TriMesh Class Reference

interface of a triangle mesh. The interface defines a way to get triangles from a triangle array/mesh. More...

#include <TriMesh.hpp>

Inherits GeometryData.

Inherited by IndexedTriMesh< double >, IndexedTriArray< T >, IndexedTriMesh< T >, Object3DGeneric, PlainTriMesh< TRI >, and SimpleTriMesh.

Classes
struct	TriCenterIterator
	struct for iterating over the centers of triangles in a mesh More...
struct	VerticeIterator
	struct for iterating over the centers of triangles in a mesh More...

Public Types
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	~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 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.
virtual GeometryType	getType () const =0
	the type of this primitive

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

Detailed Description

interface of a triangle mesh. The interface defines a way to get triangles from a triangle array/mesh.

Member Function Documentation

clone()

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

pure virtual

make a clone of this triangle mesh

Returns

clone of this trimesh

Implemented in SimpleTriMesh, PlainTriMesh< TRI >, Object3D< T >, IndexedTriMeshN0< T, S >, and IndexedTriArray< 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

Implemented in Object3DGeneric, SimpleTriMesh, PlainTriMesh< TRI >, Object3D< T >, IndexedTriArray< T >, and IndexedTriMeshN0< T, S >.

getTriangle() [2/3]

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

pure 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

Implemented in SimpleTriMesh, PlainTriMesh< TRI >, Object3DGeneric, IndexedTriMeshN0< T, S >, and IndexedTriArray< T >.

getTriangle() [3/3]

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

pure 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

Implemented in SimpleTriMesh, PlainTriMesh< TRI >, Object3DGeneric, IndexedTriMeshN0< T, S >, and IndexedTriArray< T >.

getTriMesh() [1/2]

rw::core::Ptr<TriMesh> getTriMesh ( bool  forceCopy = true )

virtual

gets a trimesh representation of this geometry data.

The trimesh that is returned is by default a copy, which means ownership is transfered to the caller. Specifying forceCopy to false will enable copy by reference and ownership is not necesarilly transfered. This is more efficient, though pointer is only alive as long as this GeometryData is alive.

Returns

TriMesh representation of this GeometryData

Implements GeometryData.

getTriMesh() [2/2]

rw::core::Ptr<const TriMesh> getTriMesh

(

bool

forceCopy = true

)

const

gets a trimesh representation of this geometry data.

The trimesh that is returned is by default a copy, which means ownership is transfered to the caller. Specifying forceCopy to false will enable copy by reference and ownership is not necesarilly transfered. This is more efficient, though pointer is only alive as long as this GeometryData is alive.

Returns

TriMesh representation of this GeometryData

isConvex()

virtual bool isConvex ( )

inlinevirtual

test if this geometry data is convex

Returns

true if convex

Reimplemented from GeometryData.

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

• TriMesh.hpp