SurgSim::Graphics::Mesh Class Reference

`#include <SurgSim/Graphics/Mesh.h>`

Inheritance diagram for SurgSim::Graphics::Mesh:

## Public Types

typedef TriangleMesh< VertexData, DataStructures::EmptyData, DataStructures::EmptyData > | BaseType
Public Types inherited from SurgSim::DataStructures::TriangleMesh< VertexData, SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::EmptyData >
typedef MeshElement< 2, SurgSim::DataStructures::EmptyData > | EdgeType
| Edge type for convenience (Ids of the 2 vertices) More...
typedef MeshElement< 3, SurgSim::DataStructures::EmptyData > | TriangleType
| Triangle type for convenience (Ids of the 3 vertices) More...
Public Types inherited from SurgSim::DataStructures::Vertices< VertexData >
typedef Vertex< VertexData > | VertexType
| Vertex type for convenience. More...
Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)> | GetterType
typedef std::function< void(boost::any)> | SetterType
typedef std::function< YAML::Node(void)> | EncoderType
typedef std::function< void(const YAML::Node *)> | DecoderType
Public Types inherited from SurgSim::Framework::FactoryBase< Asset >
typedef ObjectFactory< Asset > | FactoryType

## Public Member Functions

| Mesh ()
| Default constructor. More...
template<class V , class E , class T >
| Mesh (const TriangleMesh< V, E, T > &other)
| Copy constructor when the template data is a different type. More...
| Mesh (const Mesh &other)
| Copy Constructor. More...
| Mesh (Mesh &&other)
| Move Constructor. More...
Mesh & | operator= (const Mesh &other)
| Copy Assignment. More...
Mesh & | operator= (Mesh &&other)
| Move Assignment. More...
void | initialize (const std::vector< SurgSim::Math::Vector3d > &vertices, const std::vector< SurgSim::Math::Vector4d > &colors, const std::vector< SurgSim::Math::Vector2d > &textures, const std::vector< size_t > &triangles)
| Utility function to initialize a mesh with plain data,. More...
void | dirty ()
| Increase the update count, this indicates that the mesh has been changed, if used in a mesh representation the mesh representation will still only update the data members that have been marked for updating. More...
size_t | getUpdateCount () const
| Return the update count, please note that it will silently roll over when the range of size_t has been exceeded. More...
Public Member Functions inherited from SurgSim::DataStructures::TriangleMesh< VertexData, SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::EmptyData >
| TriangleMesh ()
| Constructor. The mesh is initially empty (no vertices, no edges, no triangles). More...
| TriangleMesh (const TriangleMesh< VertexData, SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::EmptyData > &other)
| Copy constructor when the template data is the same type. More...
| TriangleMesh (const TriangleMesh< V, E, T > &other)
| Copy constructor when the template data is a different type. More...
| TriangleMesh (TriangleMesh &&other)
| Move Constructor. More...
virtual | ~TriangleMesh ()
| Destructor. More...
TriangleMesh< VertexData, SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::EmptyData > & | operator= (const TriangleMesh< VertexData, SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::EmptyData > &other)
| Copy Assignment. More...
TriangleMesh< VertexData, SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::EmptyData > & | operator= (TriangleMesh< VertexData, SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::EmptyData > &&other)
| Move Assignment. More...
std::string | getClassName () const override
| Support serialization with a classname. 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...
std::array< SurgSim::Math::Vector3d, 2 > | getEdgePositions (size_t id) const
| Returns an array of the edge's vertices' positions. 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 TriangleMesh is valid (valid vertex Ids used in all MeshElements) More...
void | save (const std::string &fileName)
| Save the triangle mesh in the ply format. More...
Public Member Functions inherited from SurgSim::DataStructures::Vertices< VertexData >
| Vertices ()
| Constructor. More...
template<class V >
| Vertices (const Vertices< V > &other)
| Copy constructor when the template data is a different type In this case, no data will be copied. More...
template<class V >
Vertices< VertexData > & | operator= (const Vertices< V > &other)
| Assignment when the template data is a different type In this case, no data will be copied. More...
virtual | ~Vertices ()
| Destructor. More...
void | clear ()
| Clear mesh to return to an empty state (no vertices). More...
bool | 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...
void | transform (const Math::RigidTransform3d &pose)
| Apply a rigid transform to 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...
Public Member Functions inherited from SurgSim::Framework::Asset
| Asset ()
| Constructor. More...
| Asset (const Asset &rhs)
| Copy 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::Framework::Accessible
| Accessible ()
| Default Constructor. More...
| ~Accessible ()
| Destructor. More...
template<class T >
T | getValue (const std::string &name) const
| Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...
boost::any | getValue (const std::string &name) const
| Retrieves the value with the name by executing the getter if it is found. More...
template<class T >
bool | getValue (const std::string &name, T *value) const
| Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...
void | setValue (const std::string &name, const boost::any &value)
| Sets a value of a property that has setter. More...
bool | isReadable (const std::string &name) const
| Check whether a property is readable. More...
bool | isWriteable (const std::string &name) const
| Check whether a property is writable. More...
void | setGetter (const std::string &name, GetterType func)
| Sets a getter for a given property. More...
void | setSetter (const std::string &name, SetterType func)
| Sets a setter for a given property. More...
void | setAccessors (const std::string &name, GetterType getter, SetterType setter)
| Sets the accessors getter and setter in one function. More...
void | removeAccessors (const std::string &name)
| Removes all the accessors (getter and setter) for a given property. More...
void | forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
| Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...
void | setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
| Sets the functions used to convert data from and to a YAML::Node. More...
void | setDecoder (const std::string &name, DecoderType decoder)
| Sets the functions used to convert data from a YAML::Node. More...
YAML::Node | encode () const
| Encode this Accessible to a YAML::Node. More...
void | decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
| Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...
template<>
boost::any | getValue (const std::string &name) const

