PlainTriMesh< TRI > Class Template Reference

a triangle mesh representation that maintains a list of simple triangles. More...

#include <PlainTriMesh.hpp>

Inherits TriMesh.

Public Types
typedef rw::core::Ptr< PlainTriMesh< TRI > >	Ptr
	smart pointer type of this class
typedef TRI::value_type	value_type
	the triangle type
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
	PlainTriMesh (std::size_t initSize=0)
	constructor
	PlainTriMesh (const std::vector< TRI > &tris)
	constructor
void	scale (double scale)
	Scale all vertices in the mesh. More...
void	add (const TRI &triangle)
	add a triangle to the triangle mesh. More...
void	add (typename rw::geometry::PlainTriMesh< TRI >::Ptr triangles)
	Add all triangles in the mesh triangles to this. More...
void	clear ()
	Clears the list of triangles.
std::vector< TRI > &	getTriangles ()
	the vector of triangles More...
const TRI &	operator[] (size_t i) const
	returns triangle at index i
TRI &	operator[] (size_t i)
	returns triangle at index i
void	resize (size_t i)
	resize the triangle mesh More...
rw::geometry::Triangle< double >	getTriangle (size_t idx) const
	gets the triangle at index idx. More...
void	getTriangle (size_t idx, rw::geometry::Triangle< double > &dst) const
	gets the triangle at index idx. More...
void	getTriangle (size_t idx, rw::geometry::Triangle< float > &dst) const
	gets the triangle at index idx. More...
size_t	getSize () const
	gets the number of triangles in the triangle array. More...
size_t	size () const
	gets the number of triangles in the triangle array. More...
rw::geometry::GeometryData::GeometryType	getType () const
	the type of this primitive More...
rw::core::Ptr< rw::geometry::TriMesh >	clone () const
	make a clone of this triangle mesh More...
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.

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 TRI = rw::geometry::Triangle<double>>
class rw::geometry::PlainTriMesh< TRI >

a triangle mesh representation that maintains a list of simple triangles.

This class is templated and can be setup with different types of triangle storage. Mainly this concerns single or double precision but also number of normals in each Triangle. Check out Triangle.hpp to get an idea of the different types.

The PlainTriMesh can be used as follows

// create trimesh
PlainTriMesh<TriangleN1<float> > mesh;
// add data
mesh.add( TriangleN1<float>(v1,v2,v3) );
mesh.add( TriangleN1<float>(v1,v2,v3) );
mesh.add( TriangleN1<float>(v1,v2,v3) );
 // and access the mesh
TriangleN1<float> tri_index1 = mesh[1];
Vector3D<float> normal = mesh[2].getFaceNormal();

To convert the plain trimesh to a more efficient mesh representation take a look at TriangleUtil::toIndexedTriMesh().

Member Function Documentation

add() [1/2]

void add ( const TRI &  triangle )

inline

add a triangle to the triangle mesh.

Parameters

triangle

[in] Triangle to add. The triangle is copied.

add() [2/2]

void add ( typename rw::geometry::PlainTriMesh< TRI >::Ptr  triangles )

inline

Add all triangles in the mesh triangles to this.

Parameters

[in]

triangles

Triangle mesh for which to add triangles

clone()

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

inlinevirtual

make a clone of this triangle mesh

Returns

clone of this trimesh

Implements TriMesh.

getSize()

size_t getSize ( ) const

inlinevirtual

gets the number of triangles in the triangle array.

Reimplemented from TriMesh.

getTriangle() [1/3]

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 TriMesh.

getTriangle() [2/3]

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

inlinevirtual

gets the triangle at index idx.

Parameters

idx	[in] the index of the triangle.

Returns

the triangle at index idx

Implements TriMesh.

getTriangle() [3/3]

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

inlinevirtual

gets the triangle at index idx.

Parameters

idx	[in] the index of the triangle.

Returns

the triangle at index idx

Implements TriMesh.

getTriangles()

std::vector<TRI>& getTriangles ( )

inline

the vector of triangles

Returns

a reference to the triangle vector

getType()

rw::geometry::GeometryData::GeometryType getType ( ) const

inlinevirtual

the type of this primitive

Implements GeometryData.

resize()

void resize ( size_t  i )

inline

resize the triangle mesh

Parameters

i	[in] new size of mesh.

scale()

void scale ( double  scale )

inlinevirtual

Scale all vertices in the mesh.

Implements TriMesh.

size()

size_t size ( ) const

inlinevirtual

gets the number of triangles in the triangle array.

Implements TriMesh.

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

• PlainTriMesh.hpp