SurgSim::Math::MeshShape Class Reference

Mesh shape: shape made of a triangle mesh The triangle mesh needs to be watertight to produce valid volume, center and second moment of volume. More...

`#include <SurgSim/Math/MeshShape.h>`

Inheritance diagram for SurgSim::Math::MeshShape:

## Public Member Functions

| MeshShape ()
| Constructor. More...
| MeshShape (const MeshShape &other)
| Copy constructor. More...
template<class V , class E , class T >
| MeshShape (const SurgSim::DataStructures::TriangleMesh< V, E, T > &other)
| Copy constructor when the template data is a different type. More...
| SURGSIM_CLASSNAME (SurgSim::Math::MeshShape)
int | getType () const override
const SurgSim::Math::Vector3d & | getNormal (size_t triangleId) const
| Get normal for triangle. More...
double | getVolume () const override
| Get the volume of the shape. More...
Vector3d | getCenter () const override
| Get the volumetric center of the shape. More...
Matrix33d | getSecondMomentOfVolume () const override
| Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix. More...
std::shared_ptr< Shape > | getTransformed (const RigidTransform3d &pose) const override
| Get a copy of this shape with an applied rigid transform. More...
const std::shared_ptr< const SurgSim::DataStructures::AabbTree > | getAabbTree () const
| Get the AabbTree. More...
bool | isValid () const override
| Check if the shape is valid. More...
bool | isTransformable () const override
Public Member Functions inherited from SurgSim::Math::Shape
| Shape ()
| Constructor. More...
virtual | ~Shape ()
| Destructor. More...
virtual std::string | getClassName () const
| Get class name. More...
virtual const Math::Aabbd & | getBoundingBox () 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
Public Member Functions inherited from SurgSim::DataStructures::TriangleMesh< SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::NormalData >
| TriangleMesh ()
| Constructor. The mesh is initially empty (no vertices, no edges, no triangles). More...
| TriangleMesh (const TriangleMesh< SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::NormalData > &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< SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::NormalData > & | operator= (const TriangleMesh< SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::NormalData > &other)
| Copy Assignment. More...
TriangleMesh< SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::NormalData > & | operator= (TriangleMesh< SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::NormalData > &&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< SurgSim::DataStructures::EmptyData >
| Vertices ()
| Constructor. More...
| Vertices (const Vertices< V > &other)
| Copy constructor when the template data is a different type In this case, no data will be copied. More...
Vertices< SurgSim::DataStructures::EmptyData > & | 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...

## Protected Member Functions

bool | doUpdate () override
| Performs any updates that are required when the vertices are modified. More...
bool | doLoad (const std::string &fileName) override
| Derived classes will overwrite this method to do actual loading. More...
bool | calculateNormals ()
| Calculate normals for all triangles. More...
void | updateAabbTree ()
| Update the AabbTree, which is an axis-aligned bounding box r-tree used to accelerate spatial searches. More...
virtual void | computeVolumeIntegrals ()
| Compute useful volume integrals based on the triangle mesh, which are used to get the volume , center and second moment of volume. More...
Protected Member Functions inherited from SurgSim::DataStructures::TriangleMesh< SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::NormalData >
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< SurgSim::DataStructures::EmptyData > &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< SurgSim::DataStructures::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...

## Protected Attributes

SurgSim::Math::Vector3d | m_center
| Center (considering a uniform distribution in the mesh volume) More...
double | m_volume
| Volume (in m^-3) More...
SurgSim::Math::Matrix33d | m_secondMomentOfVolume
| Second moment of volume. More...
Protected Attributes inherited from SurgSim::Math::Shape
Math::Aabbd | m_aabb

## Private Attributes

std::shared_ptr< SurgSim::DataStructures::AabbTree > | m_aabbTree
| The aabb tree used to accelerate collision detection against the mesh. More...

## Additional Inherited Members

Public Types inherited from SurgSim::Math::Shape
typedef ::SurgSim::Math::Vector3d | Vector3d
typedef ::SurgSim::Math::Matrix33d | Matrix33d
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< Shape >
typedef ObjectFactory< Shape > | FactoryType
Public Types inherited from SurgSim::DataStructures::TriangleMesh< SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::NormalData >
typedef MeshElement< 2, SurgSim::DataStructures::EmptyData > | EdgeType
| Edge type for convenience (Ids of the 2 vertices) More...
typedef MeshElement< 3, SurgSim::DataStructures::NormalData > | TriangleType
| Triangle type for convenience (Ids of the 3 vertices) More...
Public Types inherited from SurgSim::DataStructures::Vertices< SurgSim::DataStructures::EmptyData >
typedef Vertex< SurgSim::DataStructures::EmptyData > | VertexType
| Vertex type for convenience. More...
Public Types inherited from SurgSim::Framework::FactoryBase< Asset >
typedef ObjectFactory< Asset > | FactoryType
Static Public Member Functions inherited from SurgSim::Framework::FactoryBase< Shape >
static FactoryType & | getFactory ()
Static Public Member Functions inherited from SurgSim::Framework::FactoryBase< Asset >
static FactoryType & | getFactory ()
Static Protected Attributes inherited from SurgSim::DataStructures::TriangleMesh< SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::NormalData >
static std::string | m_className

## Detailed Description

Mesh shape: shape made of a triangle mesh The triangle mesh needs to be watertight to produce valid volume, center and second moment of volume.

If it is not the case and you need valid geometric properties, use SurfaceMeshShape instead. Various geometrical properties (volume based) are computed from the triangle mesh using David Eberly's work (http://www.geometrictools.com/Documentation/PolyhedralMassProperties.pdf) which is improving Brian Mirtich previous work (http://www.cs.berkeley.edu/~jfc/mirtich/massProps.html) by making the assumption that the polyhedral mesh is composed of triangles.