## Protected Member Functions

bool | doLoad (const std::string &fileName) override
| Derived classes will overwrite this method to do actual loading. More...
Protected Member Functions inherited from SurgSim::DataStructures::TriangleMesh< VertexData, SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::EmptyData >
std::string | m_className
std::string | m_className
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< VertexData > &mesh) const
| Internal comparison of meshes of the same type: returns true if equal, false if not equal. More...
bool | doLoad (const std::string &fileName) override
| Derived classes will overwrite this method to do actual loading. More...
Protected Member Functions inherited from SurgSim::DataStructures::Vertices< VertexData >
virtual void | doClearVertices ()
| Remove all vertices from the mesh. More...

## Protected Attributes

size_t | m_updateCount
| For checking whether the mesh has changed. More...

## Additional Inherited Members

Static Public Member Functions inherited from SurgSim::Framework::FactoryBase< Asset >
static FactoryType & | getFactory ()
Static Protected Attributes inherited from SurgSim::DataStructures::TriangleMesh< VertexData, SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::EmptyData >
static std::string | m_className

## Member Typedef Documentation

## BaseType

typedef TriangleMesh<VertexData, DataStructures::EmptyData, DataStructures::EmptyData> SurgSim::Graphics::Mesh::BaseType

## Constructor & Destructor Documentation

## Mesh() [1/4]

SurgSim::Graphics::Mesh::Mesh | ( |  | ) |

Default constructor.

## Mesh() [2/4]

template<class V , class E , class T >

SurgSim::Graphics::Mesh::Mesh | ( | const TriangleMesh< V, E, T > & | other | ) |

explicit

Copy constructor when the template data is a different type.

Template Parameters

  V | Type of extra data stored in each vertex
  E | Type of extra data stored in each edge
  T | Type of extra data stored in each triangle

Parameters

  other | The mesh to be copied from. Vertex, edge and triangle data will not be copied

Note
  : Data of the input mesh, i.e. VertexDataSource, EdgeDataSource and TrianleDataSource will not be copied.

## Mesh() [3/4]

SurgSim::Graphics::Mesh::Mesh | ( | const Mesh & | other | ) |

Copy Constructor.

Parameters

  other | Constructor source

## Mesh() [4/4]

SurgSim::Graphics::Mesh::Mesh | ( | Mesh && | other | ) |

Move Constructor.

Parameters

  other | Constructor source

## Member Function Documentation

## dirty()

void SurgSim::Graphics::Mesh::dirty | ( |  | ) |

Increase the update count, this indicates that the mesh has been changed, if used in a mesh representation the mesh representation will still only update the data members that have been marked for updating.

## doLoad()

bool SurgSim::Graphics::Mesh::doLoad | ( | const std::string & | filePath | ) |

override protected virtual

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.

## getUpdateCount()

size_t SurgSim::Graphics::Mesh::getUpdateCount | ( |  | ) | const

Return the update count, please note that it will silently roll over when the range of size_t has been exceeded.

## initialize()

void SurgSim::Graphics::Mesh::initialize | ( | const std::vector< SurgSim::Math::Vector3d > & | vertices,
|  | const std::vector< SurgSim::Math::Vector4d > & | colors,
|  | const std::vector< SurgSim::Math::Vector2d > & | textures,
|  | const std::vector< size_t > & | triangles
| ) |  |

Utility function to initialize a mesh with plain data,.

Parameters

  vertices | An array of vertex coordinates.
  colors | The colors, the number of colors can be 0 or there have to be at least as many colors as vertices.
  textures | The textures coordinates, the number of coordinates can be 0 or there have to be at least as many texture coordinates as there are vertices.
  triangles | The triangles, a plain array of triplets of triangle indices, the indices should be points in the vertices array.

## operator=() [1/2]

Mesh & SurgSim::Graphics::Mesh::operator= | ( | const Mesh & | other | ) |

Copy Assignment.

Parameters

  other | Assignment source

## operator=() [2/2]

Mesh & SurgSim::Graphics::Mesh::operator= | ( | Mesh && | other | ) |

Move Assignment.

Parameters

  other | Assignment source

## Member Data Documentation

## m_updateCount

size_t SurgSim::Graphics::Mesh::m_updateCount

protected

For checking whether the mesh has changed.

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

- SurgSim/Graphics/Mesh.h
- SurgSim/Graphics/Mesh-inl.h
- SurgSim/Graphics/Mesh.cpp