java.lang.Object
- org.robwork.sdurw_geometry.Model3D

```
public class Model3D
extends java.lang.Object
```
a 3d model that has geometry but also material and color.
he model can be composed of multiple objects that are connected in
a hierarchical manner. The model is designed for efficient drawing and as such special
structures are used to order the indexes such that efficient drawing is possible.

Nested Class Summary

Nested Classes
Modifier and Type	Class	Description
`static class`	`Model3D.Material`	describes material properties.
`static class`	`Model3D.SmoothMethod`	Method to do smoothing.
`static class`	`Model3D.Texture`

Constructor Summary

Constructors
Constructor	Description
`Model3D(long cPtr, boolean cMemoryOwn)`
`Model3D(java.lang.String name)`	Constructor.
`Model3D(Model3D model)`	Copy constructor, make a copy of the 3D object

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`addGeometry(Model3D.Material mat, GeometryPtr geom)`	add geometry to this model3d
`int`	`addMaterial(Model3D.Material mat)`	all objects in a model use the materials defined on the model
`int`	`addObject(SWIGTYPE_p_rw__core__PtrT_rw__geometry__Object3DGeneric_t obj)`	add an Object to this Model3D
`void`	`addTriMesh(Model3D.Material mat, TriMesh mesh)`	add a triangle mesh to this model3d
`void`	`addTriMesh(Model3D.Material mat, TriMeshCPtr geom)`	add a triangle mesh to this model3d
`void`	`delete()`
`SWIGTYPE_p_std__vectorT_rw__geometry__Model3D__Material_t`	`get_materials()`	The array of materials.
`SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__geometry__Object3DGeneric_t_t`	`get_objects()`	The array of objects in the model
`static long`	`getCPtr(Model3D obj)`
`java.lang.String`	`getFilePath()`	get filePath of this model3d
`int`	`getMask()`	get mask of this model3d
`Model3D.Material`	`getMaterial(java.lang.String matid)`	get material with string id matid
`SWIGTYPE_p_std__vectorT_rw__geometry__Model3D__Material_t`	`getMaterials()`	get all materials that are available in this model
`java.lang.String`	`getName()`	get string identifier of this model3d
`SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__geometry__Object3DGeneric_t_t`	`getObjects()`	get all objects that make out this model
`SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__geometry__Model3D__Texture_t_t`	`getTextures()`	Get/set the object Textures
`Transform3D`	`getTransform()`	get pose of this Model3D
`boolean`	`hasMaterial(java.lang.String matid)`	check if model has material with id matid
`boolean`	`isDynamic()`	true if data in the model are expected to change
`void`	`optimize(double smooth_angle)`	optimize vertices and vertice normals removes redundant vertices and recalculates all vertice normals based on the face normals and the angle between face normals smooth_angle.
`void`	`optimize(double smooth_angle, Model3D.SmoothMethod method)`	optimize vertices and vertice normals removes redundant vertices and recalculates all vertice normals based on the face normals and the angle between face normals smooth_angle.
`void`	`removeObject(java.lang.String name)`	remove object with string id name
`void`	`scale(float scale)`
`void`	`set_materials(SWIGTYPE_p_std__vectorT_rw__geometry__Model3D__Material_t value)`	The array of materials.
`void`	`set_objects(SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__geometry__Object3DGeneric_t_t value)`	The array of objects in the model
`void`	`setDynamic(boolean dynamic)`	set to true if data in the model are expected to change
`void`	`setFilePath(java.lang.String name)`	set filePath this model3d
`void`	`setMask(int mask)`	set mask of this model3d
`void`	`setName(java.lang.String name)`	set string identifier of this model3d
`void`	`setTransform(Transform3D t3d)`	set the pose of this Model3D
`GeometryDataPtr`	`toGeometryData()`	convert this model3d to a geometry.

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - Model3D
```
public Model3D(long cPtr,
               boolean cMemoryOwn)
```
  - Model3D
```
public Model3D(java.lang.String name)
```
    Constructor.
    
    Parameters:
    
    name - [in] name of the model.
  - Model3D
```
public Model3D(Model3D model)
```
    Copy constructor, make a copy of the 3D object
    
    Parameters:
    
    model -
- Method Detail
  - getCPtr
```
public static long getCPtr(Model3D obj)
```
  - delete
```
public void delete()
```
  - optimize
```
public void optimize(double smooth_angle,
                     Model3D.SmoothMethod method)
```
    optimize vertices and vertice normals
    
    removes redundant vertices and recalculates all vertice normals based on the face normals
    and the angle between face normals smooth_angle.
    
    Parameters:
    
    smooth_angle -
    
    method -
  - optimize
```
public void optimize(double smooth_angle)
```
    optimize vertices and vertice normals
    
    removes redundant vertices and recalculates all vertice normals based on the face normals
    and the angle between face normals smooth_angle.
    
