Basic class for storing Tetrahedron Meshes, handling basic vertex, edge, triangle and tetrahedron functionality. More...

#include <TetrahedronMesh.h>

Inheritance diagram for SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >:

Public Types
typedef MeshElement< 2, EdgeData >	EdgeType
	Edge type for convenience (Ids of the 2 vertices)

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

typedef MeshElement< 4, TetrahedronData >	TetrahedronType
	Tetrahedron type for convenience (Ids of the 4 vertices)

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

Public Member Functions
	TetrahedronMesh ()
	Constructor. The mesh is initially empty (no vertices, no edges, no triangles, no tetrahedrons).

virtual	~TetrahedronMesh ()
	Destructor.

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	addTetrahedron (const TetrahedronType &tetrahedron)
	Adds a tetrahedron to the mesh. More...

size_t	getNumEdges () const
	Returns the number of edges in this mesh. More...

size_t	getNumTriangles () const
	Returns the number of triangles in this mesh. More...

size_t	getNumTetrahedrons () const
	Returns the number of tetrahedrons in this mesh. More...

const std::vector< EdgeType > &	getEdges () const
	Returns a vector containing the position of each edge. More...

std::vector< EdgeType > &	getEdges ()
	Returns a vector containing the position of each edge (non const version). More...

const std::vector< TriangleType > &	getTriangles () const
	Returns a vector containing the position of each triangle. More...

std::vector< TriangleType > &	getTriangles ()
	Returns a vector containing the position of each triangle (non const version). More...

const std::vector< TetrahedronType > &	getTetrahedrons () const
	Returns a vector containing the position of each tetrahedron. More...

std::vector< TetrahedronType > &	getTetrahedrons ()
	Returns a vector containing the position of each tetrahedron (non const version). More...

const EdgeType &	getEdge (size_t id) const
	Returns the specified edge. More...

EdgeType &	getEdge (size_t id)
	Returns the specified edge (non const version). More...

const TriangleType &	getTriangle (size_t id) const
	Returns the specified triangle. More...

TriangleType &	getTriangle (size_t id)
	Returns the specified triangle (non const version). More...

const TetrahedronType &	getTetrahedron (size_t id) const
	Returns the specified tetrahedron. More...

TetrahedronType &	getTetrahedron (size_t id)
	Returns the specified tetrahedron (non const version). More...

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

Public Member Functions inherited from SurgSim::DataStructures::Vertices< VertexData >
	Vertices ()
	Constructor.

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.

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

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.

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

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

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

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

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...

Protected Member Functions
virtual void	doClearEdges ()
	Remove all edges from the mesh.

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

virtual void	doClearTetrahedrons ()
	Remove all tetrahedrons from the mesh.

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...

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

Detailed Description

template<class VertexData, class EdgeData, class TriangleData, class TetrahedronData>
class SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >

Basic class for storing Tetrahedron Meshes, handling basic vertex, edge, triangle and tetrahedron functionality.

TetrahedronMesh is to be used purely as a data structure and not provide implementation of algorithms. For example, a physics 3D FEM is not a subclass of TetrahedronMesh, but may use a TetrahedronMesh for storing the structure of the FEM.

It is recommended that subclasses with a specific purpose (such as for use in collision detection) provide convenience methods for creation of vertices, edges, triangles, tetrahedrons and the data each contains. Methods such as createVertex(position, other data...), createEdge(vertices, other data...), createTriangle(vertices, other data...) and createTetrahedron(vertices, other data...) simplify the creation of vertices and elements and the data required. These methods would use the addVertex(), addEdge(), addTriangle() and addTetrahedron() methods to add the created vertices and elements to the TetrahedronMesh.

Overriding isEqual(const Mesh&) is necessary to do more than just basic list comparison of the vertices, edges, triangles and tetrahedrons which is dependent on order in the list.

Override doUpdate() to provide update functionality when vertices are changed, such as recalculating surface normals.

