Gazebo Common
API Reference
5.7.0
insert_drive_file
Tutorials
library_books
Classes
toc
Namespaces
insert_drive_file
Files
launch
Gazebo Website
Index
List
Hierarchy
Members: All
Members: Functions
Members: Variables
Members: Typedefs
Members: Enumerations
Members: Enumerator
List
Members
Functions
Typedefs
Variables
Enumerations
Enumerator
src
gz-common
graphics
include
gz
common
gz/common/Mesh.hh
Go to the documentation of this file.
1
/*
2
* Copyright (C) 2016 Open Source Robotics Foundation
3
*
4
* Licensed under the Apache License, Version 2.0 (the "License");
5
* you may not use this file except in compliance with the License.
6
* You may obtain a copy of the License at
7
*
8
* http://www.apache.org/licenses/LICENSE-2.0
9
*
10
* Unless required by applicable law or agreed to in writing, software
11
* distributed under the License is distributed on an "AS IS" BASIS,
12
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13
* See the License for the specific language governing permissions and
14
* limitations under the License.
15
*
16
*/
17
#ifndef GZ_COMMON_MESH_HH_
18
#define GZ_COMMON_MESH_HH_
19
20
#include <memory>
21
#include <string>
22
#include <vector>
23
24
#include <gz/math/Vector3.hh>
25
#include <gz/math/Vector2.hh>
26
27
#include <gz/utils/ImplPtr.hh>
28
29
#include <
gz/common/graphics/Types.hh
>
30
#include <gz/common/graphics/Export.hh>
31
32
namespace
gz
33
{
34
namespace
common
35
{
36
class
Material;
37
class
Skeleton;
38
41
class
GZ_COMMON_GRAPHICS_VISIBLE
Mesh
42
{
44
public
:
Mesh
();
45
47
public
:
virtual
~
Mesh
();
48
51
public
:
void
SetPath(
const
std::string
&_path);
52
55
public
:
std::string
Path()
const
;
56
59
public
:
void
SetName(
const
std::string
&_name);
60
63
public
:
std::string
Name()
const
;
64
67
public
:
gz::math::Vector3d
Max()
const
;
68
71
public
:
gz::math::Vector3d
Min()
const
;
72
75
public
:
unsigned
int
VertexCount()
const
;
76
79
public
:
unsigned
int
NormalCount()
const
;
80
83
public
:
unsigned
int
IndexCount()
const
;
84
87
public
:
unsigned
int
TexCoordCount()
const
;
88
94
public
:
std::weak_ptr<SubMesh>
AddSubMesh(
const
SubMesh
&_child);
95
100
public
:
std::weak_ptr<SubMesh>
AddSubMesh(
101
std::unique_ptr<SubMesh>
_child);
102
105
public
:
unsigned
int
SubMeshCount()
const
;
106
110
public
:
int
AddMaterial(
const
MaterialPtr
&_mat);
111
114
public
:
unsigned
int
MaterialCount()
const
;
115
119
public
:
MaterialPtr
MaterialByIndex(
const
unsigned
int
_index)
const
;
120
125
public
:
int
IndexOfMaterial(
const
Material
*_mat)
const
;
126
130
public
:
std::weak_ptr<SubMesh>
SubMeshByIndex(
131
const
unsigned
int
_index)
const
;
132
136
public
:
std::weak_ptr<SubMesh>
SubMeshByName(
137
const
std::string
&_name)
const
;
138
142
public
:
void
FillArrays(
double
**_vertArr,
int
**_indArr)
const
;
143
146
public
:
void
RecalculateNormals();
147
152
public
:
void
AABB(
gz::math::Vector3d
&_center,
153
gz::math::Vector3d
&_minXYZ,
154
gz::math::Vector3d
&_maxXYZ)
const
;
155
159
public
:
void
GenSphericalTexCoord(
160
const
gz::math::Vector3d
&_center);
161
164
public
:
SkeletonPtr
MeshSkeleton()
const
;
165
168
public
:
void
SetSkeleton(
const
SkeletonPtr
&_skel);
169
172
public
:
bool
HasSkeleton()
const
;
173
176
public
:
void
Scale(
const
gz::math::Vector3d
&_factor);
177
180
public
:
void
SetScale(
const
gz::math::Vector3d
&_factor);
181
185
public
:
void
Center(
const
gz::math::Vector3d
&_center =
186
gz::math::Vector3d::Zero
);
187
190
public
:
void
Translate(
const
gz::math::Vector3d
&_vec);
191
204
public
:
double
Volume()
const
;
205
207
GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
208
};
209
}
210
}
211
212
#endif