Maintains and manages all meshes. More...

#include <ignition/common/MeshManager.hh>

Public Member Functions
void	AddMesh (Mesh *_mesh)
	Add a mesh to the manager. More...

void	CreateBoolean (const std::string &_name, const Mesh _m1, const Mesh _m2, const int _operation, const gz::math::Pose3d &_offset=gz::math::Pose3d::Zero)
	Create a boolean mesh from two meshes. More...

void	CreateBox (const std::string &_name, const gz::math::Vector3d &_sides, const gz::math::Vector2d &_uvCoords)
	Create a Box mesh. More...

void	CreateCamera (const std::string &_name, const float _scale)
	Create a Camera mesh. More...

void	CreateCapsule (const std::string &_name, const double radius, const double length, const unsigned int _rings, const unsigned int _segments)
	Create a capsule mesh. More...

void	CreateCone (const std::string &_name, const float _radius, const float _height, const int _rings, const int _segments)
	Create a cone mesh. More...

void	CreateCylinder (const std::string &_name, const float _radius, const float _height, const int _rings, const int _segments)
	Create a cylinder mesh. More...

void	CreateEllipsoid (const std::string &_name, const gz::math::Vector3d &_radii, const unsigned int _rings, const unsigned int _segments)
	Create a ellipsoid mesh. More...

void	CreateExtrudedPolyline (const std::string &_name, const std::vector< std::vector< gz::math::Vector2d > > &_vertices, const double _height)
	Create an extruded mesh from polylines. The polylines are assumed to be closed and non-intersecting. Delaunay triangulation is applied to create the resulting mesh. If there is more than one polyline, a ray casting algorithm will be used to identify the exterior/interior edges and remove holes from the 2D shape before extrusion. More...

void	CreatePlane (const std::string &_name, const gz::math::Planed &_plane, const gz::math::Vector2d &_segments, const gz::math::Vector2d &_uvTile)
	Create mesh for a plane. More...

void	CreatePlane (const std::string &_name, const gz::math::Vector3d &_normal, const double _d, const gz::math::Vector2d &_size, const gz::math::Vector2d &_segments, const gz::math::Vector2d &_uvTile)
	Create mesh for a plane. More...

void	CreateSphere (const std::string &_name, const float _radius, const int _rings, const int _segments)
	Create a sphere mesh. More...

void	CreateTube (const std::string &_name, const float _innerRadius, const float _outterRadius, const float _height, const int _rings, const int _segments, const double _arc=2.0 *IGN_PI)
	Create a tube mesh. More...

void	Export (const Mesh *_mesh, const std::string &_filename, const std::string &_extension, bool _exportTextures=false)
	Export a mesh to a file. More...

void	GenSphericalTexCoord (const Mesh *_mesh, const gz::math::Vector3d &_center)
	generate spherical texture coordinates More...

bool	HasMesh (const std::string &_name) const
	Return true if the mesh exists. More...

bool	IsValidFilename (const std::string &_filename)
	Checks a path extension against the list of valid extensions. More...

const Mesh *	Load (const std::string &_filename)
	Load a mesh from a file. The mesh will be searched on the global SystemPaths instance provided by Util.hh. More...

void	MeshAABB (const Mesh *_mesh, gz::math::Vector3d &_center, gz::math::Vector3d &_min_xyz, gz::math::Vector3d &_max_xyz)
	Get mesh aabb and center. More...

const Mesh *	MeshByName (const std::string &_name) const
	Get a mesh by name. More...

Static Public Member Functions
static MeshManager *	Instance ()

Static Public Member Functions inherited from SingletonT< MeshManager >
static MeshManager *	Instance ()
	Get an instance of the singleton. More...

Additional Inherited Members
Protected Member Functions inherited from SingletonT< MeshManager >
	SingletonT ()
	Constructor. More...

virtual	~SingletonT ()
	Destructor. More...

Detailed Description

Maintains and manages all meshes.

Member Function Documentation

◆ AddMesh()

void AddMesh ( Mesh * _mesh )

Add a mesh to the manager.

This MeshManager takes ownership of the mesh and will destroy it. See ~MeshManager.

Parameters

[in] the mesh to add.

