A TriangleMesh stores normal information for the triangles. More...

#include <SurgSim/DataStructures/TriangleMesh.h>

Inheritance diagram for SurgSim::DataStructures::TriangleMesh:

Public Member Functions
	TriangleMesh ()
	Constructor. More...

template<class VertexDataSource , class EdgeDataSource , class TriangleDataSource >
	TriangleMesh (const TriangleMeshBase< VertexDataSource, EdgeDataSource, TriangleDataSource > &mesh)
	Templated constructor this lets us convert one mesh class into another mesh class. More...

const SurgSim::Math::Vector3d &	getNormal (size_t triangleId)
	Get normal for triangle. More...

void	calculateNormals ()
	Calculate normals for all triangles. More...

void	copyWithTransform (const SurgSim::Math::RigidTransform3d &pose, const TriangleMesh &source)
	Sets the mesh's vertices and normals by transforming a similar mesh. More...

Public Member Functions inherited from SurgSim::Framework::Asset
	Asset ()
	Constructor. More...

virtual	~Asset ()
	Destructor. More...

void	load (const std::string &fileName, const SurgSim::Framework::ApplicationData &data)
	Load a file with given name using 'data' as look up path(s). More...

void	load (const std::string &fileName)
	Overloaded function using SurgSim::Framework::Runtime::getApplicationData() as look up path(s). More...

std::string	getFileName () const
	Return the name of file loaded by this class. More...

Public Member Functions inherited from SurgSim::DataStructures::TriangleMeshBase< EmptyData, EmptyData, NormalData >
	TriangleMeshBase ()
	Constructor. The mesh is initially empty (no vertices, no edges, no triangles). More...

	TriangleMeshBase (const TriangleMeshBase< VertexDataSource, EdgeDataSource, TriangleDataSource > &mesh)
	Copy constructor. More...

virtual	~TriangleMeshBase ()
	Destructor. More...

size_t	addEdge (const EdgeType &edge)
	Adds an edge to the mesh. More...

size_t	addTriangle (const TriangleType &triangle)
	Adds a triangle to the mesh. More...

size_t	getNumEdges () const
	Get the number of edges. More...

size_t	getNumTriangles () const
	Get the number of triangles. More...

const std::vector< EdgeType > &	getEdges () const
	Retrieve all edges. More...

std::vector< EdgeType > &	getEdges ()
	Retrieve all edges (non const version) More...

const std::vector< TriangleType > &	getTriangles () const
	Retrieve all triangles. More...

std::vector< TriangleType > &	getTriangles ()
	Retrieve all triangles (non const version) More...

const EdgeType &	getEdge (size_t id) const
	Retrieve a specific edge. More...

EdgeType &	getEdge (size_t id)
	Retrieve a specific edge (non const version) More...

const TriangleType &	getTriangle (size_t id) const
	Retrieve a specific triangle. More...

TriangleType &	getTriangle (size_t id)
	Retrieve a specific triangle (non const version) More...

void	removeTriangle (size_t id)
	Marks a triangle as invalid, the triangle cannot be accessed via getTriangle anymore. More...

std::array< SurgSim::Math::Vector3d, 3 >	getTrianglePositions (size_t id) const
	Returns an array of the triangle's vertices' positions. More...

bool	isValid () const
	Test if the TriangleMeshBase is valid (valid vertex Ids used in all MeshElements) More...

Public Member Functions inherited from SurgSim::DataStructures::Vertices< EmptyData >
	Vertices ()
	Constructor. The mesh is initially empty (no vertices). More...

virtual	~Vertices ()
	Destructor. More...

void	clear ()
	Clear mesh to return to an empty state (no vertices). More...

void	update ()
	Performs any updates that are required when the vertices are modified. More...

size_t	addVertex (const VertexType &vertex)
	Adds a vertex to the mesh. More...

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

const VertexType &	getVertex (size_t id) const
	Returns the specified vertex. More...

VertexType &	getVertex (size_t id)
	Returns the specified vertex (non const version). More...

const std::vector< VertexType > &	getVertices () const
	Returns a vector containing the position of each vertex. More...

std::vector< VertexType > &	getVertices ()
	Returns a vector containing the position of each vertex (non const version). More...

void	setVertexPosition (size_t id, const SurgSim::Math::Vector3d &position)
	Sets the position of a vertex. More...

const SurgSim::Math::Vector3d &	getVertexPosition (size_t id) const
	Returns the position of a vertex. More...

void	setVertexPositions (const std::vector< SurgSim::Math::Vector3d > &positions, bool doUpdate=true)
	Sets the position of each vertex. More...

bool	operator== (const Vertices &mesh) const
	Compares the mesh with another one (equality) More...

bool	operator!= (const Vertices &mesh) const
	Compares the mesh with another one (inequality) More...

