RobWorkProject: IndexedTriMeshN0< T, S > Class Template Reference

an Indexed Triangle mesh with zero normals More...

#include <IndexedTriMesh.hpp>

Public Types
typedef S	index_type
	The type of indices.

typedef rw::geometry::IndexedTriangle< S >	tri_type
	The type of the triangles of the mesh.

typedef std::vector< tri_type >	TriangleArray
	The vector of triangles.

typedef IndexedTriMesh< T >::VertexArray	VertexArray
	the vertex array type More...

typedef rw::core::Ptr< rw::geometry::IndexedTriMeshN0< T, S > >	Ptr
	Smart pointer type of this class.

Public Types inherited from IndexedTriMesh< double >
typedef double	value_type
	the basic value type of this mesh (for instance double or float)

typedef std::vector< rw::math::Vector3D< double > >	VertexArray
	the vertex array type

typedef rw::core::Ptr< rw::geometry::IndexedTriMesh< double > >	Ptr
	the smart pointer type of this triangle mesh

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
	IndexedTriMeshN0 ()
	Constructor.

	IndexedTriMeshN0 (VertexArray *vertices)
	constructor - ownership of the vertice array is taken More...

	IndexedTriMeshN0 (rw::core::Ptr< VertexArray > vertices, rw::core::Ptr< VertexArray > normals)
	constructor - ownership of the vertice array is taken More...

	IndexedTriMeshN0 (rw::core::Ptr< VertexArray > vertices, rw::core::Ptr< VertexArray > normals, rw::core::Ptr< TriangleArray > triangles)
	constructor More...

	IndexedTriMeshN0 (rw::core::Ptr< VertexArray > vertices, rw::core::Ptr< TriangleArray > triangles)
	constructor More...

	IndexedTriMeshN0 (const rw::geometry::IndexedTriMeshN0< T, S > &mesh)
	Make deep copy of mesh. More...

virtual	~IndexedTriMeshN0 ()
	Destructor.

const rw::math::Vector3D< T > &	getVertexNormal (size_t i, VertexIdx vidx) const
	Get normal of vertex vidx of triangle at index i. More...

rw::math::Vector3D< T > &	getVertexNormal (size_t i, VertexIdx vidx)
	Get normal of vertex vidx of triangle at index i. More...

const rw::math::Vector3D< T > &	getVertex (size_t i, VertexIdx vidx) const
	get vertex vidx of triangle at index i. More...

rw::math::Vector3D< T > &	getVertex (size_t i, VertexIdx vidx)
	get vertex vidx of triangle at index i. More...

rw::geometry::IndexedTriangle< uint32_t >	getIndexedTriangle (size_t i) const
	get the indexed triangle at index i More...

rw::geometry::Triangle< double >	getTriangle (size_t i) const
	gets the triangle at index idx. More...

void	getTriangle (size_t i, rw::geometry::Triangle< double > &dst) const
	gets the triangle at index idx. More...

void	getTriangle (size_t i, rw::geometry::Triangle< float > &dst) const
	gets the triangle at index idx. More...

void	add (const tri_type &triangle)
	Add indexed triangle to the triangle mesh. More...

const rw::math::Vector3D< T > &	getTriVertex (size_t i, size_t triIdx) const
	get vertex i of triangle at index triIdx. More...

rw::math::Vector3D< T > &	getTriVertex (size_t i, size_t triIdx)
	get vertex i of triangle at index triIdx. More...

TriangleArray &	getTriangles ()
	get triangle list More...

const TriangleArray &	getTriangles () const
	get triangle list More...

tri_type &	operator[] (int i)
	get indexed triangle at index i More...

const tri_type &	operator[] (int i) const
	get indexed triangle at index i More...

T	calcFaceArea (size_t triIdx)
	calculate area of triangle at index triIdx More...

rw::math::Vector3D< T >	calcFaceCentroid (size_t triIdx)
	calculate centroid of triangle at index triIdx More...

rw::math::Vector3D< T >	calcFaceNormal (size_t triIdx) const
	calculate face normal of triangle at index triIdx More...

void	resize (size_t nsize)
	Set the number of triangles in the mesh. More...

int	getNrTris () const
	The number of triangles in the mesh. More...

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

TriMesh::Ptr	clone () const
	make a clone of this triangle mesh More...

Public Member Functions inherited from IndexedTriMesh< double >
const std::vector< rw::math::Vector3D< double > > &	getNormals () const
	Get vector of normals. More...

std::vector< rw::math::Vector3D< double > > &	getNormals ()
	Get vector of normals. More...

const std::vector< rw::math::Vector3D< double > > &	getVertices () const
	Get vector of vertices. More...

std::vector< rw::math::Vector3D< double > > &	getVertices ()
	Get vector of vertices. More...

uint8_t	getTriangleStride () const
	The stride of a triangle. More...

uint8_t	getIndexSize () const
	The size of the index type used. More...

uint8_t *	getIndexPtr ()
	Pointer to the start of the index array. More...

