An abstract 3d object consisting of geometry information, material and texture. More...

#include <Object3D.hpp>

Classes
struct	MaterialMapData
	Mapping from triangles to materials. More...

struct	MaterialPolys
	ordering polygons by material consumes more memmory but reduce switches between textures. All indices _subFaces share material _matIndex. More...

Public Types
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
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 std::size_t	countFaces () const =0
	Get the number of faces. More...

virtual std::vector< rw::math::Vector3D< float > >	getFaceVertices (size_t idx) const =0
	Returns vertices corresponding to the idx face. More...

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
	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

virtual Object3DGeneric::Ptr	copy () const =0

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

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

virtual size_t	size () const =0
	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...

virtual void	scale (double scale)=0
	Scale all vertices in the mesh.

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::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.

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

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

Detailed Description

An abstract 3d object consisting of geometry information, material and texture.

To reduce memory, the geometry is implemented slightly differently for different mesh sizes. One of the concrete Object3D implementations should be used in practice.

Constructor & Destructor Documentation

◆ Object3DGeneric()

Object3DGeneric ( const std::string & name )

inlineprotected

constructor

Parameters

name	[in] name of object

Member Function Documentation

◆ countFaces()

virtual std::size_t countFaces ( ) const

pure virtual

Get the number of faces.

Returns: the number of faces.

Implemented in Object3D< T >.

◆ getFaceVertices()

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

pure virtual

Returns vertices corresponding to the idx face.

Parameters

idx	[in] Index of the face

Returns: List with vertices

Implemented in Object3D< T >.

◆ getTriangle() [1/3]

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

pure virtual

gets the triangle at index idx.

Parameters

idx	[in] the index of the triangle.

Returns: the triangle at index idx

Implements TriMesh.

Implemented in Object3D< T >.

◆ getTriangle() [2/3]

virtual void getTriangle	(	size_t	idx,
		rw::geometry::Triangle< double > &	dst
	)		const

virtual

gets the triangle at index idx.

Parameters

idx	[in] the index of the triangle.
dst	[out] where to store the triangle at index idx

Implements TriMesh.

◆ getTriangle() [3/3]

virtual void getTriangle	(	size_t	idx,
		rw::geometry::Triangle< float > &	dst
	)		const

virtual

gets the triangle at index idx. Using Floating point presicion

Parameters

idx	[in] the index of the triangle.
dst	[out] where to store the triangle at index idx

Implements TriMesh.

◆ setMaterial()

void setMaterial ( std::size_t material )

set the material used by addTriangles

Parameters

material

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

Object3D.hpp

Classes

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Object3DGeneric()

Member Function Documentation

◆ countFaces()

◆ getFaceVertices()

◆ getTriangle() [1/3]

◆ getTriangle() [2/3]

◆ getTriangle() [3/3]

◆ setMaterial()