Protected Member Functions
virtual void	doUpdate () override
	Performs any updates that are required when the vertices are modified. More...

virtual bool	doLoad (const std::string &fileName) override
	Derived classes will overwrite this method to do actual loading. More...

Protected Member Functions inherited from SurgSim::Framework::Asset
void	serializeFileName (SurgSim::Framework::Accessible *accessible)
	Derived classes (which also inherit from SurgSim::Framework::Accessible) should call this function with 'this' pointer as the parameter in their constructors to register file name property for serialization. More...

Protected Member Functions inherited from SurgSim::DataStructures::TriangleMeshBase< EmptyData, EmptyData, NormalData >
virtual void	doClearEdges ()
	Remove all edges from the mesh. More...

virtual void	doClearTriangles ()
	Remove all triangles from the mesh. More...

virtual bool	isEqual (const Vertices< EmptyData > &mesh) const
	Internal comparison of meshes of the same type: returns true if equal, false if not equal. More...

Protected Member Functions inherited from SurgSim::DataStructures::Vertices< EmptyData >
virtual void	doClearVertices ()
	Remove all vertices from the mesh. More...

virtual bool	isEqual (const Vertices &mesh) const
	Internal comparison of meshes of the same type: returns true if equal, false if not equal. More...

Friends
class	SurgSim::Math::MeshShape

Additional Inherited Members
Public Types inherited from SurgSim::DataStructures::TriangleMeshBase< EmptyData, EmptyData, NormalData >
typedef MeshElement< 2, EmptyData >	EdgeType
	Edge type for convenience (Ids of the 2 vertices) More...

typedef MeshElement< 3, NormalData >	TriangleType
	Triangle type for convenience (Ids of the 3 vertices) More...

Public Types inherited from SurgSim::DataStructures::Vertices< EmptyData >
typedef Vertex< EmptyData >	VertexType
	Vertex type for convenience. More...

Detailed Description

A TriangleMesh stores normal information for the triangles.

Constructor & Destructor Documentation

SurgSim::DataStructures::TriangleMesh::TriangleMesh ( )

Constructor.

template<class VertexDataSource , class EdgeDataSource , class TriangleDataSource >

SurgSim::DataStructures::TriangleMesh::TriangleMesh ( const TriangleMeshBase< VertexDataSource, EdgeDataSource, TriangleDataSource > & mesh )

explicit

Templated constructor this lets us convert one mesh class into another mesh class.

Template Parameters

VertexDataSource	Type of extra data stored in each vertex
EdgeDataSource	Type of extra data stored in each edge
TriangleDataSource	Type of extra data stored in each triangle

Parameters

mesh	The mesh to be copied from. Vertex, edge and triangle data will be emptied.

See also: TriangleMeshBase

Member Function Documentation

void SurgSim::DataStructures::TriangleMesh::calculateNormals ( )

Calculate normals for all triangles.

Note: Normals will be normalized.

void SurgSim::DataStructures::TriangleMesh::copyWithTransform	(	const SurgSim::Math::RigidTransform3d &	pose,
		const TriangleMesh &	source
	)

Sets the mesh's vertices and normals by transforming a similar mesh.

The two meshes must have the same number of vertices, edges, and triangles.

Parameters

pose	the transformation to be applied to the vertices and norms
source	the mesh suppling the vertices and norms

bool SurgSim::DataStructures::TriangleMesh::doLoad ( const std::string & filePath )

overrideprotectedvirtual

Derived classes will overwrite this method to do actual loading.

Note: This method is not required to do any check on the validity or the existence of the file.

Parameters

filePath Absolute path to the file.

Returns: True if loading is successful; Otherwise, false.

Implements SurgSim::Framework::Asset.

void SurgSim::DataStructures::TriangleMesh::doUpdate ( )

overrideprotectedvirtual

Performs any updates that are required when the vertices are modified.

Override this method to implement update functionality. For example, this could be overridden to calculate normals for each Vertex.

Reimplemented from SurgSim::DataStructures::Vertices< EmptyData >.

const SurgSim::Math::Vector3d & SurgSim::DataStructures::TriangleMesh::getNormal ( size_t triangleId )

Get normal for triangle.

Parameters

triangleId The triangle to get normal.

Returns: The normal for the triangle with given ID.

Friends And Related Function Documentation

friend class SurgSim::Math::MeshShape

friend

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

SurgSim/DataStructures/TriangleMesh.h
SurgSim/DataStructures/TriangleMesh-inl.h
SurgSim/DataStructures/TriangleMesh.cpp

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation