D (const std::string &name)
	constructor More...

virtual	~Object3D ()
	destructor

virtual std::size_t	countFaces () const
	Get the number of faces. More...

virtual std::vector< rw::math::Vector3D< float > >	getFaceVertices (size_t idx) const
	Returns vertices corresponding to the idx face. More...

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

void	addTriangle (const rw::geometry::IndexedTriangle< T > &tri)
	add triangle using currently selected material

void	addTriangles (const std::vector< rw::geometry::IndexedTriangle< T >> &tris)
	add triangles using currently selected material

void	addTriangles (T material, const std::vector< rw::geometry::IndexedTriangle< T >> &tris)
	add triangles to this object using a specific material in the Model3D More...

void	scale (double scale)
	Scales the model by scale. More...

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

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

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

virtual Object3DGeneric::Ptr	copy () const
	make a clone of this triangle mesh More...

Public Member Functions inherited from Object3DGeneric
virtual	~Object3DGeneric ()
	destructor

bool	hasTexture () const
	test if the object is textured

void	setMaterial (std::size_t material)
	set the material used by addTriangles More...

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

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

virtual GeometryType	getType () const
	the type of this primitive

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

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.

Public Attributes
std::vector< rw::geometry::IndexedTriangle< T > >	_faces
	list containing indexed polygons. The polygons index into the _vertices array and the _normals array The normal is implicitly indexed and defined as same index as the vertex.

std::vector< rw::geometry::IndexedPolygonN< T > >	_polys
	list containing indexed polygons. The polygons index into the _vertices array and the _normals array The normal is implicitly indexed and defined as same index as the vertex.

Public Attributes inherited from Object3DGeneric
std::string	_name
	name/id of object

int	_parentObj
	index of parent object

bool	_hasTexture
	true if any of the materials used has texture

std::vector< rw::math::Vector3D< float > >	_vertices
	Vertice array.

std::vector< rw::math::Vector3D< float > >	_normals
	Normal array, there must be exactly one normal per vertex.

std::vector< rw::math::Vector2D< float > >	_texCoords
	Texture coordinate array, the texture coordinates can be mapped to either vertices or faces. The reason for this is that often vertices share two or more texcoordinates and if mapping directly to vertices then additional vertices is necessary.

bool	_mappedToFaces
	if true then the tex coodinates are mapped to faces and not vertices. if false then the texCoords are mapped to each vertice

rw::math::Transform3D< float >	_transform
	Transform of the object.

std::vector< Object3DGeneric::Ptr >	_kids
	Child objects.

rw::math::Vector2D< float >	_texOffset
	Offset of texture.

rw::math::Vector2D< float >	_texRepeat
	Repeat texture.

std::vector< MaterialMapData >	_materialMap
	maps material into a range of triangles.

std::vector< MaterialPolys::Ptr >	_matPolys
	Polygons ordered according to material.

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

Protected Member Functions inherited from Object3DGeneric
	Object3DGeneric (const std::string &name)
	constructor More...

Detailed Description

template<class T = uint16_t>
class rw::geometry::Object3D< T >

A concrete 3d object consisting of geometry information, material and texture.

The template parameter should be chosen based on the number of vertices in the mesh, in order to reduce memory consumption.

For a mesh that has 255 vertices or less, use Object3D<uint8_t>.

For a mesh that has 65535 vertices or less, use Object3D<uint16_t>.

For a mesh that has more than 65535 vertices, use Object3D<uint32_t>.

Constructor & Destructor Documentation

◆ Object3D()

Object3D ( const std::string & name )

inline

constructor

Parameters

name	[in] name of object

Member Function Documentation

◆ addTriangles()

void addTriangles	(	T	material,
		const std::vector< rw::geometry::IndexedTriangle< T >> &	tris
	)

inline

add triangles to this object using a specific material in the Model3D

Parameters

material	[in] index of the material to be used
tris	[in] triangles to add

◆ clone()

virtual rw::core::Ptr<TriMesh> clone ( ) const

inlinevirtual

make a clone of this triangle mesh

Returns: clone of this trimesh

Implements TriMesh.

◆ copy()

virtual Object3DGeneric::Ptr copy ( ) const

inlinevirtual

make a clone of this triangle mesh

Returns: clone of this Object3D

Implements Object3DGeneric.

◆ countFaces()

virtual std::size_t countFaces ( ) const

inlinevirtual

Get the number of faces.

Returns: the number of faces.

Implements Object3DGeneric.

◆ getFaceVertices()

virtual std::vector<rw::math::Vector3D<float> > getFaceVertices ( size_t idx ) const

inlinevirtual

Returns vertices corresponding to the idx face.

Parameters

idx	[in] Index of the face

Returns: List with vertices

Implements Object3DGeneric.

◆ getTriangle()

virtual rw::geometry::Triangle<double> getTriangle ( size_t idx ) const

inlinevirtual

gets the triangle at index idx.

Parameters

idx	[in] the index of the triangle.

Returns: the triangle at index idx

Implements Object3DGeneric.

◆ scale()

void scale ( double scale )

inlinevirtual

Scales the model by scale.

The transformation of the model is not scaled.

Parameters

scale [in] scaling factor

Implements TriMesh.

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

Object3D.hpp

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

template<class T = uint16_t> class rw::geometry::Object3D< T >

Constructor & Destructor Documentation

◆ Object3D()

Member Function Documentation

◆ addTriangles()

◆ clone()

◆ copy()

◆ countFaces()

◆ getFaceVertices()

◆ getTriangle()

◆ scale()

template<class T = uint16_t>
class rw::geometry::Object3D< T >