chai3d::cMesh Class Reference

This class implements a 3D polygonal mesh. More...

#include <CMesh.h>

Inheritance diagram for chai3d::cMesh:

Public Member Functions

 cMesh (cMaterialPtr a_material=cMaterialPtr())
 Constructor of cMesh. More...
 
virtual ~cMesh ()
 Destructor of cMesh. More...
 
virtual cMeshcopy (const bool a_duplicateMaterialData=false, const bool a_duplicateTextureData=false, const bool a_duplicateMeshData=false, const bool a_buildCollisionDetector=false)
 This method creates a copy of itself. More...
 
virtual void setTransparencyLevel (const float a_level, const bool a_applyToVertices=false, const bool a_applyToTextures=false, const bool a_affectChildren=false)
 This method sets the alpha value at each vertex and in all of my material colors. More...
 
virtual void markForUpdate (const bool a_affectChildren=false)
 This method invalidates any existing display lists and marks the mesh for update. More...
 
unsigned int newVertex (const double a_x=0.0, const double a_y=0.0, const double a_z=0.0, const double a_normalX=1.0, const double a_normalY=0.0, const double a_normalZ=0.0, const double a_textureCoordX=0.0, const double a_textureCoordY=0.0, const double a_textureCoordZ=0.0)
 This method creates a new vertex and adds it to the vertex list. More...
 
unsigned int newVertex (const cVector3d &a_pos, const cVector3d &a_normal=cVector3d(1, 0, 0), const cVector3d &a_textureCoord=cVector3d(0, 0, 0), const cColorf &a_color=cColorf(0, 0, 0, 1))
 This method creates a new vertex and adds it to the vertex list. More...
 
unsigned int getNumVertices () const
 This method returns the number of stored vertices. More...
 
void setVertexColor (const cColorf &a_color)
 This method sets the color of each vertex. More...
 
unsigned int newTriangle (const unsigned int a_indexVertex0, const unsigned int a_indexVertex1, const unsigned int a_indexVertex2)
 This method creates a new triangle by passing vertex indices. More...
 
unsigned int newTriangle (const cVector3d &a_vertex0=cVector3d(0, 0, 0), const cVector3d &a_vertex1=cVector3d(0, 0, 0), const cVector3d &a_vertex2=cVector3d(0, 0, 0), const cVector3d &a_normal0=cVector3d(1, 0, 0), const cVector3d &a_normal1=cVector3d(1, 0, 0), const cVector3d &a_normal2=cVector3d(1, 0, 0), const cVector3d &a_textureCoord0=cVector3d(0, 0, 0), const cVector3d &a_textureCoord1=cVector3d(0, 0, 0), const cVector3d &a_textureCoord2=cVector3d(0, 0, 0), const cColorf &a_colorVertex0=cColorf(0, 0, 0, 1), const cColorf &a_colorVertex1=cColorf(0, 0, 0, 1), const cColorf &a_colorVertex2=cColorf(0, 0, 0, 1))
 This method creates a new triangle and three new vertices by passing vertex positions, normals and texture coordinates. More...
 
bool removeTriangle (const unsigned int a_index)
 This method removes a triangle from the triangle array. More...
 
unsigned int getNumTriangles ()
 This method returns the number of stored triangles. More...
 
void clear ()
 This method clears all triangles and vertices of mesh. More...
 
void setShowTriangles (const bool a_showTriangles)
 This method enables or disables the rendering of triangles. More...
 
bool getShowTriangles () const
 This method returns whether rendering of triangles is enabled. More...
 
void computeAllEdges (double a_angleThresholdDeg=40.0)
 This method creates a list of edges by providing a threshold angle in degrees. More...
 
void clearAllEdges ()
 This method clears all edges. More...
 
void setShowEdges (const bool a_showEdges)
 This method enables or disables the rendering of edges. More...
 
bool getShowEdges () const
 This method returns whether rendering of edges is enabled. More...
 
void setEdgeProperties (const double a_width, const cColorf &a_color)
 This method sets the graphic properties for edge-rendering. More...
 
void setEdgeLineWidth (const double a_width)
 This method sets the line width of edges. More...
 