◆ CreateBoolean()

void CreateBoolean	(	const std::string &	_name,
		const Mesh *	_m1,
		const Mesh *	_m2,
		const int	_operation,
		const gz::math::Pose3d &	_offset = `gz::math::Pose3d::Zero`
	)

Create a boolean mesh from two meshes.

Parameters

[in]	_name	the name of the new mesh
[in]	_m1	the parent mesh in the boolean operation
[in]	_m2	the child mesh in the boolean operation
[in]	_operation	the boolean operation applied to the two meshes
[in]	_offset	_m2's pose offset from _m1

◆ CreateBox()

void CreateBox	(	const std::string &	_name,
		const gz::math::Vector3d &	_sides,
		const gz::math::Vector2d &	_uvCoords
	)

Create a Box mesh.

Parameters

[in]	_name	the name of the new mesh
[in]	_sides	the x y x dimentions of eah side in meter
[in]	_uvCoords	the texture coordinates

◆ CreateCamera()

void CreateCamera	(	const std::string &	_name,
		const float	_scale
	)

Create a Camera mesh.

Parameters

[in]	_name	name of the new mesh
[in]	_scale	scaling factor for the camera

◆ CreateCapsule()

void CreateCapsule	(	const std::string &	_name,
		const double	radius,
		const double	length,
		const unsigned int	_rings,
		const unsigned int	_segments
	)

Create a capsule mesh.

Parameters

[in]	_name	the name of the new mesh
[in]	_radius	the radius of the capsule in the x y plane
[in]	_length	length of the body
[in]	_rings	the number of circles along the height
[in]	_segments	the number of segment per circle

◆ CreateCone()

void CreateCone	(	const std::string &	_name,
		const float	_radius,
		const float	_height,
		const int	_rings,
		const int	_segments
	)

Create a cone mesh.

Parameters

[in]	_name	the name of the new mesh
[in]	_radius	the radius of the cylinder in the x y plane
[in]	_height	the height along z
[in]	_rings	the number of circles along the height
[in]	_segments	the number of segment per circle

◆ CreateCylinder()

void CreateCylinder	(	const std::string &	_name,
		const float	_radius,
		const float	_height,
		const int	_rings,
		const int	_segments
	)

Create a cylinder mesh.

Parameters

[in]	_name	the name of the new mesh
[in]	_radius	the radius of the cylinder in the x y plane
[in]	_height	the height along z
[in]	_rings	the number of circles along the height
[in]	_segments	the number of segment per circle

◆ CreateEllipsoid()

void CreateEllipsoid	(	const std::string &	_name,
		const gz::math::Vector3d &	_radii,
		const unsigned int	_rings,
		const unsigned int	_segments
	)

Create a ellipsoid mesh.

Parameters

[in]	_name	the name of the new mesh
[in]	_radii	the three radius that define a ellipsoid
[in]	_rings	the number of circles along the height
[in]	_segments	the number of segment per circle

◆ CreateExtrudedPolyline()

void CreateExtrudedPolyline	(	const std::string &	_name,
		const std::vector< std::vector< gz::math::Vector2d > > &	_vertices,
		const double	_height
	)

Create an extruded mesh from polylines. The polylines are assumed to be closed and non-intersecting. Delaunay triangulation is applied to create the resulting mesh. If there is more than one polyline, a ray casting algorithm will be used to identify the exterior/interior edges and remove holes from the 2D shape before extrusion.

Parameters

[in]	_name	the name of the new mesh
[in]	_vertices	A multidimensional vector of polylines and their vertices. Each element in the outer vector consists of a vector of vertices that describe one polyline. edges and remove the holes in the shape.
[in]	_height	the height of extrusion

◆ CreatePlane() [1/2]

void CreatePlane	(	const std::string &	_name,
		const gz::math::Planed &	_plane,
		const gz::math::Vector2d &	_segments,
		const gz::math::Vector2d &	_uvTile
	)

Create mesh for a plane.

Parameters

[in]	_name
[in]	_plane	plane parameters
[in]	_segments	number of segments in x and y
[in]	_uvTile	the texture tile size in x and y

◆ CreatePlane() [2/2]

void CreatePlane	(	const std::string &	_name,
		const gz::math::Vector3d &	_normal,
		const double	_d,
		const gz::math::Vector2d &	_size,
		const gz::math::Vector2d &	_segments,
		const gz::math::Vector2d &	_uvTile
	)

Create mesh for a plane.

