RobWorkProject: SimpleTriMesh Class Reference

A TriMesh with better interactions with the underlying data, and more capabilities. More...

#include <SimpleTriMesh.hpp>

Public Types
using	Ptr = rw::core::Ptr< SimpleTriMesh >

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
	SimpleTriMesh (TriMeshData::Ptr data=NULL)
	Construct an empty TriMesh if data is null else take ownership of data. More...

virtual	~SimpleTriMesh ()
	if the internal data object is not a shared pointer the data is deleted, when the destructor is called

	SimpleTriMesh (const SimpleTriMesh &copy)
	Copy the data from an existing trimesh. More...

	SimpleTriMesh (const SimpleTriMesh &&tmp)
	Transfere the data from a temporary TriMesh. This will simply copy the shared pointer to the data object. More...

	SimpleTriMesh (const rw::core::Ptr< SimpleTriMesh > &copy)
	Copy the data from an existing trimesh. More...

	SimpleTriMesh (const rw::geometry::TriMesh &copy)
	Copy the data from an existing trimesh. More...

	SimpleTriMesh (rw::geometry::GeometryData &copy)
	Copy the data from an existing trimesh. More...

	SimpleTriMesh (rw::geometry::GeometryData &&copy)
	Copy the data from an existing trimesh. More...

	SimpleTriMesh (const rw::core::Ptr< rw::geometry::GeometryData > &copy)
	Copy the data from an existing trimesh. More...

	SimpleTriMesh (const rw::core::Ptr< rw::geometry::TriMesh > &copy)
	Copy the data from an existing trimesh. More...

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

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

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

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

virtual rw::core::Ptr< TriMesh >	clone () const
	make a clone of this triangle mesh More...

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

virtual void	scale (const rw::math::Vector3D< double > &scale)
	Scale all vertices in the mesh. More...

virtual GeometryType	getType () const
	the type of this primitive

virtual rw::core::Ptr< TriMesh >	getTriMesh (bool forceCopy=true)
	gets a trimesh representation of this geometry data. More...

ReferencedTriangle	triangle (size_t idx) const
	get triangle at index idx. Changes to the triangle will be reflected in this mesh More...

size_t	triangles () const
	get number of triangles More...

ReferencedVertice	vertice (size_t idx) const
	get vertice at index idx. Changes to the vertice will be reflected in this mesh More...

size_t	vertices () const
	number of vertices in this mesh More...

void	resize (size_t triangles, size_t vertices)
	Change the number of vertices and triangles in this mesh. More...

TriMeshData::Ptr	getData () const
	get direct access to the data container

CSGEngine::Ptr	getCSGEngine () const
	get the current CSGEngine More...

void	setCSGEngine (CSGEngine::Ptr engine)
	set CSG engine More...

std::vector< SimpleTriMesh >	separateMeshes () const
	Check if there are non-connected meshes inside this mesh. If ther are then seperate and return them. non-connected means that you have meshes that does not share a triangluar edge. More...

SimpleTriMesh	combine (const SimpleTriMesh &mesh) const
	combine two meshes. OBS! this is not a union operation has all vertices and triangles are just directly copied over More...

SimpleTriMesh &	operator*= (const rw::math::Transform3D< double > &trans)
	Move this TriMesh. More...

SimpleTriMesh	operator* (const rw::math::Transform3D< double > &trans) const
	Create a copy of the TriMesh and move it. More...

SimpleTriMesh	operator+ (const SimpleTriMesh &rhs) const
	Compute the Union of two TriMeshes, into a new TriMesh. More...

SimpleTriMesh &	operator+= (const SimpleTriMesh &rhs)
	Compute the Union of two TriMeshes, into this TriMesh. More...

SimpleTriMesh	operator- (const SimpleTriMesh &rhs) const
	Compute the Difference of two TriMeshes, into a new TriMesh. More...

SimpleTriMesh &	operator-= (const SimpleTriMesh &rhs)
	Compute the Difference of two TriMeshes, into this TriMesh. More...

SimpleTriMesh	operator& (const SimpleTriMesh &rhs) const
	Compute the Intersection of two TriMeshes, into a new TriMesh. More...

SimpleTriMesh &	operator&= (const SimpleTriMesh &rhs)
	Compute the Intersection of two TriMeshes, into this TriMesh. More...

