Inheritance diagram for dart::dynamics::MeshShape:
Collaboration diagram for dart::dynamics::MeshShape:
Public Types | |
| enum | ColorMode { MATERIAL_COLOR = 0, COLOR_INDEX, SHAPE_COLOR } |
| enum | AlphaMode { BLEND = 0, AUTO, SHAPE_ALPHA } |
| Alpha mode to specify how the alpha of this mesh should be determined. More... | |
 Public Types inherited from dart::dynamics::Shape | |
| enum | ShapeType { SPHERE, BOX, ELLIPSOID, CYLINDER, CAPSULE, CONE, PYRAMID, RECTANGULAR_PYRAMID, PLANE, MULTISPHERE, MESH, SOFT_MESH, LINE_SEGMENT, HEIGHTMAP, UNSUPPORTED } |
| enum | DataVariance { STATIC = 0, DYNAMIC_TRANSFORM = 1 << 1, DYNAMIC_PRIMITIVE = 1 << 2, DYNAMIC_COLOR = 1 << 3, DYNAMIC_VERTICES = 1 << 4, DYNAMIC_ELEMENTS = 1 << 5, DYNAMIC = 0xFF } |
| DataVariance can be used by renderers to determine whether it should expect data for this shape to change during each update. More... | |
| using | VersionChangedSignal = common::Signal< void(Shape *shape, std::size_t version)> |
Public Member Functions | |
| MeshShape (const Eigen::Vector3d &scale, const aiScene *mesh, const common::Uri &uri="", common::ResourceRetrieverPtr resourceRetriever=nullptr) | |
| Constructor. | |
| ~MeshShape () override | |
| Destructor. | |
| const std::string & | getType () const override |
| Returns a string representing the shape type. More... | |
| const aiScene * | getMesh () const |
| virtual void | update () |
| Updates positions of the vertices or the elements. More... | |
| void | setMesh (const aiScene *mesh, const std::string &path="", common::ResourceRetrieverPtr resourceRetriever=nullptr) |
| void | setMesh (const aiScene *mesh, const common::Uri &path, common::ResourceRetrieverPtr resourceRetriever=nullptr) |
| std::string | getMeshUri () const |
| Returns URI to the mesh as std::string; an empty string if unavailable. | |
| const common::Uri & | getMeshUri2 () const |
| Returns URI to the mesh; an empty string if unavailable. | |
| const std::string & | getMeshPath () const |
| Returns path to the mesh on disk; an empty string if unavailable. | |
| common::ResourceRetrieverPtr | getResourceRetriever () |
| void | setScale (const Eigen::Vector3d &scale) |
| const Eigen::Vector3d & | getScale () const |
| void | setColorMode (ColorMode mode) |
| Set how the color of this mesh should be determined. | |
| ColorMode | getColorMode () const |
| Get the coloring mode that this mesh is using. | |
| void | setAlphaMode (AlphaMode mode) |
| Sets how the alpha of this mesh should be determined. | |
| AlphaMode | getAlphaMode () const |
| Returns the alpha mode that this mesh is using. | |
| void | setColorIndex (int index) |
| Set which entry in aiMesh::mColor should be used when the color mode is COLOR_INDEX. More... | |
| int | getColorIndex () const |
| Get the index that will be used when the ColorMode is set to COLOR_INDEX. | |
| int | getDisplayList () const |
| void | setDisplayList (int index) |
| Eigen::Matrix3d | computeInertia (double mass) const override |
| Computes the inertia. | |
| Public Member Functions inherited from dart::dynamics::Shape | |
| Shape (ShapeType _type) | |
| Constructor. More... | |
| Shape () | |
| Constructor. | |
| virtual | ~Shape () |
| Destructor. | |
| template<typename ShapeT > | |
| bool | is () const |
| Get true if the types of this Shape and the template parameter (a shape class) are identical. More... | |
| const math::BoundingBox & | getBoundingBox () const |
| Get the bounding box of the shape in its local coordinate frame. More... | |
| Eigen::Matrix3d | computeInertiaFromDensity (double density) const |
| Eigen::Matrix3d | computeInertiaFromMass (double mass) const |
| double | getVolume () const |
| Returns volume of this shape. More... | |
| std::size_t | getID () const |
| ShapeType | getShapeType () const |
| void | setDataVariance (unsigned int _variance) |
| Set the data variance of this shape. More... | |
| void | addDataVariance (unsigned int _variance) |
| Add a type of variance to this shape. More... | |
| void | removeDataVariance (unsigned int _variance) |
| Remove a type of variance from this shape. More... | |
| unsigned int | getDataVariance () const |
| Get the data variance of this shape. | |
| bool | checkDataVariance (DataVariance type) const |
| True iff this Shape has the specified type of DataVariance. | |
| virtual void | refreshData () |
| Instruct this shape to update its data. | |
| virtual void | notifyAlphaUpdate (double alpha) |
| Notify that the alpha of this shape has updated. | |
| virtual void | notifyAlphaUpdated (double alpha) |
| Notify that the alpha of this shape has updated. | |
