Represents a triangle mesh "primitive" for inertia properties, collision detection, and visualization. More...

#include <TriangleMeshPrimitive.h>

Inheritance diagram for Moby::TriangleMeshPrimitive:

Public Member Functions
	TriangleMeshPrimitive ()
	Creates the triangle mesh primitive.

	TriangleMeshPrimitive (const std::string &filename, bool center=true)

	TriangleMeshPrimitive (const std::string &filename, const Ravelin::Pose3d &T, bool center=true)

void	set_edge_sample_length (double len)
	Sets the edge sample length for this triangle mesh.

virtual osg::Node *	create_visualization ()
	Creates the visualization for this primitive.

virtual double	get_bounding_radius () const

double	get_edge_sample_length () const
	Gets the length of an edge in the mesh above which point sub-samples are created.

virtual double	calc_signed_dist (const Point3d &p) const
	Computes the signed distance to a point from the mesh.

virtual void	load_from_xml (boost::shared_ptr< const XMLTree > node, std::map< std::string, BasePtr > &id_map)
	Implements Base::load_from_xml() More...

virtual void	save_to_xml (XMLTreePtr node, std::list< boost::shared_ptr< const Base > > &shared_objects) const
	Implements Base::save_to_xml()

virtual BVPtr	get_BVH_root (CollisionGeometryPtr geom)
	Gets the pointer to the root bounding box.

virtual void	get_vertices (boost::shared_ptr< const Ravelin::Pose3d > P, std::vector< Point3d > &vertices) const
	Get vertices corresponding to this primitive. More...

virtual double	calc_dist_and_normal (const Point3d &point, std::vector< Ravelin::Vector3d > &normals) const
	Computes the distance and normal from a point on the mesh.

virtual boost::shared_ptr < const IndexedTriArray >	get_mesh (boost::shared_ptr< const Ravelin::Pose3d > P)
	Gets the underlying triangle mesh for this primitive.

void	set_mesh (boost::shared_ptr< const IndexedTriArray > mesh)
	Sets the mesh.

virtual void	set_pose (const Ravelin::Pose3d &T)
	Transforms this primitive.

virtual double	calc_signed_dist (boost::shared_ptr< const Primitive > p, Point3d &pthis, Point3d &pp) const
	Computes the signed distance between this and another primitive.

virtual bool	is_convex () const
	Returns whether the mesh is convex (currently mesh must be convex)

template<class InputIterator , class OutputIterator >
OutputIterator	get_vertices (const IndexedTriArray &tris, InputIterator fselect_begin, InputIterator fselect_end, OutputIterator output, boost::shared_ptr< const Ravelin::Pose3d > P)
	Gets the vertex indices from selected facets of an IndexedTriArray. More...

Public Member Functions inherited from Moby::Primitive
	Primitive ()
	Constructs a primitive under the identity transformation.

	Primitive (const Ravelin::Pose3d &T)

void	update_visualization ()
	Updates the visualization on the primitive.

void	set_mass (double mass)
	Sets the mass of this primitive. More...

void	set_density (double density)
	Sets the density of this primitive.

virtual Point3d	get_supporting_point (const Ravelin::Vector3d &d) const
	Gets a supporting point from a primitive.

void	add_collision_geometry (CollisionGeometryPtr cg)
	Adds a collision geometry.

void	remove_collision_geometry (CollisionGeometryPtr cg)
	Removes a collision geometry.

boost::shared_ptr< const Ravelin::Pose3d >	get_pose (CollisionGeometryPtr g) const
	Gets the pose of this primitive relative to a particular collision geometry.

virtual double	calc_max_dist (double lin_cont, double ang_cont, double dist, const Ravelin::Vector3d &d0, const Ravelin::Vector3d &w0, boost::shared_ptr< const Ravelin::Pose3d > P)
	Computes the maximum distance by a point on the geometry.

virtual osg::Node *	get_visualization ()
	Gets the visualization for this primitive. More...

boost::shared_ptr< const Ravelin::Pose3d >	get_inertial_pose () const
	Gets the inertial frame of this primitive.

boost::shared_ptr< const Ravelin::Pose3d >	get_pose () const
	Gets the pose of this primitive.

const Ravelin::SpatialRBInertiad &	get_inertia () const
	Gets the inertia for this primitive.