SimpleTriMesh	operator^ (const SimpleTriMesh &rhs) const
	Compute the Symetric Difference of two TriMeshes, into a new TriMesh. More...

SimpleTriMesh &	operator^= (const SimpleTriMesh &rhs)
	Compute the Symetric Difference of two TriMeshes, into this TriMesh. More...

SimpleTriMesh &	operator= (TriMeshData::Ptr data)
	set the current data pointer equal to the new one More...

SimpleTriMesh &	operator= (const SimpleTriMesh &copy)
	Copy the data from an existing trimesh. More...

SimpleTriMesh &	operator= (const SimpleTriMesh &&tmp)
	Transfere the data from a temporary TriMesh. This will simply copy the shared pointer to the data object. More...

SimpleTriMesh &	operator= (const rw::core::Ptr< SimpleTriMesh > &copy)
	Copy the data from an existing trimesh. More...

SimpleTriMesh &	operator= (const rw::geometry::TriMesh &copy)
	Copy the data from an existing trimesh. More...

SimpleTriMesh &	operator= (rw::geometry::GeometryData &copy)
	Copy the data from an existing trimesh. More...

SimpleTriMesh &	operator= (rw::geometry::GeometryData &&copy)
	Copy the data from an existing trimesh. More...

SimpleTriMesh &	operator= (const rw::core::Ptr< rw::geometry::GeometryData > &copy)
	Copy the data from an existing trimesh. More...

SimpleTriMesh &	operator= (const rw::core::Ptr< rw::geometry::TriMesh > &copy)
	Copy the data from an existing trimesh. More...

Public Member Functions inherited from TriMesh
virtual	~TriMesh ()
	destructor

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

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

A TriMesh with better interactions with the underlying data, and more capabilities.

Constructor & Destructor Documentation

◆ SimpleTriMesh() [1/9]

SimpleTriMesh ( TriMeshData::Ptr data = NULL )

Construct an empty TriMesh if data is null else take ownership of data.

Parameters

data	[in] the data to take ownership of. If now shared pointer, then the destructor cleans it up

◆ SimpleTriMesh() [2/9]

SimpleTriMesh ( const SimpleTriMesh & copy )

Copy the data from an existing trimesh.

Parameters

copy	the object to be copied

◆ SimpleTriMesh() [3/9]

SimpleTriMesh ( const SimpleTriMesh && tmp )

Transfere the data from a temporary TriMesh. This will simply copy the shared pointer to the data object.

Parameters

tmp	the object to take the data from

◆ SimpleTriMesh() [4/9]

SimpleTriMesh ( const rw::core::Ptr< SimpleTriMesh > & copy )

Copy the data from an existing trimesh.

Parameters

copy	the object to be copied

◆ SimpleTriMesh() [5/9]

SimpleTriMesh ( const rw::geometry::TriMesh & copy )

Copy the data from an existing trimesh.

Parameters

copy	the object to be copied

◆ SimpleTriMesh() [6/9]

SimpleTriMesh ( rw::geometry::GeometryData & copy )

Copy the data from an existing trimesh.

Parameters

copy	the object to be copied

◆ SimpleTriMesh() [7/9]

SimpleTriMesh ( rw::geometry::GeometryData && copy )

Copy the data from an existing trimesh.

Parameters

copy	the object to be copied

◆ SimpleTriMesh() [8/9]

SimpleTriMesh ( const rw::core::Ptr< rw::geometry::GeometryData > & copy )

Copy the data from an existing trimesh.

Parameters

copy	the object to be copied

◆ SimpleTriMesh() [9/9]

SimpleTriMesh ( const rw::core::Ptr< rw::geometry::TriMesh > & copy )

Copy the data from an existing trimesh.

Parameters

copy	the object to be copied

Member Function Documentation

◆ clone()

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

virtual

make a clone of this triangle mesh

Returns: clone of this trimesh

Implements TriMesh.

