SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior Class Reference

Behavior to copy positions of a PhysicsRepresentation to a GraphicsMesh. More...

`#include <SurgSim/Blocks/TransferPhysicsToGraphicsMeshBehavior.h>`

Inheritance diagram for SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior:

## Public Member Functions

| TransferPhysicsToGraphicsMeshBehavior (const std::string &name)
| Constructor. More...
| SURGSIM_CLASSNAME (SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior)
void | setSource (const std::shared_ptr< Framework::Component > &source)
| Set the representation from which the positions are from. More...
void | setTarget (const std::shared_ptr< Framework::Component > &target)
| Set the representation which will receive the positions. More...
std::shared_ptr< Physics::DeformableRepresentation > | getSource () const
| Get the Physics representation which sends the positions. More...
std::shared_ptr< Graphics::MeshRepresentation > | getTarget () const
| Get the Graphics representation which receives the positions. More...
void | setIndexMap (const std::shared_ptr< DataStructures::TriangleMeshPlain > &source, const std::shared_ptr< DataStructures::TriangleMeshPlain > &target)
| Generate a mapping, for each point in source find the points target that coincide. More...
void | setIndexMap (const std::string &sourceFile, const std::string &targetFile)
| Generate a mapping, for each point in source find the points target that coincide. More...
void | setIndexMap (const std::vector< std::pair< size_t, size_t >> &indexMap)
| Set the mapping to be used if not empty. More...
const std::vector< std::pair< size_t, size_t > > | getIndexMap () const
void | update (double dt) override
| Update the behavior. More...
Public Member Functions inherited from SurgSim::Framework::Behavior
| Behavior (const std::string &name)
virtual | ~Behavior ()
virtual int | getTargetManagerType () const
| Specifies which manger will handle this behavior. More...
Public Member Functions inherited from SurgSim::Framework::Component
| Component (const std::string &name)
| Constructor. More...
virtual | ~Component ()
| Destructor. More...
std::string | getName () const
| Gets component name. More...
std::string | getFullName () const
| Gets a string containing the name of the Component and (if it has one) its SceneElement. More...
void | setName (const std::string &name)
| Sets the name of component. More...
boost::uuids::uuid | getUuid () const
| Gets the id of the component. More...
bool | isInitialized () const
bool | initialize (const std::weak_ptr< Runtime > &runtime)
| Initialize this component, this needs to be called before wakeUp() can be called. More...
bool | isAwake () const
bool | wakeUp ()
| Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...
void | retire ()
| Retire this component, this will be called when the component is removed from the ComponentManager that is responsible for handling this component. More...
void | setScene (std::weak_ptr< Scene > scene)
| Sets the scene. More...
std::shared_ptr< Scene > | getScene ()
| Gets the scene. More...
void | setSceneElement (std::weak_ptr< SceneElement > sceneElement)
| Sets the scene element. More...
std::shared_ptr< SceneElement > | getSceneElement ()
| Gets the scene element. More...
std::shared_ptr< const SceneElement > | getSceneElement () const
| Gets the scene element, constant version. More...
std::shared_ptr< Runtime > | getRuntime () const
| Get the runtime which contains this component. More...
virtual std::string | getClassName () const
| The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...
std::shared_ptr< Component > | getSharedPtr ()
| Gets a shared pointer to this component. More...
virtual void | doRetire ()
| Interface to be implemented by derived classes Has a default implementation, does nothing. More...
bool | isActive () const
virtual void | setLocalActive (bool val)
| Set the component's active state. More...
bool | isLocalActive () const
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

## Private Member Functions

bool | doInitialize () override
| Interface to be implemented by derived classes. More...
bool | doWakeUp () override
| Interface to be implemented by derived classes. More...
void | setIndexMap (const std::pair< std::string, std::string > &fileName)
void | setIndexMap (const std::pair< std::shared_ptr< Framework::Asset >, std::shared_ptr< Framework::Asset >> &meshes)

## Private Attributes

std::shared_ptr< Physics::DeformableRepresentation > | m_source
| The DeformableRepresentation from which the Ode state comes. More...
std::shared_ptr< Graphics::MeshRepresentation > | m_target
| The Graphics Mesh Representation to which the vertices' positions are set. More...
std::vector< std::pair< size_t, size_t > > | m_indexMap
| The mapping to be used if not empty. More...

## Additional Inherited Members

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::FactoryBase1< Component, std::string >
typedef ObjectFactory1< Component, std::string > | FactoryType
Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
static FactoryType & | getFactory ()
Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponent > | getPoseComponent ()
| Get the PoseComponent for this component. More...
virtual std::shared_ptr< const PoseComponent > | getPoseComponent () const
| Get the PoseComponent for this component, constant access. More...

