Package org.robwork.sdurw_geometry

Class IndexedTriMeshN0

java.lang.Object

org.robwork.sdurw_geometry.GeometryData

org.robwork.sdurw_geometry.TriMesh

org.robwork.sdurw_geometry.IndexedTriMesh

org.robwork.sdurw_geometry.IndexedTriMeshN0

public class IndexedTriMeshN0
extends IndexedTriMesh

an Indexed Triangle mesh with zero normals

Nested Class Summary

Nested classes/interfaces inherited from class org.robwork.sdurw_geometry.TriMesh

TriMesh.TriCenterIterator, TriMesh.VerticeIterator

Nested classes/interfaces inherited from class org.robwork.sdurw_geometry.GeometryData

GeometryData.GeometryType

Constructor Summary

Constructors

Constructor	Description
IndexedTriMeshN0()	Constructor
IndexedTriMeshN0(long cPtr, boolean cMemoryOwn)
IndexedTriMeshN0(IndexedTriMeshN0 mesh)	Make deep copy of mesh.
IndexedTriMeshN0(SWIGTYPE_p_rw__core__PtrT_std__vectorT_rw__math__Vector3DT_double_t_t_t vertices, SWIGTYPE_p_rw__core__PtrT_std__vectorT_rw__geometry__IndexedTriangleT_uint16_t_t_t_t triangles)	constructor
IndexedTriMeshN0(SWIGTYPE_p_rw__core__PtrT_std__vectorT_rw__math__Vector3DT_double_t_t_t vertices, SWIGTYPE_p_rw__core__PtrT_std__vectorT_rw__math__Vector3DT_double_t_t_t normals)	constructor - ownership of the vertice array is taken
IndexedTriMeshN0(SWIGTYPE_p_rw__core__PtrT_std__vectorT_rw__math__Vector3DT_double_t_t_t vertices, SWIGTYPE_p_rw__core__PtrT_std__vectorT_rw__math__Vector3DT_double_t_t_t normals, SWIGTYPE_p_rw__core__PtrT_std__vectorT_rw__geometry__IndexedTriangleT_uint16_t_t_t_t triangles)	constructor
IndexedTriMeshN0(SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t vertices)	constructor - ownership of the vertice array is taken

Method Summary

Modifier and Type	Method	Description
void	add(IndexedTriangle triangle)	Add indexed triangle to the triangle mesh.
double	calcFaceArea(long triIdx)	calculate area of triangle at index triIdx
Vector3D	calcFaceCentroid(long triIdx)	calculate centroid of triangle at index triIdx
Vector3D	calcFaceNormal(long triIdx)	calculate face normal of triangle at index triIdx
TriMeshPtr	clone()	make a clone of this triangle mesh
void	delete()
IndexedTriangle	get(long i)
static long	getCPtr(IndexedTriMeshN0 obj)
IndexedTriangle_32	getIndexedTriangle(long i)	get the indexed triangle at index i
int	getNrTris()	The number of triangles in the mesh
long	getSize()	gets the number of triangles in the triangle array.
Triangle	getTriangle(long i)	gets the triangle at index idx.
void	getTriangle(long i, Triangle dst)	gets the triangle at index idx.
void	getTriangle(long i, Triangle_f dst)	gets the triangle at index idx.
VectorIndexedTriangle	getTriangles()	get triangle list
Vector3D	getTriVertex(long i, long triIdx)	get vertex i of triangle at index triIdx.
Vector3D	getVertex(long i, VertexIdx vidx)	get vertex vidx of triangle at index i.
Vector3D	getVertexNormal(long i, VertexIdx vidx)	Get normal of vertex vidx of triangle at index i.
void	resize(long nsize)	Set the number of triangles in the mesh.
void	set(long i, IndexedTriangle d)

Methods inherited from class org.robwork.sdurw_geometry.IndexedTriMesh

getCPtr, getIndexPtr, getIndexSize, getIndices, getNormals, getTriangleStride, getType, getVertex, getVertices, hasFaceNormals, hasVertexNormals, scale, size

Methods inherited from class org.robwork.sdurw_geometry.TriMesh

getCPtr, getTriMesh, getTriMesh, getVolume, isConvex, setConvexEnabled

Methods inherited from class org.robwork.sdurw_geometry.GeometryData

getCPtr, toString

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

IndexedTriMeshN0

public IndexedTriMeshN0(long cPtr,
                        boolean cMemoryOwn)

IndexedTriMeshN0

public IndexedTriMeshN0()

Constructor

IndexedTriMeshN0

public IndexedTriMeshN0(SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t vertices)

constructor - ownership of the vertice array is taken

Parameters:

vertices - [in] pointer to vector of vertices.

IndexedTriMeshN0

public IndexedTriMeshN0(SWIGTYPE_p_rw__core__PtrT_std__vectorT_rw__math__Vector3DT_double_t_t_t vertices,
                        SWIGTYPE_p_rw__core__PtrT_std__vectorT_rw__math__Vector3DT_double_t_t_t normals)

constructor - ownership of the vertice array is taken

Parameters:

vertices - [in] pointer to vector of vertices.

normals - [in] pointer to vector of normals.