Note
  The internal mesh should not be modified, otherwise the geometric properties will be invalid.
  Practical use cases:
  * Fixed/Rigid object, the mesh will not change anyway.
  * Deformable object, the mesh will be updated, but the geometric properties will not be used.

See also
  SurfaceMeshShape

## Constructor & Destructor Documentation

## MeshShape() [1/3]

SurgSim::Math::MeshShape::MeshShape | ( |  | ) |

Constructor.

## MeshShape() [2/3]

SurgSim::Math::MeshShape::MeshShape | ( | const MeshShape & | other | ) |

explicit

Copy constructor.

Parameters

  other | The MeshShape to be copied from

## MeshShape() [3/3]

template<class V , class E , class T >

SurgSim::Math::MeshShape::MeshShape | ( | const SurgSim::DataStructures::TriangleMesh< V, E, T > & | other | ) |

explicit

Copy constructor when the template data is a different type.

Template Parameters

  VertexData | Type of extra data stored in each vertex
  EdgeData | Type of extra data stored in each edge
  TriangleData | 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

## Member Function Documentation

## calculateNormals()

bool SurgSim::Math::MeshShape::calculateNormals | ( |  | ) |

protected

Calculate normals for all triangles.

Note
  Normals will be normalized.

Returns
  true on success, or false if any triangle has an indeterminate normal.

## computeVolumeIntegrals()

void SurgSim::Math::MeshShape::computeVolumeIntegrals | ( |  | ) |

protected virtual

Compute useful volume integrals based on the triangle mesh, which are used to get the volume , center and second moment of volume.

Reimplemented in SurgSim::Math::SurfaceMeshShape.

## doLoad()

bool SurgSim::Math::MeshShape::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.

## doUpdate()

bool SurgSim::Math::MeshShape::doUpdate | ( |  | ) |

override protected virtual

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.

Returns
  true on success.

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

## getAabbTree()

const std::shared_ptr< const SurgSim::DataStructures::AabbTree > SurgSim::Math::MeshShape::getAabbTree | ( |  | ) | const

Get the AabbTree.

Returns
  The object's associated AabbTree

## getCenter()

SurgSim::Math::Vector3d SurgSim::Math::MeshShape::getCenter | ( |  | ) | const

override virtual

Get the volumetric center of the shape.

Returns
  The center of the shape

Implements SurgSim::Math::Shape.

## getNormal()

const SurgSim::Math::Vector3d & SurgSim::Math::MeshShape::getNormal | ( | size_t | triangleId | ) | const

Get normal for triangle.

Parameters

  triangleId | The triangle to get normal.

Returns
  The normal for the triangle with given ID.

## getSecondMomentOfVolume()

SurgSim::Math::Matrix33d SurgSim::Math::MeshShape::getSecondMomentOfVolume | ( |  | ) | const

override virtual

Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix.

Returns
  The 3x3 symmetric second moment matrix

Implements SurgSim::Math::Shape.

## getTransformed()

std::shared_ptr< Shape > SurgSim::Math::MeshShape::getTransformed | ( | const RigidTransform3d & | pose | ) | const

override virtual

Get a copy of this shape with an applied rigid transform.

Parameters

  pose | The pose to transform the shape by

Returns
  the posed shape

Reimplemented from SurgSim::Math::Shape.

## getType()

int SurgSim::Math::MeshShape::getType | ( |  | ) | const

override virtual

Returns
  the type of shape

Implements SurgSim::Math::Shape.

Reimplemented in SurgSim::Math::SurfaceMeshShape.

## getVolume()

double SurgSim::Math::MeshShape::getVolume | ( |  | ) | const

override virtual

Get the volume of the shape.

Returns
  The volume of the shape (in m-3)

Implements SurgSim::Math::Shape.

## isTransformable()

bool SurgSim::Math::MeshShape::isTransformable | ( |  | ) | const

override virtual

Returns
  true if the the shape can be transformed

Reimplemented from SurgSim::Math::Shape.

## isValid()

bool SurgSim::Math::MeshShape::isValid | ( |  | ) | const

override virtual

Check if the shape is valid.

Returns
  True if shape is valid; Otherwise, false.

Implements SurgSim::Math::Shape.

Reimplemented in SurgSim::Math::SurfaceMeshShape.

## SURGSIM_CLASSNAME()

SurgSim::Math::MeshShape::SURGSIM_CLASSNAME | ( | SurgSim::Math::MeshShape |  | ) |

## updateAabbTree()

void SurgSim::Math::MeshShape::updateAabbTree | ( |  | ) |

protected

Update the AabbTree, which is an axis-aligned bounding box r-tree used to accelerate spatial searches.

## Member Data Documentation

## m_aabbTree

std::shared_ptr<SurgSim::DataStructures::AabbTree> SurgSim::Math::MeshShape::m_aabbTree

private

The aabb tree used to accelerate collision detection against the mesh.

## m_center

SurgSim::Math::Vector3d SurgSim::Math::MeshShape::m_center

protected

Center (considering a uniform distribution in the mesh volume)

## m_secondMomentOfVolume

SurgSim::Math::Matrix33d SurgSim::Math::MeshShape::m_secondMomentOfVolume

protected

Second moment of volume.

## m_volume

double SurgSim::Math::MeshShape::m_volume

protected

Volume (in m^-3)

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

- SurgSim/Math/MeshShape.h
- SurgSim/Math/MeshShape-inl.h
- SurgSim/Math/MeshShape.cpp