void setShowNormals (const bool a_showNormals)
 This method enables or disables the rendering of vertex normals. More...
 
bool getShowNormals () const
 This method returns whether rendering of normals is enabled. More...
 
void setNormalsProperties (const double a_length, const cColorf &a_color)
 This method sets the graphic properties for normal-rendering. More...
 
void setNormalsLength (const double a_length)
 This method set the length of normals for display purposes. More...
 
void computeAllNormals ()
 This method computes all triangle normals. More...
 
virtual void reverseAllNormals ()
 This method reverses all surface normals. More...
 
void computeBTN ()
 This method computes the normal matrix vectors for all triangles. More...
 
void setShowTangents (const bool a_showTangents)
 This method enables or disables the rendering of tangents and bi-tangents. More...
 
bool getShowTangents () const
 This method returns whether rendering of tangents and bi-tangents is enabled. More...
 
virtual void createBruteForceCollisionDetector ()
 This method builds a brute force collision detector for this mesh. More...
 
virtual void createAABBCollisionDetector (const double a_radius)
 This method builds an AABB collision detector for this mesh. More...
 
void scaleXYZ (const double a_scaleX, const double a_scaleY, const double a_scaleZ)
 This method scale this mesh by using different scale factors along X, Y and Z axes. More...
 
virtual void offsetVertices (const cVector3d &a_offset, const bool a_updateCollisionDetector=true)
 This method shifts all vertex positions by the specified amount. More...
 
virtual cVector3d getCenterOfMass ()
 This method computes the center of mass of this mesh, based on vertex positions. More...
 
- Public Member Functions inherited from chai3d::cGenericObject
 cGenericObject ()
 Constructor of cGenericObject. More...
 
virtual ~cGenericObject ()
 Destructor of cGenericObject. More...
 
virtual void setEnabled (bool a_enabled, const bool a_affectChildren=false)
 This method enables or disable this object. When an object is disabled, both haptic and graphic rendering no longer occur. More...
 
bool getEnabled () const
 This method returns true if the object is enabled, false otherwise. More...
 
virtual void setLocalPos (const cVector3d &a_localPos)
 This method sets the local position of this object. More...
 
void setLocalPos (const double a_x=0.0, const double a_y=0.0, const double a_z=0.0)
 This method sets the local position of this object. More...
 
cVector3d getLocalPos () const
 This method returns the local position of this object. More...
 
cVector3d getGlobalPos () const
 This method returns the global position of this object. More...
 
virtual void setLocalRot (const cMatrix3d &a_localRot)
 This method sets the local rotation matrix for this object. More...
 
cMatrix3d getLocalRot () const
 This method returns the local rotation matrix of this object. More...
 
cMatrix3d getGlobalRot () const
 This method returns the global rotation matrix of this object. More...
 
void setLocalTransform (const cTransform &a_transform)
 This method returns the local position and rotation matrix by passing a transformation matrix. More...
 
cTransform getLocalTransform ()
 This method returns the local position and rotation matrix in a transformation matrix. More...
 
cTransform getGlobalTransform ()
 This method returns the global position and rotation matrix in a transformation matrix. More...
 
void translate (const cVector3d &a_translation)
 This method translates this object by a specified offset. More...
 
void translate (const double a_x, const double a_y, const double a_z=0.0)
 This method translates this object by a specified offset. More...
 
void rotateAboutLocalAxisRad (const cVector3d &a_axis, const double a_angleRad)
 This method rotates this object around a local axis. Angle magnitude is defined in radians. More...
 
void rotateAboutLocalAxisDeg (const cVector3d &a_axis, const double a_angleDeg)
 This method rotates this object around a local axis. Angle magnitude is defined in degrees. More...
 
void rotateAboutLocalAxisRad (const double a_axisX, const double a_axisY, const double a_axisZ, const double a_angleRad)
 This method rotates this object around a local axis. Angle magnitude is defined in radians. More...
 
void rotateAboutLocalAxisDeg (const double a_axisX, const double a_axisY, const double a_axisZ, const double a_angleDeg)
 This method rotates this object around a local axis. Angle magnitude is defined in degrees. More...
 
void rotateAboutGlobalAxisRad (const cVector3d &a_axis, const double a_angleRad)
 This method rotates this object around a global axis. Angle magnitude is defined in radians. More...
 
