Maintains and manages all meshes. Supported mesh formats are STL (STLA, STLB), COLLADA, OBJ, GLTF (GLB) and FBX. By default only GLTF and FBX are loaded using assimp loader, however if GZ_MESH_FORCE_ASSIMP environment variable is set, then MeshManager will use assimp loader for all supported mesh formats. More...

#include <gz/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 *GZ_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...

void	RemoveAll ()
	Remove all meshes. More...

bool	RemoveMesh (const std::string &_name)
	Remove a mesh based on a name. More...

void	SetAssimpEnvs ()
	Sets the forceAssimp flag by reading the GZ_MESH_FORCE_ASSIMP environment variable. If forceAssimp true, MeshManager uses Assimp for loading all mesh formats, otherwise only for GLTF and FBX. More...

Static Public Member Functions
static std::vector< SubMesh >	ConvexDecomposition (const common::SubMesh &_subMesh, std::size_t _maxConvexHulls=16u, std::size_t _voxelResolution=200000u)
	Perform convex decomposition on a submesh. The submesh is decomposed into multiple convex submeshes. The output submeshes contain vertices and indices but texture coordinates are not preserved. More...

static MeshManager *	Instance ()

static std::unique_ptr< Mesh >	MergeSubMeshes (const common::Mesh &_mesh)
	Merge all submeshes from one mesh into one single submesh. More...

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. Supported mesh formats are STL (STLA, STLB), COLLADA, OBJ, GLTF (GLB) and FBX. By default only GLTF and FBX are loaded using assimp loader, however if GZ_MESH_FORCE_ASSIMP environment variable is set, then MeshManager will use assimp loader for all supported mesh formats.

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.

◆ ConvexDecomposition()

static std::vector<SubMesh> ConvexDecomposition	(	const common::SubMesh &	_subMesh,
		std::size_t	_maxConvexHulls = `16u`,
		std::size_t	_voxelResolution = `200000u`
	)

static

Perform convex decomposition on a submesh. The submesh is decomposed into multiple convex submeshes. The output submeshes contain vertices and indices but texture coordinates are not preserved.

Parameters

[in]	_subMesh	Input submesh to decompose.
[in]	_maxConvexHulls	Maximum number of convex hull submeshes to produce.
[in]	_voxelResolution	Voxel resolution to use. Higher value produces more accurate shapes.

Returns: A vector of decomposed submeshes.

◆ 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 capsule along z
[in]	_rings	the number of circles along the height
[in]	_segments	the number of segments 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 *GZ_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

◆ MergeSubMeshes()

static std::unique_ptr<Mesh> MergeSubMeshes ( const common::Mesh & _mesh )

static

Merge all submeshes from one mesh into one single submesh.

Parameters

[in] _mesh Input mesh with submeshes to merge.

Returns: A new mesh with the submeshes merged.

◆ 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

◆ RemoveAll()

void RemoveAll ( )

Remove all meshes.

◆ RemoveMesh()

bool RemoveMesh ( const std::string & _name )

Remove a mesh based on a name.

Parameters

[in] _name Name of the mesh to remove.

Returns: True if the mesh was removed, false if the mesh with the provided name could not be found.

◆ SetAssimpEnvs()

void SetAssimpEnvs ( )

Sets the forceAssimp flag by reading the GZ_MESH_FORCE_ASSIMP environment variable. If forceAssimp true, MeshManager uses Assimp for loading all mesh formats, otherwise only for GLTF and FBX.

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()

◆ ConvexDecomposition()

◆ CreateBoolean()

◆ CreateBox()

◆ CreateCamera()

◆ CreateCapsule()

◆ CreateCone()

◆ CreateCylinder()

◆ CreateEllipsoid()

◆ CreateExtrudedPolyline()

◆ CreatePlane() [1/2]

◆ CreatePlane() [2/2]

◆ CreateSphere()

◆ CreateTube()

◆ Export()

◆ GenSphericalTexCoord()

◆ HasMesh()

◆ Instance()

◆ IsValidFilename()

◆ Load()

◆ MergeSubMeshes()

◆ MeshAABB()

◆ MeshByName()

◆ RemoveAll()

◆ RemoveMesh()

◆ SetAssimpEnvs()