    Parameters:
    
    smooth_angle -
  - addObject
```
public int addObject(SWIGTYPE_p_rw__core__PtrT_rw__geometry__Object3DGeneric_t obj)
```
    add an Object to this Model3D
    
    Parameters:
    
    obj - [in] the geometric object to add.
    
    Returns:
    
    index of object in model3d
  - addGeometry
```
public void addGeometry(Model3D.Material mat,
                        GeometryPtr geom)
```
    add geometry to this model3d
    
    Parameters:
    
    mat - [in] the material properties to use for the geometry.
    
    geom - [in] the geometry to add.
  - addTriMesh
```
public void addTriMesh(Model3D.Material mat,
                       TriMesh mesh)
```
    add a triangle mesh to this model3d
    
    Parameters:
    
    mat - [in] the material properties to use for the mesh.
    
    mesh - [in] the mesh geometry.
  - addTriMesh
```
public void addTriMesh(Model3D.Material mat,
                       TriMeshCPtr geom)
```
    add a triangle mesh to this model3d
    
    Parameters:
    
    mat - [in] the material properties to use for the mesh.
    
    geom - [in] the mesh geometry.
  - addMaterial
```
public int addMaterial(Model3D.Material mat)
```
    all objects in a model use the materials defined on the model
    
    Parameters:
    
    mat - [in] material to add.
    
    Returns:
    
    id of the newly added material.
  - getMaterial
```
public Model3D.Material getMaterial(java.lang.String matid)
```
    get material with string id matid
    
    Parameters:
    
    matid - [in] string id
    
    Returns:
    
    pointer to Matrial data
  - hasMaterial
```
public boolean hasMaterial(java.lang.String matid)
```
    check if model has material with id matid
    
    Parameters:
    
    matid - [in] string id of material
    
    Returns:
    
    true if exists in model
  - removeObject
```
public void removeObject(java.lang.String name)
```
    remove object with string id name
    
    Parameters:
    
    name - [in] name of object to remove
  - scale
```
public void scale(float scale)
```
  - getMaterials
```
public SWIGTYPE_p_std__vectorT_rw__geometry__Model3D__Material_t getMaterials()
```
    get all materials that are available in this model
  - getObjects
```
public SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__geometry__Object3DGeneric_t_t getObjects()
```
    get all objects that make out this model
  - getTransform
```
public Transform3D getTransform()
```
    get pose of this Model3D
  - setTransform
```
public void setTransform(Transform3D t3d)
```
    set the pose of this Model3D
  - getName
```
public java.lang.String getName()
```
    get string identifier of this model3d
  - getFilePath
```
public java.lang.String getFilePath()
```
    get filePath of this model3d
  - setName
```
public void setName(java.lang.String name)
```
    set string identifier of this model3d
  - setFilePath
```
public void setFilePath(java.lang.String name)
```
    set filePath this model3d
  - getMask
```
public int getMask()
```
    get mask of this model3d
  - setMask
```
public void setMask(int mask)
```
    set mask of this model3d
  - toGeometryData
```
public GeometryDataPtr toGeometryData()
```
    convert this model3d to a geometry. Notice that geometry does not hold any
    color information.
    
    Returns:
    
    a geometry of this model3d
  - isDynamic
```
public boolean isDynamic()
```
    true if data in the model are expected to change
  - setDynamic
```
public void setDynamic(boolean dynamic)
```
    set to true if data in the model are expected to change
  - getTextures
```
public SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__geometry__Model3D__Texture_t_t getTextures()
```
    Get/set the object Textures
    
    Returns:
    
    std::vector< rw::core::Ptr< Texture > >
  - set_materials
```
public void set_materials(SWIGTYPE_p_std__vectorT_rw__geometry__Model3D__Material_t value)
```
    The array of materials.
  - get_materials
```
public SWIGTYPE_p_std__vectorT_rw__geometry__Model3D__Material_t get_materials()
```
    The array of materials.
  - set_objects
```
public void set_objects(SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__geometry__Object3DGeneric_t_t value)
```
    The array of objects in the model
  - get_objects
```
public SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__geometry__Object3DGeneric_t_t get_objects()
```
    The array of objects in the model

Class Model3D

Nested Class Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

Model3D

Model3D

Model3D

Method Detail

getCPtr

delete

optimize

optimize

addObject

addGeometry

addTriMesh

addTriMesh

addMaterial

getMaterial

hasMaterial

removeObject

scale

getMaterials

getObjects

getTransform

setTransform

getName

getFilePath

setName

setFilePath

getMask

setMask

toGeometryData

isDynamic

setDynamic

getTextures

set_materials

get_materials

set_objects

get_objects