void rotateAboutGlobalAxisDeg (const cVector3d &a_axis, const double a_angleDeg)
 This method rotates this object around a global axis. Angle magnitude is defined in degrees. More...
 
void rotateAboutGlobalAxisRad (const double a_axisX, const double a_axisY, const double a_axisZ, const double a_angleRad)
 This method rotate this object around a local axis. Angle magnitude is defined in radians. More...
 
void rotateAboutGlobalAxisDeg (const double a_axisX, const double a_axisY, const double a_axisZ, const double a_angleDeg)
 This method rotates this object around a local axis. Angle magnitude is defined in degrees. More...
 
void rotateExtrinsicEulerAnglesRad (const double &a_angleRad1, const double &a_angleRad2, const double &a_angleRad3, const cEulerOrder a_eulerOrder)
 This method rotates this object using fixed Euler representation. Angles are defined in radians. More...
 
void rotateExtrinsicEulerAnglesDeg (const double &a_angleDeg1, const double &a_angleDeg2, const double &a_angleDeg3, const cEulerOrder a_eulerOrder)
 This method rotates this object using fixed Euler representation. Angles are defined in radians. More...
 
void rotateIntrinsicEulerAnglesRad (const double &a_angleRad1, const double &a_angleRad2, const double &a_angleRad3, const cEulerOrder a_eulerOrder)
 This method rotates this object using co-moving Euler representation. Angles are defined in radians. More...
 
void rotateIntrinsicEulerAnglesDeg (const double &a_angleDeg1, const double &a_angleDeg2, const double &a_angleDeg3, const cEulerOrder a_eulerOrder)
 This method rotates this object using co-moving Euler representation. Angles are defined in radians. More...
 
virtual void computeGlobalPositions (const bool a_frameOnly=true, const cVector3d &a_globalPos=cVector3d(0.0, 0.0, 0.0), const cMatrix3d &a_globalRot=cIdentity3d())
 This method computes the global position and rotation of this object and its children. More...
 
void computeGlobalPositionsFromRoot (const bool a_frameOnly=true)
 This method computes the global position and rotation of current object only. More...
 
bool addEffect (cGenericEffect *a_effect)
 This method adds a haptic effect to this object. More...
 
bool removeEffect (cGenericEffect *a_effect)
 This method removes a haptic effect from this object. More...
 
void deleteAllEffects ()
 This method removes all haptic effects. More...
 
bool createEffectMagnetic ()
 This method creates a magnetic haptic effect. More...
 
bool deleteEffectMagnetic ()
 This method deletes any current magnetic haptic effect. More...
 
bool createEffectStickSlip ()
 This method creates a stick-and-slip haptic effect. More...
 
bool deleteEffectStickSlip ()
 This method delete any current stick-and-slip haptic effect. More...
 
bool createEffectSurface ()
 This method creates a surface haptic effect. More...
 
bool deleteEffectSurface ()
 This method deletes any current surface haptic effect. More...
 
bool createEffectVibration ()
 This method creates a vibration haptic effect. More...
 
bool deleteEffectVibration ()
 This method deletes any current vibration haptic effect. More...
 
bool createEffectViscosity ()
 This method creates a viscous haptic effect. More...
 
bool deleteEffectViscosity ()
 This method deletes any current viscous haptic effect. More...
 
virtual void setHapticEnabled (const bool a_hapticEnabled, const bool a_affectChildren=true)
 This method enables or disables haptic perception of this object, optionally propagating the change to children. More...
 
bool getHapticEnabled () const
 This method returns the haptic status of object (true means it can be felt when visible). More...
 
virtual void setStiffness (const double a_stiffness, const bool a_affectChildren=true)
 This method sets the haptic stiffness of the object, optionally recursively affecting children. More...
 
virtual void setFriction (double a_staticFriction, double a_dynamicFriction, const bool a_affectChildren=true)
 This method sets the static and dynamic friction properties (polygonal models only), optionally recursively affecting children. More...
 
virtual void setShowEnabled (const bool a_show, const bool a_affectChildren=true)
 This method enables or disables the graphic display of this object, optionally propagating the change to children. More...
 
