Gazebo Common

API Reference

6.0.0
SubMesh.hh
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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_SUBMESH_HH_
18#define GZ_COMMON_SUBMESH_HH_
19
20#include <memory>
21#include <optional>
22#include <string>
23
24#include <gz/math/Vector3.hh>
25#include <gz/math/Vector2.hh>
26
27#include <gz/utils/ImplPtr.hh>
28
30#include <gz/common/graphics/Export.hh>
31
32namespace gz
33{
34 namespace common
35 {
36 class Material;
37 class NodeAssignment;
38
40 class GZ_COMMON_GRAPHICS_VISIBLE SubMesh
41 {
63
65 public: SubMesh();
66
69 public: explicit SubMesh(const std::string &_name);
70
72 public: virtual ~SubMesh();
73
76 public: void SetName(const std::string &_name);
77
80 public: std::string Name() const;
81
84 public: void SetPrimitiveType(PrimitiveType _type);
85
89
92 public: void AddIndex(const unsigned int _index);
93
96 public: void AddVertex(const gz::math::Vector3d &_v);
97
102 public: void AddVertex(const double _x, const double _y, const double _z);
103
106 public: void AddNormal(const gz::math::Vector3d &_n);
107
112 public: void AddNormal(const double _x, const double _y, const double _z);
113
121 public: void AddTexCoord(const double _u, const double _v);
122
129 public: void AddTexCoord(const gz::math::Vector2d &_uv);
130
135 public: void AddTexCoordBySet(double _u, double _v,
136 unsigned int _setIndex);
137
142 public: void AddTexCoordBySet(const gz::math::Vector2d &_uv,
143 unsigned int _setIndex);
144
149 public: void AddNodeAssignment(const unsigned int _vertex,
150 const unsigned int _node,
151 const float _weight);
157 public: gz::math::Vector3d Vertex(const unsigned int _index) const;
158
163 public: const gz::math::Vector3d* VertexPtr() const;
164
168 public: void SetVertex(const unsigned int _index,
169 const gz::math::Vector3d &_v);
170
176 public: gz::math::Vector3d Normal(const unsigned int _index) const;
177
181 public: void SetNormal(const unsigned int _index,
182 const gz::math::Vector3d &_n);
183
190 const unsigned int _index) const;
191
200 unsigned int _index,
201 unsigned int _setIndex) const;
202
209 public: void SetTexCoord(const unsigned int _index,
210 const gz::math::Vector2d &_uv);
211
216 public: void SetTexCoordBySet(unsigned int _index,
217 const gz::math::Vector2d &_uv,
218 unsigned int _setIdex);
219
223 public: int Index(const unsigned int _index) const;
224
229 public: const unsigned int* IndexPtr() const;
230
234 public: void SetIndex(const unsigned int _index,
235 const unsigned int _i);
236
244 const unsigned int _index) const;
245
248 public: gz::math::Vector3d Max() const;
249
252 public: gz::math::Vector3d Min() const;
253
256 public: unsigned int VertexCount() const;
257
260 public: unsigned int NormalCount() const;
261
264 public: unsigned int IndexCount() const;
265
273 public: unsigned int TexCoordCount() const;
274
279 public: unsigned int TexCoordCountBySet(unsigned int _setIndex) const;
280
283 public: unsigned int TexCoordSetCount() const;
284
287 public: unsigned int NodeAssignmentsCount() const;
288
291 public: unsigned int MaxIndex() const;
292
296 public: void SetMaterialIndex(const unsigned int _index);
297
301 public: std::optional<unsigned int> GetMaterialIndex() const;
302
306 public: bool HasVertex(const gz::math::Vector3d &_v) const;
307
313 public: bool HasVertex(const unsigned int _index) const;
314
320 public: bool HasNormal(const unsigned int _index) const;
321
332 public: bool HasTexCoord(const unsigned int _index) const;
333
340 public: bool HasTexCoordBySet(unsigned int _index, unsigned int _setIndex)
341 const;
342
348 public: bool HasNodeAssignment(const unsigned int _index) const;
349
353 public: int IndexOfVertex(const gz::math::Vector3d &_v) const;
354
358 public: void FillArrays(double **_vertArr, int **_indexndArr) const;
359
361 public: void RecalculateNormals();
362
367 const gz::math::Vector3d &_center);
368
374 const gz::math::Vector3d &_center,
375 unsigned int _setIndex);
376
379 public: void Scale(const gz::math::Vector3d &_factor);
380
383 public: void Scale(const double &_factor);
384
388 public: void Center(const gz::math::Vector3d &_center =
390
393 public: void Translate(const gz::math::Vector3d &_vec);
394
406 public: double Volume() const;
407
409 GZ_UTILS_IMPL_PTR(dataPtr)
410 };
411
414 class GZ_COMMON_GRAPHICS_VISIBLE NodeAssignment
415 {
417 public: NodeAssignment();
418
420 public: unsigned int vertexIndex;
421
423 public: unsigned int nodeIndex;
424
427 public: float weight;
428 };
429 }
430}
431
432#endif