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

#include <TriangleMesh.h>

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

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)

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

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
	TriangleMesh ()
	Constructor. The mesh is initially empty (no vertices, no edges, no triangles).

	TriangleMesh (const TriangleMesh< VertexData, EdgeData, TriangleData > &other)
	Copy constructor when the template data is the same type. More...

template<class V , class E , class T >
	TriangleMesh (const TriangleMesh< V, E, T > &other)
	Copy constructor when the template data is a different type. More...

virtual	~TriangleMesh ()
	Destructor.

	TriangleMesh (TriangleMesh &&other)
	Move Constructor. More...

TriangleMesh< VertexData, EdgeData, TriangleData > &	operator= (const TriangleMesh< VertexData, EdgeData, TriangleData > &other)
	Copy Assignment. More...

TriangleMesh< VertexData, EdgeData, TriangleData > &	operator= (TriangleMesh< VertexData, EdgeData, TriangleData > &&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.

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...

Public Member Functions inherited from SurgSim::Framework::Asset
	Asset ()
	Constructor.

	Asset (const Asset &rhs)
	Copy Constructor.

virtual	~Asset ()
	Destructor.

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.

	~Accessible ()
	Destructor.

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...

std::vector< std::string >	getProperties ()

template<>
boost::any	getValue (const std::string &name) const

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

virtual void	doClearTriangles ()
	Remove all triangles 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...

bool	doLoad (const std::string &fileName) override
	Derived classes will overwrite this method to do actual loading. More...

template<>
std::string	m_className

template<>
std::string	m_className

template<>
std::string	m_className

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

Static Protected Attributes
static std::string	m_className = "SurgSim::DataStructures::TriangleMeshPlain"

Additional Inherited Members
Static Public Member Functions inherited from SurgSim::Framework::FactoryBase< Asset >
static FactoryType &	getFactory ()

Detailed Description

template<class VertexData, class EdgeData, class TriangleData>
class SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, TriangleData >

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

TriangleMesh is to be used purely as a data structure and not provide implementation of algorithms. For example, a physics 2D FEM is not a subclass of TriangleMesh, but may use a TriangleMesh 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, and triangles and the data each contains. Methods such as createVertex(position, other data...), createEdge(vertices, other data...), and createTriangle(vertices, other data...) simplify the creation of vertices and elements and the data required. These methods would use the addVertex(), addEdge(), and addTriangle() methods to add the created vertices and elements to the TriangleMesh.

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

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

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

See also: Vertex; MeshElement

Constructor & Destructor Documentation

§ TriangleMesh() [1/3]

template<class VertexData, class EdgeData, class TriangleData>

SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, TriangleData >::TriangleMesh ( const TriangleMesh< VertexData, EdgeData, TriangleData > & other )

Copy constructor when the template data is the same type.

Parameters

other the mesh to copy from

§ TriangleMesh() [2/3]

template<class VertexData , class EdgeData , class TriangleData >

template<class V , class E , class T >

SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, TriangleData >::TriangleMesh ( 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.

§ TriangleMesh() [3/3]

template<class VertexData, class EdgeData, class TriangleData>

SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, TriangleData >::TriangleMesh ( TriangleMesh< VertexData, EdgeData, TriangleData > && other )

Move Constructor.

Parameters

other Constructor source

Member Function Documentation

§ addEdge()

template<class VertexData , class EdgeData , class TriangleData >

size_t SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, TriangleData >::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.

§ addTriangle()

template<class VertexData , class EdgeData , class TriangleData >

size_t SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, TriangleData >::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.

Note: The ids of deleted triangles will be reused in no particular order

Returns: id of the new triangle.

§ doLoad()

template<class VertexData , class EdgeData , class TriangleData >

bool SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, TriangleData >::doLoad ( const std::string & filePath )

overrideprotectedvirtual

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.

§ getClassName()

template<class VertexData , class EdgeData , class TriangleData >

std::string SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, TriangleData >::getClassName ( ) const

overridevirtual

Support serialization with a classname.

Returns: the name of this class

Implements SurgSim::Framework::Asset.

§ getEdge() [1/2]

template<class VertexData , class EdgeData , class TriangleData >

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

Retrieve a specific edge.

Parameters

id	the edge to be retrieved.

Returns: the specified edge.

§ getEdge() [2/2]

template<class VertexData , class EdgeData , class TriangleData >

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

Retrieve a specific edge (non const version)

Parameters

id	the edge to be retrieved.

Returns: the specified edge.

§ getEdgePositions()

template<class VertexData , class EdgeData , class TriangleData >

std::array< SurgSim::Math::Vector3d, 2 > SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, TriangleData >::getEdgePositions ( size_t id ) const

Returns an array of the edge's vertices' positions.

Parameters

id	the id of the edge

Returns: an array of the edge's vertices' positions

§ getEdges() [1/2]

template<class VertexData , class EdgeData , class TriangleData >

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

Retrieve all edges.

Returns: a vector containing the position of each edge.

§ getEdges() [2/2]

template<class VertexData , class EdgeData , class TriangleData >

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

Retrieve all edges (non const version)

Returns: a vector containing the position of each edge.