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

rw::math::Vector3D< double > &	getVertex (size_t i)
	Get vertex from vertex list. More...

const rw::math::Vector3D< double > &	getVertex (size_t i) const
	Get vertex from vertex list. More...

bool	hasVertexNormals () const
	Check if trimesh has vertex normals defined. More...

bool	hasFaceNormals () const
	Check if trimesh has face normals defined. More...

GeometryData::GeometryType	getType () const
	the type of this primitive More...

void *	getIndices ()
	Get pointer to first element of index array. More...

void	scale (double scale)
	Scale all vertices in the 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...

Protected Member Functions inherited from IndexedTriMesh< double >
	IndexedTriMesh (rw::core::Ptr< VertexArray > vertices, rw::core::Ptr< VertexArray > normals, uint8_t triStride, uint8_t idxsize)
	generic constructor More...

	~IndexedTriMesh ()
	Destructor.

void	setTriArray (uint8_t *triarray)
	Sets the indice array. More...

Protected Attributes inherited from IndexedTriMesh< double >
VertexArray *	_vertices
	pointer to vertice array

rw::core::Ptr< VertexArray >	_vertPtr
	Smart pointer to maintain ownership of vertice array.

VertexArray *	_normals
	pointer to normal array

rw::core::Ptr< VertexArray >	_normPtr
	Smart pointer to maintain ownership of normals array.

uint8_t *	_triIdxArr
	pointer to indice array

const uint8_t	_stride
	The stride.

const uint8_t	_idxsize
	Size of index.

Detailed Description

template<class T = double, class S = uint16_t>
class rw::geometry::IndexedTriMeshN0< T, S >

an Indexed Triangle mesh with zero normals

Member Typedef Documentation

◆ VertexArray

typedef IndexedTriMesh<T>::VertexArray VertexArray

the vertex array type

Constructor & Destructor Documentation

◆ IndexedTriMeshN0() [1/5]

IndexedTriMeshN0 ( VertexArray * vertices )

inline

constructor - ownership of the vertice array is taken

Parameters

vertices [in] pointer to vector of vertices.

◆ IndexedTriMeshN0() [2/5]

IndexedTriMeshN0	(	rw::core::Ptr< VertexArray >	vertices,
		rw::core::Ptr< VertexArray >	normals
	)

inline

constructor - ownership of the vertice array is taken

Parameters

vertices	[in] pointer to vector of vertices.
normals	[in] pointer to vector of normals.

◆ IndexedTriMeshN0() [3/5]

IndexedTriMeshN0	(	rw::core::Ptr< VertexArray >	vertices,
		rw::core::Ptr< VertexArray >	normals,
		rw::core::Ptr< TriangleArray >	triangles
	)

inline

constructor

Parameters

vertices	[in] pointer to vector of vertices.
normals	[in] pointer to vector of normals (expects same length as either vertices or triangles).
triangles	[in] pointer to array of triangles.

◆ IndexedTriMeshN0() [4/5]

IndexedTriMeshN0	(	rw::core::Ptr< VertexArray >	vertices,
		rw::core::Ptr< TriangleArray >	triangles
	)

inline

constructor

Parameters

vertices	[in] pointer to vector of vertices.
triangles	[in] pointer to array of triangles.

◆ IndexedTriMeshN0() [5/5]

IndexedTriMeshN0 ( const rw::geometry::IndexedTriMeshN0< T, S > & mesh )

inline

Make deep copy of mesh.

Parameters

mesh	[in] the mesh to copy.

Member Function Documentation

◆ add()

void add ( const tri_type & triangle )

inline

Add indexed triangle to the triangle mesh.

Parameters

triangle [in] the indexed triangle to add.

◆ calcFaceArea()

T calcFaceArea ( size_t triIdx )

inline

calculate area of triangle at index triIdx

Returns: the area.

◆ calcFaceCentroid()

rw::math::Vector3D<T> calcFaceCentroid ( size_t triIdx )

inline

calculate centroid of triangle at index triIdx

Returns: the centroid.

◆ calcFaceNormal()

rw::math::Vector3D<T> calcFaceNormal ( size_t triIdx ) const

inline

calculate face normal of triangle at index triIdx

Returns: the face normal.

◆ clone()

TriMesh::Ptr clone ( ) const

inlinevirtual

make a clone of this triangle mesh

Returns: clone of this trimesh

Implements TriMesh.

◆ getIndexedTriangle()

rw::geometry::IndexedTriangle<uint32_t> getIndexedTriangle ( size_t i ) const

inlinevirtual

get the indexed triangle at index i

Parameters

i	[in] the index of the triangle

Returns: an indexed triangle

Warning: Using the virtual function comes with a performance penalty. If possible, use functions implemented on subtypes directly.

Implements IndexedTriMesh< double >.