bool getShowEnabled () const
 This method returns the display status of object (true means it's visible). More...
 
virtual void setWireMode (const bool a_showWireMode, const bool a_affectChildren=false)
 This method enables or disables wireframe rendering, optionally propagating the operation to my children. More...
 
bool getWireMode () const
 This method returns whether wireframe rendering is enabled. More...
 
virtual void setUseCulling (const bool a_useCulling, const bool a_affectChildren=false)
 This method enables or disables face-culling, optionally propagating the operation to my children. More...
 
bool getUseCulling () const
 This method returns true if face-culling is enabled, false otherwise. More...
 
virtual void setUseTransparency (const bool a_useTransparency, const bool a_affectChildren=false)
 This method enables or disables transparency. More...
 
bool getUseTransparency () const
 This method returns true if transparency is enabled, false otherwise. More...
 
virtual void setUseDisplayList (const bool a_useDisplayList, const bool a_affectChildren=false)
 This method enabled or disables the use of a display list for rendering, optionally propagating the operation to its children. More...
 
bool getUseDisplayList () const
 This method returns true if a display list is activated, false otherwise. More...
 
virtual void setUseVertexColors (const bool a_useColors, const bool a_affectChildren=false)
 This method enables or disables the use of per-vertex colors, optionally propagating the operation to its children. More...
 
bool getUseVertexColors () const
 This method returns true is per-vertex color properties are enabled, false otherwise. More...
 
virtual void setUseMaterial (const bool a_useMaterial, const bool a_affectChildren=false)
 This method enables or disables the use of material properties, optionally propagating the operation to its children. More...
 
bool getUseMaterial () const
 This method returns true is material properties are enabled, false otherwise. More...
 
virtual void setMaterial (cMaterialPtr a_material, const bool a_affectChildren=false)
 This method sets the material properties of this object, optionally propagating the operation to its children. More...
 
virtual void setMaterial (cMaterial &a_material, const bool a_affectChildren=false)
 This method setd the material properties of this object, optionally propagating the operation to its children. More...
 
virtual void backupMaterialColors (const bool a_affectChildren=false)
 This method creates a backup of the material colors of this object, optionally propagating the operation to its children. More...
 
virtual void restoreMaterialColors (const bool a_affectChildren=false)
 This method restores the material color properties of this object from a previous backup, optionally propagating the operation to its children. More...
 
virtual void setUseTexture (const bool a_useTexture, const bool a_affectChildren=false)
 This method enables or disables the use of texture-mapping, optionally propagating the operation to its children. More...
 
bool getUseTexture () const
 This method returns true if texture-mapping is enabled, false otherwise. More...
 
virtual void setTexture (cTexture1dPtr a_texture, const bool a_affectChildren=false)
 This method sets a texture to this object, optionally propagating the operation to its children. More...
 
virtual void setShaderProgram (cShaderProgramPtr a_shaderProgram, const bool a_affectChildren=false)
 This method assigns a shader program to this object, optionally propagating the operation to its children.. More...
 
virtual cShaderProgramPtr getShaderProgram ()
 This method returns a pointer to the current shader program. More...
 
virtual void setShowBoundaryBox (const bool a_showBoundaryBox, const bool a_affectChildren=false)
 This method enables or disabled the graphic display of the boundary box for this object, optionally propagating the change to its children. More...
 
bool getShowBoundaryBox () const
 This method returns true if the boundary box is being displayed, false otherwise. More...
 
cVector3d getBoundaryMin () const
 This method returns the minimum point of this object's boundary box. More...
 
cVector3d getBoundaryMax () const
 This method returns the maximum point of this object's boundary box. More...
 
cVector3d getBoundaryCenter () const
 This method computes and returns the center of this object's boundary box. More...
 
bool getBoundaryBoxEmpty ()
 This method returns true, if the boundary box is empty, otherwise false. More...
 
virtual void computeBoundaryBox (const bool a_includeChildren=true)
 This method computes this object's boundary box, optionally forcing it to bound child objects. More...
 
virtual void setShowFrame (const bool a_showFrame, const bool a_affectChildren=false)
 This method enables or disables the graphic display of the reference frame arrows for this object, optionally propagating the change to its children. More...
 