◆ combine()

SimpleTriMesh combine ( const SimpleTriMesh & mesh ) const

combine two meshes. OBS! this is not a union operation has all vertices and triangles are just directly copied over

Parameters

mesh	[in] the mesh, that his mesh should be combined with

Returns: the resulting trimesh

◆ getCSGEngine()

CSGEngine::Ptr getCSGEngine ( ) const

inline

get the current CSGEngine

Returns: Null if none is found else a pointer to the engine

◆ getTriangle() [1/3]

virtual rw::geometry::Triangle<double> getTriangle ( size_t idx ) const

virtual

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]

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

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

Implements TriMesh.

◆ getTriangle() [3/3]

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

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

Implements TriMesh.

◆ getTriMesh()

virtual 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.

◆ operator&()

SimpleTriMesh operator& ( const SimpleTriMesh & rhs ) const

Compute the Intersection of two TriMeshes, into a new TriMesh.

Parameters

rhs	[in] the TriMesh to create a Intersection with

Exceptions

rw::core::Exception if no CSGEngine can be found

Returns: a new TriMesh of the Intersection

◆ operator&=()

SimpleTriMesh& operator&= ( const SimpleTriMesh & rhs )

Compute the Intersection of two TriMeshes, into this TriMesh.

Parameters

rhs	[in] the TriMesh to create a Intersection with

Exceptions

rw::core::Exception if no CSGEngine can be found

Returns: a reference to the result

◆ operator*()

SimpleTriMesh operator* ( const rw::math::Transform3D< double > & trans ) const

Create a copy of the TriMesh and move it.

Parameters

trans [in] apply this transform to all vertices.

Returns: a new TriMesh

◆ operator*=()

SimpleTriMesh& operator*= ( const rw::math::Transform3D< double > & trans )

Move this TriMesh.

Parameters

trans [in] apply this transform to all vertices.

Returns: a reference to this TriMesh.

◆ operator+()

SimpleTriMesh operator+ ( const SimpleTriMesh & rhs ) const

Compute the Union of two TriMeshes, into a new TriMesh.

Parameters

rhs	[in] the TriMesh to create a union with

Exceptions

rw::core::Exception if no CSGEngine can be found

Returns: a new TriMesh of the union

◆ operator+=()

SimpleTriMesh& operator+= ( const SimpleTriMesh & rhs )

Compute the Union of two TriMeshes, into this TriMesh.

Parameters

rhs	[in] the TriMesh to create a union with

Exceptions

rw::core::Exception if no CSGEngine can be found

Returns: a reference to the result

◆ operator-()

SimpleTriMesh operator- ( const SimpleTriMesh & rhs ) const

Compute the Difference of two TriMeshes, into a new TriMesh.

Parameters

rhs	[in] the TriMesh to create a difference with

Exceptions

rw::core::Exception if no CSGEngine can be found

Returns: a new TriMesh of the difference

◆ operator-=()

SimpleTriMesh& operator-= ( const SimpleTriMesh & rhs )

Compute the Difference of two TriMeshes, into this TriMesh.

Parameters

rhs	[in] the TriMesh to create a Difference with

Exceptions

rw::core::Exception if no CSGEngine can be found

Returns: a reference to the result

◆ operator=() [1/9]

SimpleTriMesh& operator= ( const rw::core::Ptr< rw::geometry::GeometryData > & copy )

Copy the data from an existing trimesh.

Parameters

copy	the object to be copied

◆ operator=() [2/9]

SimpleTriMesh& operator= ( const rw::core::Ptr< rw::geometry::TriMesh > & copy )

Copy the data from an existing trimesh.

Parameters

copy	the object to be copied

◆ operator=() [3/9]

SimpleTriMesh& operator= ( const rw::core::Ptr< SimpleTriMesh > & copy )

Copy the data from an existing trimesh.

Parameters

copy	the object to be copied

◆ operator=() [4/9]

SimpleTriMesh& operator= ( const rw::geometry::TriMesh & copy )

Copy the data from an existing trimesh.

Parameters

copy	the object to be copied

◆ operator=() [5/9]

SimpleTriMesh& operator= ( const SimpleTriMesh && tmp )

Transfere the data from a temporary TriMesh. This will simply copy the shared pointer to the data object.

Parameters

tmp	the object to take the data from

◆ operator=() [6/9]

SimpleTriMesh& operator= ( const SimpleTriMesh & copy )

Copy the data from an existing trimesh.