A subclass that is designed for a specific use (such as collision detection) may also specify the VertexData, EdgeData, TriangleData and TetrahedronData to what is required.

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
TetrahedronData	Type of extra data stored in each tetrahedron

See also: Vertices; MeshElement

Member Function Documentation

§ addEdge()

template<class VertexData , class EdgeData , class TriangleData , class TetrahedronData >

size_t SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::addEdge ( const EdgeType & edge )

Adds an edge to the mesh.

No checking on the edge's vertices is performed. Recommend that subclasses with a specific purpose (such as for use in collision detection) have a createEdge(vertices, other data...) method which performs any checking desired and sets up the edge data based on the vertices and other parameters.

Parameters

edge	Edge to add to the mesh

Returns: Unique ID of the new edge.

§ addTetrahedron()

template<class VertexData , class EdgeData , class TriangleData , class TetrahedronData >

size_t SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::addTetrahedron ( const TetrahedronType & tetrahedron )

Adds a tetrahedron to the mesh.

Parameters

tetrahedron Tetrahedron to add to the mesh Recommend that subclasses with a specific purpose (such as for use in collision detection) have a createTetrahedron(vertices, other data...) method which performs any checking desired and sets up the tetrahedron data based on the vertices and other parameters.

Returns: Unique ID of the new tetrahedron.

§ addTriangle()

template<class VertexData , class EdgeData , class TriangleData , class TetrahedronData >

size_t SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::addTriangle ( const TriangleType & triangle )

Adds a triangle to the mesh.

Parameters

triangle Triangle to add to the mesh Recommend that subclasses with a specific purpose (such as for use in collision detection) have a createTriangle(vertices, other data...) method which performs any checking desired and sets up the triangle data based on the vertices and other parameters.

Returns: Unique ID of the new triangle.

§ getEdge() [1/2]

template<class VertexData , class EdgeData , class TriangleData , class TetrahedronData >

const TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::EdgeType & SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::getEdge ( size_t id ) const

Returns the specified edge.

Parameters

id	The edge's id

Returns: The edge id

Note: No check is performed on the id

§ getEdge() [2/2]

template<class VertexData , class EdgeData , class TriangleData , class TetrahedronData >

TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::EdgeType & SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::getEdge ( size_t id )

Returns the specified edge (non const version).

Parameters

id	The edge's id

Returns: The edge id

Note: No check is performed on the id

§ getEdges() [1/2]

template<class VertexData , class EdgeData , class TriangleData , class TetrahedronData >

const std::vector< typename TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::EdgeType > & SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::getEdges ( ) const

Returns a vector containing the position of each edge.

Returns: The vector containing all edges

§ getEdges() [2/2]

template<class VertexData , class EdgeData , class TriangleData , class TetrahedronData >

std::vector< typename TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::EdgeType > & SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::getEdges ( )

Returns a vector containing the position of each edge (non const version).

Returns: The vector containing all edges

§ getNumEdges()

template<class VertexData , class EdgeData , class TriangleData , class TetrahedronData >

size_t SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::getNumEdges ( ) const

Returns the number of edges in this mesh.

Returns: The number of edges

§ getNumTetrahedrons()

template<class VertexData , class EdgeData , class TriangleData , class TetrahedronData >

size_t SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::getNumTetrahedrons ( ) const

Returns the number of tetrahedrons in this mesh.

Returns: The number of tetrahedrons

§ getNumTriangles()

template<class VertexData , class EdgeData , class TriangleData , class TetrahedronData >

size_t SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::getNumTriangles ( ) const

Returns the number of triangles in this mesh.

Returns: The number of triangles

§ getTetrahedron() [1/2]

template<class VertexData , class EdgeData , class TriangleData , class TetrahedronData >

const TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::TetrahedronType & SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::getTetrahedron ( size_t id ) const

Returns the specified tetrahedron.

Parameters

id	The tetrahedron's id

Returns: The tetrahedron id

Note: No check is performed on the id

§ getTetrahedron() [2/2]

template<class VertexData , class EdgeData , class TriangleData , class TetrahedronData >

TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::TetrahedronType & SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::getTetrahedron ( size_t id )

Returns the specified tetrahedron (non const version).