bool getShowFrame (void) const
 This method returns true if the display of the reference frame is enabled, false otherwise. More...
 
virtual void setFrameSize (const double a_size=1.0, const bool a_affectChildren=false)
 This method sets the size of the rendered reference frame, optionally propagating the change to its children. More...
 
double getFrameSize () const
 This method returns the size of the graphical reference frame. More...
 
void setCollisionDetector (cGenericCollision *a_collisionDetector)
 This method sets a collision detector to this current object. More...
 
cGenericCollisiongetCollisionDetector () const
 This method returns a pointer to this object's current collision detector. More...
 
virtual void deleteCollisionDetector (const bool a_affectChildren=false)
 This method deletes any existing collision detector. More...
 
virtual bool computeCollisionDetection (const cVector3d &a_segmentPointA, const cVector3d &a_segmentPointB, cCollisionRecorder &a_recorder, cCollisionSettings &a_settings)
 This method computes any collision between a segment and this object. More...
 
virtual void setShowCollisionDetector (const bool a_showCollisionDetector, const bool a_affectChildren=false)
 This method enables or disables the display of the collision detector, optionally propagating the change to its children. More...
 
bool getShowCollisionDetector ()
 This method returns true if the collision detector is being displayed graphically, false otherwise. More...
 
virtual void setCollisionDetectorProperties (unsigned int a_displayDepth, cColorf &a_color, const bool a_affectChildren=false)
 This method sets the collision detector graphic display properties. More...
 
void setParent (cGenericObject *a_parent)
 This method sets the parent of this object. More...
 
cGenericObjectgetParent () const
 This method returns the parent of this object. More...
 
void setOwner (cGenericObject *a_owner)
 This method sets a link to an object that owns this object. This could be a super parent for instance. More...
 
cGenericObjectgetOwner ()
 This method returns the owner of this object. More...
 
cGenericObjectgetChild (const unsigned int a_index) const
 This method returns a selected child from the list of children. More...
 
bool addChild (cGenericObject *a_object)
 This method add an object to the list of children. More...
 
bool removeChild (cGenericObject *a_object)
 This method removes an object from the list of children, without deleting it. More...
 
bool removeFromGraph ()
 This method removes this object from its parent's list of children. More...
 
bool deleteChild (cGenericObject *a_object)
 This method removes an object from its list of children and deletes it. More...
 
void clearAllChildren ()
 This method clears all objects from its list of children, without deleting them. More...
 
void deleteAllChildren ()
 This method clears and delete all objects from its list of children. More...
 
unsigned int getNumChildren ()
 This method returns the number of children from its list of children. More...
 
unsigned int getNumDescendants (bool a_includeCurrentObject=false)
 This method returns the total number of descendants, optionally including this object. More...
 
void setGhostEnabled (bool a_ghostEnabled)
 This method enables or disables this object to be a ghost node. More...
 
bool getGhostEnabled ()
 This method returns truee if this object is a ghost node. More...
 
virtual void scale (const double &a_scaleFactor, const bool a_affectChildren=true)
 This method scales the size of this object. More...
 
virtual void renderSceneGraph (cRenderOptions &a_options)
 This method renders the entire scene graph, starting from this object. More...
 
virtual void adjustCollisionSegment (cVector3d &a_segmentPointA, cVector3d &a_segmentPointAadjusted)
 This method adjusts the collision segment to handle objects in motion. More...
 
virtual cVector3d computeInteractions (const cVector3d &a_toolPos, const cVector3d &a_toolVel, const unsigned int a_IDN, cInteractionRecorder &a_interactions)
 This method computes all haptic interaction between a tool and this object using the haptic effects. More...
 
- Public Member Functions inherited from chai3d::cGenericType
 cGenericType ()
 Constructor of cGenericType. More...
 
virtual ~cGenericType ()
 Destructor of cGenericType. More...
 

Public Attributes

cColorf m_normalsColor
 Color used to render lines representing normals. More...
 
cColorf m_edgeLineColor
 Color used to render lines representing edges. More...
 
cVertexArrayPtr m_vertices
 Array of vertices. More...
 
cTriangleArrayPtr m_triangles
 Array of triangles. More...
 
std::vector< cEdge > m_edges
 Array of Edges. More...
 