Public Member Functions inherited from Moby::Base
	Base (const Base *b)

Additional Inherited Members
Static Public Member Functions inherited from Moby::Base
template<class T >
static boost::shared_ptr< T >	clone (boost::shared_ptr< T > x)
	Static method for cloning a shared pointer.

Public Attributes inherited from Moby::Base
boost::shared_ptr< void >	userdata
	Any relevant userdata.

std::string	id
	The unique ID for this object.

Protected Attributes inherited from Moby::Primitive
boost::shared_ptr < Ravelin::Pose3d >	_F
	The pose of this primitive (relative to the global frame)

boost::shared_ptr < Ravelin::Pose3d >	_jF
	The inertial pose of this primitive (relative to the global frame)

boost::shared_ptr< double >	_density
	The density of this primitive.

Ravelin::SpatialRBInertiad	_J
	The inertia of the primitive.

std::map< boost::weak_ptr < CollisionGeometry > , boost::shared_ptr < Ravelin::Pose3d > >	_cg_poses
	The poses of this primitive, relative to a collision geometry.

std::set< boost::shared_ptr < Ravelin::Pose3d > >	_poses
	The poses, relative to a particular collision geometry.

Detailed Description

Represents a triangle mesh "primitive" for inertia properties, collision detection, and visualization.

Member Function Documentation

template<class InputIterator , class OutputIterator >

OutputIterator Moby::TriangleMeshPrimitive::get_vertices	(	const IndexedTriArray &	tris,
		InputIterator	fselect_begin,
		InputIterator	fselect_end,
		OutputIterator	output,
		boost::shared_ptr< const Ravelin::Pose3d >	P
	)

Gets the vertex indices from selected facets of an IndexedTriArray.

Parameters

tris	the triangle mesh
fselect_begin	iterator to a container of type unsigned (facet indices)
fselect_end	iterator to a container of type unsigned (facet indices)
output	beginning iterator to a container of type Point3d; unique vertices are copied here on return

Returns: ending iterator to a container of type Point3d; unique vertices are copied here on return

References Moby::IndexedTri::a, Moby::IndexedTri::b, Moby::IndexedTri::c, Moby::IndexedTriArray::get_facets(), and Moby::IndexedTriArray::get_vertices().

virtual void Moby::TriangleMeshPrimitive::get_vertices	(	boost::shared_ptr< const Ravelin::Pose3d >	P,
		std::vector< Point3d > &	vertices
	)		const

virtual

Get vertices corresponding to this primitive.

Gets the vertex indices from selected facets of an IndexedTriArray.

Parameters

tris	the triangle mesh
fselect_begin	iterator to a container of type unsigned (facet indices)
fselect_end	iterator to a container of type unsigned (facet indices)
output	beginning iterator to a container of type Point3d; unique vertices are copied here on return

Returns: ending iterator to a container of type Point3d; unique vertices are copied here on return

Implements Moby::Primitive.

void TriangleMeshPrimitive::load_from_xml	(	boost::shared_ptr< const XMLTree >	node,
		std::map< std::string, BasePtr > &	id_map
	)

virtual

Implements Base::load_from_xml()

Note: if centering is done, it is done <i<before any transform is applied

Reimplemented from Moby::Primitive.

References Moby::XMLAttrib::get_bool_value(), Moby::XMLAttrib::get_real_value(), Moby::Primitive::load_from_xml(), Moby::IndexedTriArray::read_from_obj(), set_edge_sample_length(), set_mesh(), and Moby::Primitive::update_visualization().

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

/home/drum/Moby/include/Moby/TriangleMeshPrimitive.h
/home/drum/Moby/include/Moby/TriangleMeshPrimitive.inl
/home/drum/Moby/src/TriangleMeshPrimitive.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation