Package org.robwork.sdurw_geometry

Class TriMesh

java.lang.Object

org.robwork.sdurw_geometry.GeometryData

org.robwork.sdurw_geometry.TriMesh

Direct Known Subclasses:

IndexedTriArray, IndexedTriMesh, IndexedTriMesh_f, Object3DGeneric, PlainTriMesh, PlainTriMesh_f, PlainTriMeshN1, PlainTriMeshN1_f, PlainTriMeshN3, PlainTriMeshN3_f

public class TriMesh
extends GeometryData

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

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	TriMesh.TriCenterIterator	struct for iterating over the centers of triangles in a mesh
static class	TriMesh.VerticeIterator	struct for iterating over the centers of triangles in a mesh

Nested classes/interfaces inherited from class org.robwork.sdurw_geometry.GeometryData

GeometryData.GeometryType

Constructor Summary

Constructors

Constructor	Description
TriMesh(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
TriMeshPtr	clone()	make a clone of this triangle mesh
void	delete()
static long	getCPtr(TriMesh obj)
long	getSize()	gets the number of triangles in the triangle array.
Triangle	getTriangle(long idx)	gets the triangle at index idx.
void	getTriangle(long idx, Triangle dst)	gets the triangle at index idx.
void	getTriangle(long idx, Triangle_f dst)	gets the triangle at index idx.
TriMeshPtr	getTriMesh()	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.
TriMeshPtr	getTriMesh(boolean forceCopy)	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.
double	getVolume()	calculate a volume of this triangle mesh
boolean	isConvex()	test if this geometry data is convex
void	scale(double scale)	Scale all vertices in the mesh.
void	setConvexEnabled(boolean isConvex)
long	size()	gets the number of triangles in the triangle array.

Methods inherited from class org.robwork.sdurw_geometry.GeometryData

getCPtr, getType, toString

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

TriMesh

public TriMesh(long cPtr,
               boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(TriMesh obj)

delete

public void delete()

Overrides:

delete in class GeometryData

getTriangle

public Triangle getTriangle(long idx)

gets the triangle at index idx.

Parameters:

idx - [in] the index of the triangle.

Returns:

the triangle at index idx

getTriangle

public void getTriangle(long idx,
                        Triangle dst)

gets the triangle at index idx.

Parameters:

idx - [in] the index of the triangle.

dst - [out] where to store the triangle at index idx

getTriangle

public void getTriangle(long idx,
                        Triangle_f dst)

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

getSize

public long getSize()

gets the number of triangles in the triangle array.

size

public long size()

gets the number of triangles in the triangle array.

clone

public TriMeshPtr clone()

make a clone of this triangle mesh

Returns:

clone of this trimesh

scale

public void scale(double scale)

Scale all vertices in the mesh.

getTriMesh

public TriMeshPtr getTriMesh(boolean forceCopy)

Description copied from class: GeometryData

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.

Overrides:

getTriMesh in class GeometryData

Returns:

TriMesh representation of this GeometryData

getTriMesh

public TriMeshPtr getTriMesh()

Description copied from class: GeometryData

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.

Overrides:

getTriMesh in class GeometryData

Returns:

TriMesh representation of this GeometryData

isConvex

public boolean isConvex()

Description copied from class: GeometryData

test if this geometry data is convex

Overrides:

isConvex in class GeometryData

Returns:

true if convex

setConvexEnabled

public void setConvexEnabled(boolean isConvex)

getVolume

public double getVolume()

calculate a volume of this triangle mesh