§ getNumEdges()

template<class VertexData , class EdgeData , class TriangleData >

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

Get the number of edges.

Returns: the number of edges in this mesh.

§ getNumTriangles()

template<class VertexData , class EdgeData , class TriangleData >

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

Get the number of triangles.

Note: The number of triangles might not match the size of the array returned by getTriangles(), after deletion has occurred it cannot be used to access all triangles.

Returns: the number of triangles in this mesh.

§ getTriangle() [1/2]

template<class VertexData , class EdgeData , class TriangleData >

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

Retrieve a specific triangle.

Exceptions

SurgSim::Framework::AssertionFailure if the given triangle was deleted

Parameters

id	The id of the triangle to retrieve

Returns: the specified triangle

§ getTriangle() [2/2]

template<class VertexData , class EdgeData , class TriangleData >

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

Retrieve a specific triangle (non const version)

Exceptions

SurgSim::Framework::AssertionFailure if the give triangle was deleted

Parameters

id	The id of the triangle to retrieve

Returns: the specified triangle

§ getTrianglePositions()

template<class VertexData , class EdgeData , class TriangleData >

std::array< SurgSim::Math::Vector3d, 3 > SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, TriangleData >::getTrianglePositions ( size_t id ) const

Returns an array of the triangle's vertices' positions.

Parameters

id	the id of the triangle

Returns: an array of the triangle's vertices' positions

§ getTriangles() [1/2]

template<class VertexData , class EdgeData , class TriangleData >

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

Retrieve all triangles.

Note: The number of triangles might not match the size of the array returned by getTriangles(), after deletion has occurred it cannot be used to access all triangles. When processing this array, check

See also: TriangleType::isValid to see wether to do something with this triangle

Returns: a vector containing the position of each triangle. Some of these triangles might be deleted, they need to be checked via

See also: isValid before further processing

§ getTriangles() [2/2]

template<class VertexData , class EdgeData , class TriangleData >

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

Retrieve all triangles (non const version)

Note: The number of triangles might not match the size of the array returned by getTriangles(), after deletion has occurred it cannot be used to access all triangles. When processing this array, check

See also: TriangleType::isValid to see wether to do something with this triangle

Returns: a vector containing the position of each triangle. Some of these triangles might be deleted, they need to be checked via

See also: isValid before further processing

§ isEqual()

template<class VertexData, class EdgeData , class TriangleData >

bool SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, TriangleData >::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

Returns: True if the vertices are equals, False otherwise

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

§ isValid()

template<class VertexData , class EdgeData , class TriangleData >

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

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

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

§ operator=() [1/2]

template<class VertexData, class EdgeData, class TriangleData>

TriangleMesh< VertexData, EdgeData, TriangleData > & SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, TriangleData >::operator= ( const TriangleMesh< VertexData, EdgeData, TriangleData > & other )

Copy Assignment.

Parameters

other Assignment source

§ operator=() [2/2]

template<class VertexData, class EdgeData, class TriangleData>

TriangleMesh< VertexData, EdgeData, TriangleData > & SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, TriangleData >::operator= ( TriangleMesh< VertexData, EdgeData, TriangleData > && other )

Move Assignment.

Parameters

other Assignment source

§ removeTriangle()

template<class VertexData , class EdgeData , class TriangleData >

void SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, TriangleData >::removeTriangle ( size_t id )

Marks a triangle as invalid, the triangle cannot be accessed via getTriangle anymore.

Note: users of getTriangles() will have to check for deleted triangles if this feature is used the size of the vector returned by getTriangles does not reflect the number of triangles anymore use getNumTriangles() to figure out the correct number.

Parameters

id	triangle to delete

§ save()

template<class VertexData , class EdgeData , class TriangleData >

void SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, TriangleData >::save ( const std::string & fileName )

Save the triangle mesh in the ply format.

Parameters

fileName the filename where to save

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

SurgSim/DataStructures/TriangleMesh.h
SurgSim/DataStructures/TriangleMesh-inl.h
SurgSim/DataStructures/TriangleMesh.cpp

Public Types

Public Member Functions

Protected Member Functions

Static Protected Attributes

Additional Inherited Members

Detailed Description

template<class VertexData, class EdgeData, class TriangleData> class SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, TriangleData >

Constructor & Destructor Documentation

§ TriangleMesh() [1/3]

§ TriangleMesh() [2/3]

§ TriangleMesh() [3/3]

Member Function Documentation

§ addEdge()

§ addTriangle()

§ doLoad()

§ getClassName()

§ getEdge() [1/2]

§ getEdge() [2/2]

§ getEdgePositions()

§ getEdges() [1/2]

§ getEdges() [2/2]

§ getNumEdges()

§ getNumTriangles()

§ getTriangle() [1/2]

§ getTriangle() [2/2]

§ getTrianglePositions()

§ getTriangles() [1/2]

§ getTriangles() [2/2]

§ isEqual()

§ isValid()

§ operator=() [1/2]

§ operator=() [2/2]

§ removeTriangle()

§ save()

template<class VertexData, class EdgeData, class TriangleData>
class SurgSim::DataStructures::TriangleMesh< VertexData, EdgeData, TriangleData >