IndexedTriMeshN0

public IndexedTriMeshN0(SWIGTYPE_p_rw__core__PtrT_std__vectorT_rw__math__Vector3DT_double_t_t_t vertices,
                        SWIGTYPE_p_rw__core__PtrT_std__vectorT_rw__math__Vector3DT_double_t_t_t normals,
                        SWIGTYPE_p_rw__core__PtrT_std__vectorT_rw__geometry__IndexedTriangleT_uint16_t_t_t_t triangles)

constructor

Parameters:

vertices - [in] pointer to vector of vertices.

normals - [in] pointer to vector of normals (expects same length as either
vertices or triangles).

triangles - [in] pointer to array of triangles.

IndexedTriMeshN0

public IndexedTriMeshN0(SWIGTYPE_p_rw__core__PtrT_std__vectorT_rw__math__Vector3DT_double_t_t_t vertices,
                        SWIGTYPE_p_rw__core__PtrT_std__vectorT_rw__geometry__IndexedTriangleT_uint16_t_t_t_t triangles)

constructor

Parameters:

vertices - [in] pointer to vector of vertices.

triangles - [in] pointer to array of triangles.

IndexedTriMeshN0

public IndexedTriMeshN0(IndexedTriMeshN0 mesh)

Make deep copy of mesh.

Parameters:

mesh - [in] the mesh to copy.

Method Detail

getCPtr

public static long getCPtr(IndexedTriMeshN0 obj)

delete

public void delete()

Overrides:

delete in class IndexedTriMesh

getVertexNormal

public Vector3D getVertexNormal(long i,
                                VertexIdx vidx)

Description copied from class: IndexedTriMesh

Get normal of vertex vidx of triangle at index i.

Overrides:

getVertexNormal in class IndexedTriMesh

Parameters:

i - [in] the index of the triangle.

vidx - [in] the triangle vertex.

Returns:

reference to normal vector.
Warning: Using the virtual function comes with a performance penalty.
If possible, use functions implemented on subtypes directly.

getVertex

public Vector3D getVertex(long i,
                          VertexIdx vidx)

Description copied from class: IndexedTriMesh

get vertex vidx of triangle at index i.

Overrides:

getVertex in class IndexedTriMesh

Parameters:

i - [in] the index of the triangle

vidx - [in] the index of the triangle vertex

Returns:

reference to vertex.
Warning: Using the virtual function comes with a performance penalty.
If possible, use functions implemented on subtypes directly (like
IndexedTriMeshN0::getTriVertex).

getIndexedTriangle

public IndexedTriangle_32 getIndexedTriangle(long i)

Description copied from class: IndexedTriMesh

get the indexed triangle at index i

Overrides:

getIndexedTriangle in class IndexedTriMesh

Parameters:

i - [in] the index of the triangle

Returns:

an indexed triangle
Warning: Using the virtual function comes with a performance penalty.
If possible, use functions implemented on subtypes directly.

getTriangle

public Triangle getTriangle(long i)

Description copied from class: TriMesh

gets the triangle at index idx.

Overrides:

getTriangle in class TriMesh

Parameters:

i - [in] the index of the triangle.

Returns:

the triangle at index idx

getTriangle

public void getTriangle(long i,
                        Triangle dst)

Description copied from class: TriMesh

gets the triangle at index idx.

Overrides:

getTriangle in class TriMesh

Parameters:

i - [in] the index of the triangle.

dst - [out] where to store the triangle at index idx

getTriangle

public void getTriangle(long i,
                        Triangle_f dst)

Description copied from class: TriMesh

gets the triangle at index idx. Using Floating point presicion

Overrides:

getTriangle in class TriMesh

Parameters:

i - [in] the index of the triangle.

dst - [out] where to store the triangle at index idx

add

public void add(IndexedTriangle triangle)

Add indexed triangle to the triangle mesh.

Parameters:

triangle - [in] the indexed triangle to add.

getTriVertex

public Vector3D getTriVertex(long i,
                             long triIdx)

get vertex i of triangle at index triIdx.

Parameters:

i - [in] should be in interval [0;2]

triIdx - [in] index of triangle in the triangle mesh

Returns:

a reference to the given vertex.

getTriangles

public VectorIndexedTriangle getTriangles()

get triangle list

Returns:

vector of triangles

get

public IndexedTriangle get(long i)

set

public void set(long i,
                IndexedTriangle d)

calcFaceArea

public double calcFaceArea(long triIdx)

calculate area of triangle at index triIdx

Returns:

the area.

calcFaceCentroid

public Vector3D calcFaceCentroid(long triIdx)

calculate centroid of triangle at index triIdx

Returns:

the centroid.

calcFaceNormal

public Vector3D calcFaceNormal(long triIdx)

calculate face normal of triangle at index triIdx

Returns:

the face normal.

resize

public void resize(long nsize)

Set the number of triangles in the mesh.

Parameters:

nsize - [in] the new size of the mesh.

getNrTris

public int getNrTris()

Description copied from class: IndexedTriMesh

The number of triangles in the mesh

Overrides:

getNrTris in class IndexedTriMesh

Returns:

nr of triangles

getSize

public long getSize()

Description copied from class: TriMesh

gets the number of triangles in the triangle array.

Overrides:

getSize in class TriMesh

clone

public TriMeshPtr clone()

Description copied from class: TriMesh

make a clone of this triangle mesh

Overrides:

clone in class TriMesh

Returns:

clone of this trimesh