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 <MeshShape.h>

Inheritance diagram for SurgSim::Math::MeshShape:

Public Member Functions
	MeshShape ()
	Constructor.

	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...

void	setPose (const RigidTransform3d &pose) override
	Set the pose on a transformable shape. More...

void	buildAabbTree ()
	Build the AabbTree, which is an axis-aligned bounding box r-tree used to accelerate spatial searches.

void	updateAabbTree ()
	Update the AabbTree, this will only update the bounding boxes for the triangles, without rebalancing the tree do this for smaller changes as it is much faster than building the tree.

bool	calculateNormals ()
	Calculate normals for all triangles. More...

void	updateShape () override
	Update the internals of a transformable shape.

void	updateShapePartial () override
	Update some of the internals of a transformable shape. More...

Public Member Functions inherited from SurgSim::Math::VerticesShape
bool	isTransformable () const override

void	setInitialVertices (const DataStructures::Vertices< DataStructures::EmptyData > &vertices)
	Set the initial Vertices. More...

void	setInitialVertices (DataStructures::Vertices< DataStructures::EmptyData > &&vertices)
	Set the initial Vertices via r-value. More...

const DataStructures::Vertices< DataStructures::EmptyData > &	getInitialVertices () const
	Get the initial Vertices. More...

Public Member Functions inherited from SurgSim::Math::Shape
	Shape ()
	Constructor.

virtual	~Shape ()
	Destructor.

virtual std::string	getClassName () const
	Get class name.

virtual const Math::Aabbd &	getBoundingBox () const

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

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).

	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.

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.

	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.

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...

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...

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

std::string	m_className

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

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

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.

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)

double	m_volume
	Volume (in m^-3)

SurgSim::Math::Matrix33d	m_secondMomentOfVolume
	Second moment of volume.

Protected Attributes inherited from SurgSim::Math::VerticesShape
DataStructures::Vertices< DataStructures::EmptyData >	m_initialVertices
	The initial vertex positions.

Protected Attributes inherited from SurgSim::Math::Shape
Math::Aabbd	m_aabb

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)

typedef MeshElement< 3, SurgSim::DataStructures::NormalData >	TriangleType
	Triangle type for convenience (Ids of the 3 vertices)

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

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() [1/2]

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

explicit

Copy constructor.

Parameters

other The MeshShape to be copied from

§ MeshShape() [2/2]

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 ( )

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 ( )

protectedvirtual

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 )

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.

§ doUpdate()

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

overrideprotectedvirtual

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

overridevirtual

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

overridevirtual

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

overridevirtual

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

overridevirtual

Returns: the type of shape

Implements SurgSim::Math::Shape.

Reimplemented in SurgSim::Math::SurfaceMeshShape.

§ getVolume()

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

overridevirtual

Get the volume of the shape.

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

Implements SurgSim::Math::Shape.

§ isValid()

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

overridevirtual

Check if the shape is valid.

Returns: True if shape is valid; Otherwise, false.

Implements SurgSim::Math::Shape.

Reimplemented in SurgSim::Math::SurfaceMeshShape.

§ setPose()

void SurgSim::Math::MeshShape::setPose ( const RigidTransform3d & pose )

overridevirtual

Set the pose on a transformable shape.

Parameters

pose	The pose to transform the shape by.

Reimplemented from SurgSim::Math::Shape.

§ updateShapePartial()

void SurgSim::Math::MeshShape::updateShapePartial ( )

overridevirtual

Update some of the internals of a transformable shape.

Only called if the AABB has not changed much.

Reimplemented from SurgSim::Math::Shape.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ MeshShape() [1/2]

§ MeshShape() [2/2]

Member Function Documentation

§ calculateNormals()

§ computeVolumeIntegrals()

§ doLoad()

§ doUpdate()

§ getAabbTree()

§ getCenter()

§ getNormal()

§ getSecondMomentOfVolume()

§ getTransformed()

§ getType()

§ getVolume()

§ isValid()

§ setPose()

§ updateShapePartial()