Parameters

id	The tetrahedron's id

Returns: The tetrahedron id

Note: No check is performed on the id

§ getTetrahedrons() [1/2]

template<class VertexData , class EdgeData , class TriangleData , class TetrahedronData >

const std::vector< typename TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::TetrahedronType > & SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::getTetrahedrons ( ) const

Returns a vector containing the position of each tetrahedron.

Returns: The vector containing all tetrahedrons

§ getTetrahedrons() [2/2]

template<class VertexData , class EdgeData , class TriangleData , class TetrahedronData >

std::vector< typename TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::TetrahedronType > & SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::getTetrahedrons ( )

Returns a vector containing the position of each tetrahedron (non const version).

Returns: The vector containing all tetrahedrons

§ getTriangle() [1/2]

template<class VertexData , class EdgeData , class TriangleData , class TetrahedronData >

const TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::TriangleType & SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::getTriangle ( size_t id ) const

Returns the specified triangle.

Parameters

id	The triangle's id

Returns: The triangle id

Note: No check is performed on the id

§ getTriangle() [2/2]

template<class VertexData , class EdgeData , class TriangleData , class TetrahedronData >

TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::TriangleType & SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::getTriangle ( size_t id )

Returns the specified triangle (non const version).

Parameters

id	The triangle's id

Returns: The triangle id

Note: No check is performed on the id

§ getTriangles() [1/2]

template<class VertexData , class EdgeData , class TriangleData , class TetrahedronData >

const std::vector< typename TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::TriangleType > & SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::getTriangles ( ) const

Returns a vector containing the position of each triangle.

Returns: The vector containing all triangles

§ getTriangles() [2/2]

template<class VertexData , class EdgeData , class TriangleData , class TetrahedronData >

std::vector< typename TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::TriangleType > & SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::getTriangles ( )

Returns a vector containing the position of each triangle (non const version).

Returns: The vector containing all triangles

§ isEqual()

template<class VertexData, class EdgeData , class TriangleData , class TetrahedronData >

bool SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::isEqual ( const Vertices< VertexData > & mesh ) const

protectedvirtual

Internal comparison of meshes of the same type: returns true if equal, false if not equal.

Override this method to provide custom comparison. Basic TriangleMesh implementation compares vertices, edges and triangles: the order of vertices, edges, and triangles must also match to be considered equal.

Parameters

mesh	Mesh must be of the same type as that which it is compared against

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

§ isValid()

template<class VertexData , class EdgeData , class TriangleData , class TetrahedronData >

bool SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >::isValid ( ) const

Test if the TetrahedronMesh is valid (valid vertex Ids used in all MeshElements)

Returns: True if the TetrahedronMesh is valid, False otherwise (the topology is then broken)

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

SurgSim/DataStructures/TetrahedronMesh.h
SurgSim/DataStructures/TetrahedronMesh-inl.h

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

template<class VertexData, class EdgeData, class TriangleData, class TetrahedronData> class SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >

Member Function Documentation

§ addEdge()

§ addTetrahedron()

§ addTriangle()

§ getEdge() [1/2]

§ getEdge() [2/2]

§ getEdges() [1/2]

§ getEdges() [2/2]

§ getNumEdges()

§ getNumTetrahedrons()

§ getNumTriangles()

§ getTetrahedron() [1/2]

§ getTetrahedron() [2/2]

§ getTetrahedrons() [1/2]

§ getTetrahedrons() [2/2]

§ getTriangle() [1/2]

§ getTriangle() [2/2]

§ getTriangles() [1/2]

§ getTriangles() [2/2]

§ isEqual()

§ isValid()

template<class VertexData, class EdgeData, class TriangleData, class TetrahedronData>
class SurgSim::DataStructures::TetrahedronMesh< VertexData, EdgeData, TriangleData, TetrahedronData >