A 3D mesh. More...

#include <gz/common/Mesh.hh>

Public Member Functions
	Mesh ()
	Constructor. More...

virtual	~Mesh ()
	Destructor. More...

void	AABB (gz::math::Vector3d &_center, gz::math::Vector3d &_minXYZ, gz::math::Vector3d &_maxXYZ) const
	Get axis-aligned bounding box in the mesh frame. More...

int	AddMaterial (const MaterialPtr &_mat)
	Add a material to the mesh. More...

std::weak_ptr< SubMesh >	AddSubMesh (const SubMesh &_child)
	Add a submesh mesh. This can be an expensive since _child is copied into this mesh. More...

std::weak_ptr< SubMesh >	AddSubMesh (std::unique_ptr< SubMesh > _child)
	Add a submesh mesh. This transfers ownership of _child to this mesh. The value of _child after this call is nullptr. More...

void	Center (const gz::math::Vector3d &_center=gz::math::Vector3d::Zero)
	Move the center of the mesh to the given coordinate in the mesh frame. This will move all the vertices in all submeshes. More...

void	FillArrays (double _vertArr, int _indArr) const
	Put all the data into flat arrays. More...

void	GenSphericalTexCoord (const gz::math::Vector3d &_center)
	Generate texture coordinates using spherical projection from center. More...

bool	HasSkeleton () const
	Check if mesh is attached to a skeleton. More...

unsigned int	IndexCount () const
	Get the number of indices. More...

int	IndexOfMaterial (const Material *_mat) const
	Get the index of material. More...

MaterialPtr	MaterialByIndex (const unsigned int _index) const
	Get a material by index. More...

unsigned int	MaterialCount () const
	Get the number of materials. More...

gz::math::Vector3d	Max () const
	Get the maximun X, Y, Z values. More...

SkeletonPtr	MeshSkeleton () const
	Get the skeleton to which this mesh is attached. More...

gz::math::Vector3d	Min () const
	Get the minimum X, Y, Z values. More...

std::string	Name () const
	Get the name of this mesh. More...

unsigned int	NormalCount () const
	Get the number of normals. More...

std::string	Path () const
	Get the path which contains the mesh resource. More...

void	RecalculateNormals ()
	Recalculate all the normals of each face defined by three indices. More...

void	Scale (const gz::math::Vector3d &_factor)
	Scale all vertices by _factor. More...

void	SetName (const std::string &_name)
	Set the name of this mesh. More...

void	SetPath (const std::string &_path)
	Set the path which contains the mesh resource. More...

void	SetScale (const gz::math::Vector3d &_factor)
	Set the scale all vertices. More...

void	SetSkeleton (const SkeletonPtr &_skel)
	Set the mesh skeleton. More...

std::weak_ptr< SubMesh >	SubMeshByIndex (const unsigned int _index) const
	Get a child submesh by index. More...

std::weak_ptr< SubMesh >	SubMeshByName (const std::string &_name) const
	Get a child submesh by name. More...

unsigned int	SubMeshCount () const
	Get the number of child submeshes. More...

unsigned int	TexCoordCount () const
	Get the number of texture coordinates. More...

void	Translate (const gz::math::Vector3d &_vec)
	Move all vertices in all submeshes by _vec. More...

unsigned int	VertexCount () const
	Get the number of vertices. More...

double	Volume () const
	Compute the volume of this mesh. The primitive type must be TRIANGLES. More...

Detailed Description

A 3D mesh.

Constructor & Destructor Documentation

◆ Mesh()

Mesh ( )

Constructor.

◆ ~Mesh()

virtual ~Mesh ( )

virtual

Destructor.

Member Function Documentation

◆ AABB()

void AABB	(	gz::math::Vector3d &	_center,
		gz::math::Vector3d &	_minXYZ,
		gz::math::Vector3d &	_maxXYZ
	)		const

Get axis-aligned bounding box in the mesh frame.

Parameters

[out]	_center	Center of the bounding box
[out]	_minXYZ	Bounding box minimum values
[out]	_maxXYZ	Bounding box maximum values

◆ AddMaterial()

int AddMaterial ( const MaterialPtr & _mat )

Add a material to the mesh.

Parameters

[in] _mat The material to add.

Returns: Index of this material

◆ AddSubMesh() [1/2]

std::weak_ptr<SubMesh> AddSubMesh ( const SubMesh & _child )

Add a submesh mesh. This can be an expensive since _child is copied into this mesh.

See also: AddSubMesh(std::unique_ptr<SubMesh> _child);

Parameters

[in] _child the submesh

Returns: Weak pointer to the added submesh

◆ AddSubMesh() [2/2]

std::weak_ptr<SubMesh> AddSubMesh ( std::unique_ptr< SubMesh > _child )

Add a submesh mesh. This transfers ownership of _child to this mesh. The value of _child after this call is nullptr.

Parameters

[in] _child the submesh

Returns: Weak pointer to the added submesh

◆ Center()

void Center ( const gz::math::Vector3d & _center = gz::math::Vector3d::Zero )

Move the center of the mesh to the given coordinate in the mesh frame. This will move all the vertices in all submeshes.

Parameters

[in] _center Location of the mesh center.

◆ FillArrays()

void FillArrays	(	double **	_vertArr,
		int **	_indArr
	)		const

Put all the data into flat arrays.