Parameters

[in]	_name	the name of the new mesh
[in]	_normal	the normal to the plane
[in]	_d	distance from the origin along normal
[in]	_size	the size of the plane in x and y
[in]	_segments	the number of segments in x and y
[in]	_uvTile	the texture tile size in x and y

◆ CreateSphere()

void CreateSphere	(	const std::string &	_name,
		const float	_radius,
		const int	_rings,
		const int	_segments
	)

Create a sphere mesh.

Parameters

[in]	_name	the name of the mesh
[in]	_radius	radius of the sphere in meter
[in]	_rings	number of circles on th y axis
[in]	_segments	number of segment per circle

◆ CreateTube()

void CreateTube	(	const std::string &	_name,
		const float	_innerRadius,
		const float	_outterRadius,
		const float	_height,
		const int	_rings,
		const int	_segments,
		const double	_arc = `2.0 *IGN_PI`
	)

Create a tube mesh.

Generates rings inside and outside the cylinder Needs at least two rings and 3 segments

Parameters

[in]	_name	the name of the new mesh
[in]	_innerRadius	the inner radius of the tube in the x y plane
[in]	_outterRadius	the outer radius of the tube in the x y plane
[in]	_height	the height along z
[in]	_rings	the number of circles along the height
[in]	_segments	the number of segment per circle
[in]	_arc	the arc angle in radians

◆ Export()

void Export	(	const Mesh *	_mesh,
		const std::string &	_filename,
		const std::string &	_extension,
		bool	_exportTextures = `false`
	)

Export a mesh to a file.

Parameters

[in]	_mesh	Pointer to the mesh to be exported
[in]	_filename	Exported file's path and name
[in]	_extension	Exported file's format ("dae" for Collada)
[in]	_exportTextures	True to export texture images to '../materials/textures' folder

◆ GenSphericalTexCoord()

void GenSphericalTexCoord	(	const Mesh *	_mesh,
		const gz::math::Vector3d &	_center
	)

generate spherical texture coordinates

Parameters

[in]	_mesh	Pointer to the mesh
[in]	_center	Center of the mesh

◆ HasMesh()

bool HasMesh ( const std::string & _name ) const

Return true if the mesh exists.

Parameters

[in] _name the name of the mesh

◆ Instance()

static MeshManager* Instance ( )

static

Return a pointer to the mesh manager

Todo:: (ahcorde) Remove inheritance from Singleton base class

Returns: a pointer to the mesh manager

◆ IsValidFilename()

bool IsValidFilename ( const std::string & _filename )

Checks a path extension against the list of valid extensions.

Returns: true if the file extension is loadable

◆ Load()

const Mesh* Load ( const std::string & _filename )

Load a mesh from a file. The mesh will be searched on the global SystemPaths instance provided by Util.hh.

Parameters

[in] _filename the path to the mesh

Returns: a pointer to the created mesh

◆ MeshAABB()

void MeshAABB	(	const Mesh *	_mesh,
		gz::math::Vector3d &	_center,
		gz::math::Vector3d &	_min_xyz,
		gz::math::Vector3d &	_max_xyz
	)

Get mesh aabb and center.

Parameters

[in]	_mesh	the mesh
[out]	_center	the AAB center position
[out]	_min_xyz	the bounding box minimum
[out]	_max_xyz	the bounding box maximum

◆ MeshByName()

const Mesh* MeshByName ( const std::string & _name ) const

Get a mesh by name.

Parameters

[in] _name the name of the mesh to look for

Returns: the mesh or nullptr if not found

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

gz/common/MeshManager.hh

Gazebo Common

API Reference

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ AddMesh()

◆ CreateBoolean()

◆ CreateBox()

◆ CreateCamera()

◆ CreateCapsule()

◆ CreateCone()

◆ CreateCylinder()

◆ CreateEllipsoid()

◆ CreateExtrudedPolyline()

◆ CreatePlane() [1/2]

◆ CreatePlane() [2/2]

◆ CreateSphere()

◆ CreateTube()

◆ Export()

◆ GenSphericalTexCoord()

◆ HasMesh()

◆ Instance()

◆ IsValidFilename()

◆ Load()

◆ MeshAABB()

◆ MeshByName()