Parameters

copy	the object to be copied

◆ operator=() [7/9]

SimpleTriMesh& operator= ( rw::geometry::GeometryData && copy )

Copy the data from an existing trimesh.

Parameters

copy	the object to be copied

◆ operator=() [8/9]

SimpleTriMesh& operator= ( rw::geometry::GeometryData & copy )

Copy the data from an existing trimesh.

Parameters

copy	the object to be copied

◆ operator=() [9/9]

SimpleTriMesh& operator= ( TriMeshData::Ptr data )

set the current data pointer equal to the new one

Parameters

data	[in] the data to take ownership of. If not shared pointer, then the destructor cleans it up

◆ operator^()

SimpleTriMesh operator^ ( const SimpleTriMesh & rhs ) const

Compute the Symetric Difference of two TriMeshes, into a new TriMesh.

Parameters

rhs	[in] the TriMesh to create a Symetric Difference with

Exceptions

rw::core::Exception if no CSGEngine can be found

Returns: a new TriMesh of the Symetric Difference

◆ operator^=()

SimpleTriMesh& operator^= ( const SimpleTriMesh & rhs )

Compute the Symetric Difference of two TriMeshes, into this TriMesh.

Parameters

rhs	[in] the TriMesh to create a Symetric Difference with

Exceptions

rw::core::Exception if no CSGEngine can be found

Returns: a reference to the result

◆ resize()

void resize	(	size_t	triangles,
		size_t	vertices
	)

Change the number of vertices and triangles in this mesh.

Parameters

triangles	the amount of triangles in the mesh
vertices	the amount of vertices in the mesh

◆ scale()

virtual void scale ( const rw::math::Vector3D< double > & scale )

virtual

Scale all vertices in the mesh.

Parameters

scale [in] how each axis should be scaled.

◆ separateMeshes()

std::vector<SimpleTriMesh> separateMeshes ( ) const

Check if there are non-connected meshes inside this mesh. If ther are then seperate and return them. non-connected means that you have meshes that does not share a triangluar edge.

Returns: if no seperate meshes return this mesh. Else seperate the Meshes and return them.

◆ setCSGEngine()

void setCSGEngine ( CSGEngine::Ptr engine )

inline

set CSG engine

Parameters

engine [in] pointer to the new engine

◆ triangle()

ReferencedTriangle triangle ( size_t idx ) const

get triangle at index idx. Changes to the triangle will be reflected in this mesh

Parameters

idx	index of the triangle

Returns: ReferencedTriangle

◆ triangles()

size_t triangles ( ) const

get number of triangles

Returns: size_t

◆ vertice()

ReferencedVertice vertice ( size_t idx ) const

get vertice at index idx. Changes to the vertice will be reflected in this mesh

Parameters

idx	the index of the wanted vertice

Returns: ReferencedVertice

◆ vertices()

size_t vertices ( ) const

number of vertices in this mesh

Returns: size_t

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

SimpleTriMesh.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SimpleTriMesh() [1/9]

◆ SimpleTriMesh() [2/9]

◆ SimpleTriMesh() [3/9]

◆ SimpleTriMesh() [4/9]

◆ SimpleTriMesh() [5/9]

◆ SimpleTriMesh() [6/9]

◆ SimpleTriMesh() [7/9]

◆ SimpleTriMesh() [8/9]

◆ SimpleTriMesh() [9/9]

Member Function Documentation

◆ clone()

◆ combine()

◆ getCSGEngine()

◆ getTriangle() [1/3]

◆ getTriangle() [2/3]

◆ getTriangle() [3/3]

◆ getTriMesh()

◆ operator&()

◆ operator&=()

◆ operator*()

◆ operator*=()

◆ operator+()

◆ operator+=()

◆ operator-()

◆ operator-=()

◆ operator=() [1/9]

◆ operator=() [2/9]

◆ operator=() [3/9]

◆ operator=() [4/9]

◆ operator=() [5/9]

◆ operator=() [6/9]

◆ operator=() [7/9]

◆ operator=() [8/9]

◆ operator=() [9/9]

◆ operator^()

◆ operator^=()

◆ resize()

◆ scale()

◆ separateMeshes()

◆ setCSGEngine()

◆ triangle()

◆ triangles()

◆ vertice()

◆ vertices()