| virtual void | notifyColorUpdate (const Eigen::Vector4d &color) |
| Notify that the color (rgba) of this shape has updated. | |
| virtual void | notifyColorUpdated (const Eigen::Vector4d &color) |
| Notify that the color (rgba) of this shape has updated. | |
| std::size_t | incrementVersion () override final |
| Increment the version of this Shape and notify its subscribers. | |
| Public Member Functions inherited from dart::common::Subject | |
| virtual | ~Subject () |
| Destructor will notify all Observers that it is destructing. | |
| Public Member Functions inherited from dart::common::VersionCounter | |
| VersionCounter () | |
| Default constructor. | |
| virtual std::size_t | getVersion () const |
| Get the version number of this object. | |
Static Public Member Functions | |
| static const std::string & | getStaticType () |
| Returns shape type for this class. | |
| static const aiScene * | loadMesh (const std::string &filePath) |
| static const aiScene * | loadMesh (const std::string &_uri, const common::ResourceRetrieverPtr &retriever) |
| static const aiScene * | loadMesh (const common::Uri &uri, const common::ResourceRetrieverPtr &retriever) |
Protected Member Functions | |
| void | updateBoundingBox () const override |
| Updates bounding box. | |
| void | updateVolume () const override |
| Updates volume. | |
| Protected Member Functions inherited from dart::common::Subject | |
| void | sendDestructionNotification () const |
| Send a destruction notification to all Observers. More... | |
| void | addObserver (Observer *_observer) const |
| Add an Observer to the list of Observers. | |
| void | removeObserver (Observer *_observer) const |
| Remove an Observer from the list of Observers. | |
| Protected Member Functions inherited from dart::common::VersionCounter | |
| void | setVersionDependentObject (VersionCounter *dependent) |
Protected Attributes | |
| const aiScene * | mMesh |
| common::Uri | mMeshUri |
| URI the mesh, if available). | |
| std::string | mMeshPath |
| Path the mesh on disk, if available. | |
| common::ResourceRetrieverPtr | mResourceRetriever |
| Optional method of loading resources by URI. | |
| int | mDisplayList |
| OpenGL DisplayList id for rendering. | |
| Eigen::Vector3d | mScale |
| Scale. | |
| ColorMode | mColorMode |
| Specifies how the color of this mesh should be determined. | |
| AlphaMode | mAlphaMode |
| Specifies how the alpha of this mesh should be determined. | |
| int | mColorIndex |
| Specifies which color index should be used when mColorMode is COLOR_INDEX. | |
| Protected Attributes inherited from dart::dynamics::Shape | |
| math::BoundingBox | mBoundingBox |
| The bounding box (in the local coordinate frame) of the shape. | |
| bool | mIsBoundingBoxDirty |
| Whether bounding box needs update. | |
| double | mVolume |
| Volume enclosed by the geometry. | |
| bool | mIsVolumeDirty |
| Whether volume needs update. | |
| const std::size_t | mID |
| Unique id. | |
| unsigned int | mVariance |
| The DataVariance of this Shape. | |
| ShapeType | mType |
| Protected Attributes inherited from dart::common::Subject | |
| std::set< Observer * > | mObservers |
| List of current Observers. | |
| Protected Attributes inherited from dart::common::VersionCounter | |
| std::size_t | mVersion |
Additional Inherited Members | |
| Public Attributes inherited from dart::dynamics::Shape | |
| common::SlotRegister< VersionChangedSignal > | onVersionChanged |
| Use this to subscribe to version change signals. | |
| Static Protected Attributes inherited from dart::dynamics::Shape | |
| static std::atomic_int | mCounter {PRIMITIVE_MAGIC_NUMBER} |
Member Enumeration Documentation
◆ AlphaMode
Alpha mode to specify how the alpha of this mesh should be determined.
The final alpha value is affected by ColorMode and visual aspect that holds this mesh.
◆ ColorMode
Member Function Documentation
◆ getType()
|
overridevirtual |
◆ setColorIndex()
| void dart::dynamics::MeshShape::setColorIndex | ( | int | index | ) |
Set which entry in aiMesh::mColor should be used when the color mode is COLOR_INDEX.
This value must be smaller than AI_MAX_NUMBER_OF_COLOR_SETS. If the color index is higher than what the mesh has available, then we will use the highest index possible.
◆ update()
|
virtual |
Updates positions of the vertices or the elements.
By default, this does nothing; you must extend the MeshShape class and implement your own version of this function if you want the mesh data to get updated before rendering
The documentation for this class was generated from the following files:
- dart/dynamics/MeshShape.hpp
- dart/dynamics/MeshShape.cpp