◆ getNrTris()

int getNrTris ( ) const

inlinevirtual

The number of triangles in the mesh.

Returns: nr of triangles

Implements IndexedTriMesh< double >.

◆ 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 i ) 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	i,
		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	i,
		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() [1/2]

TriangleArray& getTriangles ( )

inline

get triangle list

Returns: vector of triangles

◆ getTriangles() [2/2]

const TriangleArray& getTriangles ( ) const

inline

get triangle list

Returns: vector of triangles

◆ getTriVertex() [1/2]

rw::math::Vector3D<T>& getTriVertex	(	size_t	i,
		size_t	triIdx
	)

inline

get vertex i of triangle at index triIdx.

Parameters

i	[in] should be in interval [0;2]
triIdx	[in] index of triangle in the triangle mesh

Returns: a reference to the given vertex.

◆ getTriVertex() [2/2]

const rw::math::Vector3D<T>& getTriVertex	(	size_t	i,
		size_t	triIdx
	)		const

inline

get vertex i of triangle at index triIdx.

Parameters

i	[in] should be in interval [0;2]
triIdx	[in] index of triangle in the triangle mesh

Returns: a reference to the given vertex.

◆ getVertex() [1/2]

rw::math::Vector3D<T>& getVertex	(	size_t	i,
		VertexIdx	vidx
	)

inlinevirtual

get vertex vidx of triangle at index i.

Parameters

i	[in] the index of the triangle
vidx	[in] the index of the triangle vertex

Returns: reference to vertex.

Warning: Using the virtual function comes with a performance penalty. If possible, use functions implemented on subtypes directly (like IndexedTriMeshN0::getTriVertex).

Implements IndexedTriMesh< double >.

◆ getVertex() [2/2]

const rw::math::Vector3D<T>& getVertex	(	size_t	i,
		VertexIdx	vidx
	)		const

inlinevirtual

get vertex vidx of triangle at index i.

Parameters

i	[in] the index of the triangle
vidx	[in] the index of the triangle vertex

Returns: reference to vertex.

Warning: Using the virtual function comes with a performance penalty. If possible, use functions implemented on subtypes directly (like IndexedTriMeshN0::getTriVertex).

Implements IndexedTriMesh< double >.

◆ getVertexNormal() [1/2]

rw::math::Vector3D<T>& getVertexNormal	(	size_t	i,
		VertexIdx	vidx
	)

inlinevirtual

Get normal of vertex vidx of triangle at index i.

Parameters

i	[in] the index of the triangle.
vidx	[in] the triangle vertex.

Returns: reference to normal vector.

Warning: Using the virtual function comes with a performance penalty. If possible, use functions implemented on subtypes directly.

Implements IndexedTriMesh< double >.

◆ getVertexNormal() [2/2]

const rw::math::Vector3D<T>& getVertexNormal	(	size_t	i,
		VertexIdx	vidx
	)		const

inlinevirtual

Get normal of vertex vidx of triangle at index i.

Parameters

i	[in] the index of the triangle.
vidx	[in] the triangle vertex.

Returns: reference to normal vector.

Warning: Using the virtual function comes with a performance penalty. If possible, use functions implemented on subtypes directly.

Implements IndexedTriMesh< double >.

◆ operator[]() [1/2]

tri_type& operator[] ( int i )

inline

get indexed triangle at index i

Returns: a reference to the triangle.

◆ operator[]() [2/2]

const tri_type& operator[] ( int i ) const

inline

get indexed triangle at index i

Returns: a reference to the triangle.

◆ resize()

void resize ( size_t nsize )

inline

Set the number of triangles in the mesh.

Parameters

nsize [in] the new size of the mesh.

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

IndexedTriMesh.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

template<class T = double, class S = uint16_t> class rw::geometry::IndexedTriMeshN0< T, S >

Member Typedef Documentation

◆ VertexArray

Constructor & Destructor Documentation

◆ IndexedTriMeshN0() [1/5]

◆ IndexedTriMeshN0() [2/5]

◆ IndexedTriMeshN0() [3/5]

◆ IndexedTriMeshN0() [4/5]

◆ IndexedTriMeshN0() [5/5]

Member Function Documentation

◆ add()

◆ calcFaceArea()

◆ calcFaceCentroid()

◆ calcFaceNormal()

◆ clone()

◆ getIndexedTriangle()

◆ getNrTris()

◆ getSize()

◆ getTriangle() [1/3]

◆ getTriangle() [2/3]

◆ getTriangle() [3/3]

◆ getTriangles() [1/2]

◆ getTriangles() [2/2]

◆ getTriVertex() [1/2]

◆ getTriVertex() [2/2]

◆ getVertex() [1/2]

◆ getVertex() [2/2]

◆ getVertexNormal() [1/2]

◆ getVertexNormal() [2/2]

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ resize()

template<class T = double, class S = uint16_t>
class rw::geometry::IndexedTriMeshN0< T, S >