## Detailed Description

Behavior to copy positions of a PhysicsRepresentation to a GraphicsMesh.

By default the behavior will take each node and copy the position of that node to the vertex with the corresponding index. If an index map is available, for each pair in the index map it will take the nodeId from the first member of the pair and copy it to the vertex with the id of the second member of the pair. The index map can be computed from meshes given to this behavior or precomputed via other means.

## Constructor & Destructor Documentation

## TransferPhysicsToGraphicsMeshBehavior()

SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior::TransferPhysicsToGraphicsMeshBehavior | ( | const std::string & | name | ) |

explicit

Constructor.

Parameters

  name | Name of the behavior

## Member Function Documentation

## doInitialize()

bool SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior::doInitialize | ( |  | ) |

override private virtual

Interface to be implemented by derived classes.

Returns
  True if component is initialized successfully; otherwise, false.

Implements SurgSim::Framework::Component.

## doWakeUp()

bool SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior::doWakeUp | ( |  | ) |

override private virtual

Interface to be implemented by derived classes.

Returns
  True if component is woken up successfully; otherwise, false.

Implements SurgSim::Framework::Component.

## getIndexMap()

const std::vector< std::pair< size_t, size_t > > SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior::getIndexMap | ( |  | ) | const

Returns
  the current mapping

## getSource()

std::shared_ptr< Physics::DeformableRepresentation > SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior::getSource | ( |  | ) | const

Get the Physics representation which sends the positions.

Returns
  The Physics representation which produces positions.

## getTarget()

std::shared_ptr< Graphics::MeshRepresentation > SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior::getTarget | ( |  | ) | const

Get the Graphics representation which receives the positions.

Returns
  The Graphics Mesh representation which receives positions.

## setIndexMap() [1/5]

void SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior::setIndexMap | ( | const std::shared_ptr< DataStructures::TriangleMeshPlain > & | source,
|  | const std::shared_ptr< DataStructures::TriangleMeshPlain > & | target
| ) |  |

Generate a mapping, for each point in source find the points target that coincide.

Parameters

  source | Source of search
  target | Target of search

Note
  source and target need to be triangle meshes

## setIndexMap() [2/5]

void SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior::setIndexMap | ( | const std::string & | sourceFile,
|  | const std::string & | targetFile
| ) |  |

Generate a mapping, for each point in source find the points target that coincide.

Parameters

  sourceFile | filename for source mesh
  targetFile | filename for target mesh

Note
  sourceFile and targetFile need to be valid ply files

## setIndexMap() [3/5]

void SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior::setIndexMap | ( | const std::vector< std::pair< size_t, size_t >> & | indexMap | ) |

Set the mapping to be used if not empty.

first index is the node, second index is the vertex. for all pairs copy node position to given vertex index.

Parameters

  indexMap | mapping to be used for this mesh

## setIndexMap() [4/5]

void SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior::setIndexMap | ( | const std::pair< std::string, std::string > & | fileName | ) |

private

## setIndexMap() [5/5]

void SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior::setIndexMap | ( | const std::pair< std::shared_ptr< Framework::Asset >, std::shared_ptr< Framework::Asset >> & | meshes | ) |

private

## setSource()

void SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior::setSource | ( | const std::shared_ptr< Framework::Component > & | source | ) |

Set the representation from which the positions are from.

Parameters

  source | The physics representation

## setTarget()

void SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior::setTarget | ( | const std::shared_ptr< Framework::Component > & | target | ) |

Set the representation which will receive the positions.

Parameters

  target | The Graphics Mesh representation

## SURGSIM_CLASSNAME()

SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior::SURGSIM_CLASSNAME | ( | SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior |  | ) |

## update()

void SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior::update | ( | double | dt | ) |

override virtual

Update the behavior.

Parameters

  dt | The length of time (seconds) between update calls.

Implements SurgSim::Framework::Behavior.

## Member Data Documentation

## m_indexMap

std::vector<std::pair<size_t, size_t> > SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior::m_indexMap

private

The mapping to be used if not empty.

## m_source

std::shared_ptr<Physics::DeformableRepresentation> SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior::m_source

private

The DeformableRepresentation from which the Ode state comes.

## m_target

std::shared_ptr<Graphics::MeshRepresentation> SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior::m_target

private

The Graphics Mesh Representation to which the vertices' positions are set.

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

- SurgSim/Blocks/TransferPhysicsToGraphicsMeshBehavior.h
- SurgSim/Blocks/TransferPhysicsToGraphicsMeshBehavior.cpp