Parameters

[out]	_vertArr	the vertex array
[out]	_indArr	the index array

◆ GenSphericalTexCoord()

void GenSphericalTexCoord ( const gz::math::Vector3d & _center )

Generate texture coordinates using spherical projection from center.

Parameters

[in] _center Center of the projection

◆ HasSkeleton()

bool HasSkeleton ( ) const

Check if mesh is attached to a skeleton.

Returns: True if mesh is attached to a skeleton.

◆ IndexCount()

unsigned int IndexCount ( ) const

Get the number of indices.

Returns: The number of indices

◆ IndexOfMaterial()

int IndexOfMaterial ( const Material * _mat ) const

Get the index of material.

Parameters

[in] _mat The material

Returns: The index of the material or -1 if not found, or _mat is null.

◆ MaterialByIndex()

MaterialPtr MaterialByIndex ( const unsigned int _index ) const

Get a material by index.

Parameters

[in] _index The index of the material.

Returns: The material or NULL if the index is out of bounds

◆ MaterialCount()

unsigned int MaterialCount ( ) const

Get the number of materials.

Returns: The number of materials

◆ Max()

gz::math::Vector3d Max ( ) const

Get the maximun X, Y, Z values.

Returns: The upper bounds of the bounding box

◆ MeshSkeleton()

SkeletonPtr MeshSkeleton ( ) const

Get the skeleton to which this mesh is attached.

Returns: Pointer to skeleton or nullptr if none is present.

◆ Min()

gz::math::Vector3d Min ( ) const

Get the minimum X, Y, Z values.

Returns: The lower bounds of the bounding box

◆ Name()

std::string Name ( ) const

Get the name of this mesh.

Returns: Name of the mesh.

◆ NormalCount()

unsigned int NormalCount ( ) const

Get the number of normals.

Returns: The number of normals

◆ Path()

std::string Path ( ) const

Get the path which contains the mesh resource.

Returns: The path to the mesh resource

◆ RecalculateNormals()

void RecalculateNormals ( )

Recalculate all the normals of each face defined by three indices.

◆ Scale()

void Scale ( const gz::math::Vector3d & _factor )

Scale all vertices by _factor.

Parameters

_factor Scaling factor

◆ SetName()

void SetName ( const std::string & _name )

Set the name of this mesh.

Parameters

[in] _name The name to set

◆ SetPath()

void SetPath ( const std::string & _path )

Set the path which contains the mesh resource.

Parameters

[in] _path The file path

◆ SetScale()

void SetScale ( const gz::math::Vector3d & _factor )

Set the scale all vertices.

Parameters

[in] _factor Scaling vector

◆ SetSkeleton()

void SetSkeleton ( const SkeletonPtr & _skel )

Set the mesh skeleton.

Parameters

[in] _skel Skeleton to attach to the mesh.

◆ SubMeshByIndex()

std::weak_ptr<SubMesh> SubMeshByIndex ( const unsigned int _index ) const

Get a child submesh by index.

Parameters

[in] _index Index of the submesh

Returns: The submesh or nullptr if the index is out of bounds.

◆ SubMeshByName()

std::weak_ptr<SubMesh> SubMeshByName ( const std::string & _name ) const

Get a child submesh by name.

Parameters

[in] _name Name of the submesh.

Returns: The submesh or nullptr if the _name is not found.

◆ SubMeshCount()

unsigned int SubMeshCount ( ) const

Get the number of child submeshes.

Returns: The number of submeshes.

◆ TexCoordCount()

unsigned int TexCoordCount ( ) const

Get the number of texture coordinates.

Returns: The number of texture coordinates

◆ Translate()

void Translate ( const gz::math::Vector3d & _vec )

Move all vertices in all submeshes by _vec.

Parameters

[in] _vec Amount to translate vertices.

◆ VertexCount()

unsigned int VertexCount ( ) const

Get the number of vertices.

Returns: The number of vertices

◆ Volume()

double Volume ( ) const

Compute the volume of this mesh. The primitive type must be TRIANGLES.

This function utilizes the mesh volume formula from "Efficient feature extraction for 2d/3d objects in mesh representation" by Cha Zhang and Tsuhan Chen. Link: http://chenlab.ece.cornell.edu/Publication/Cha/icip01_Cha.pdf. The formula does not check for a closed (water tight) mesh.

Returns: The mesh's volume. The volume can be zero if the primitive type of the submeshes is not TRIANGLES, or there are no submeshes.

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

gz/common/Mesh.hh

Gazebo Common

API Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Mesh()

◆ ~Mesh()

Member Function Documentation

◆ AABB()

◆ AddMaterial()

◆ AddSubMesh() [1/2]

◆ AddSubMesh() [2/2]

◆ Center()

◆ FillArrays()

◆ GenSphericalTexCoord()

◆ HasSkeleton()

◆ IndexCount()

◆ IndexOfMaterial()

◆ MaterialByIndex()

◆ MaterialCount()

◆ Max()

◆ MeshSkeleton()

◆ Min()

◆ Name()

◆ NormalCount()

◆ Path()

◆ RecalculateNormals()

◆ Scale()

◆ SetName()

◆ SetPath()

◆ SetScale()

◆ SetSkeleton()

◆ SubMeshByIndex()

◆ SubMeshByName()

◆ SubMeshCount()

◆ TexCoordCount()

◆ Translate()

◆ VertexCount()

◆ Volume()