- Public Attributes inherited from chai3d::cGenericObject
std::string m_name
 Name of current object (filename). More...
 
cMaterialPtr m_material
 Material property. More...
 
cTexture1dPtr m_texture
 Texture property. More...
 
cNormalMapPtr m_normalMap
 Normal map property. More...
 
int m_userTag
 An arbitrary tag, not used by CHAI3D. More...
 
void * m_userData
 An arbitrary data pointer, not used by CHAI3D. More...
 
std::string m_userName
 Name of current object, not used by CHAI3D. More...
 
cGenericObjectm_userExternalObject
 A link to an external cGenericObject object, not used by CHAI3D. More...
 
cVector3d m_interactionPoint
 Projection of the most recent haptic point (tool) onto the surface of the virtual object. More...
 
cVector3d m_interactionNormal
 Surface normal at the current interaction point. More...
 
bool m_interactionInside
 Was the last tool (haptic point) located inside the object? More...
 

Protected Member Functions

virtual void render (cRenderOptions &a_options)
 This method renders this object graphically using OpenGL. More...
 
virtual void renderNormals (cRenderOptions &a_options)
 This method draws a small line for each vertex normal. More...
 
virtual void renderTangents (cRenderOptions &a_options)
 This method draws a small line for each tangent and bi-tangent. More...
 
virtual void renderEdges (cRenderOptions &a_options)
 This method draws all edges of the mesh. More...
 
virtual void renderMesh (cRenderOptions &a_options)
 This method renders all triangles, material and texture properties. More...
 
virtual void updateGlobalPositions (const bool a_frameOnly)
 This method updates the global position of each vertex. More...
 
virtual void updateBoundaryBox ()
 This method updates the boundary box dimensions based on the vertices. More...
 
void copyMeshProperties (cMesh *a_obj, const bool a_duplicateMaterialData, const bool a_duplicateTextureData, const bool a_duplicateMeshData, const bool a_buildCollisionDetector)
 This method copies all properties of this mesh to another. More...
 
virtual void scaleObject (const double &a_scaleFactor)
 This method scales this object by a scale factor. More...
 
void computeLocalInteraction (const cVector3d &a_toolPos, const cVector3d &a_toolVel, const unsigned int a_IDN)
 This method updates the relationship between the tool and the current object. More...
 
- Protected Member Functions inherited from chai3d::cGenericObject
virtual cVector3d computeOtherInteractions (const cVector3d &a_toolPos, const cVector3d &a_toolVel, const unsigned int a_IDN, cInteractionRecorder &a_interactions)
 This method computes any additional interactions between the object and the tools. More...
 
virtual bool computeOtherCollisionDetection (cVector3d &a_segmentPointA, cVector3d &a_segmentPointB, cCollisionRecorder &a_recorder, cCollisionSettings &a_settings)
 This method computes any additional collisions other than the ones computed by the default collision detector. More...
 
void copyGenericObjectProperties (cGenericObject *a_objDest, const bool a_duplicateMaterialData, const bool a_duplicateTextureData, const bool a_duplicateMeshData, const bool a_buildCollisionDetector)
 This method copies all properties of the current generic object to another. More...
 

Protected Attributes

bool m_showTriangles
 If true, then triangles are displayed. More...
 
bool m_showNormals
 If true, then normals are displayed. More...
 
bool m_showTangents
 If true, then tangents and bitangents are displayed. More...
 
double m_normalsLength
 Length of each normal (for graphic rendering of normals). More...
 
bool m_showEdges
 If true, then show edges. More...
 
double m_edgeLineWidth
 Width of edge lines. More...
 
cDisplayList m_displayListEdges
 Display list for edges. More...
 
- Protected Attributes inherited from chai3d::cGenericObject
cGenericObjectm_parent
 Parent object. More...
 
cGenericObjectm_owner
 
std::vector< cGenericObject * > m_children
 List of children. More...
 
cVector3d m_localPos
 The position of this object in my parent's reference frame. More...
 
cVector3d m_globalPos
 The position of this object in the world's reference frame. More...
 
cMatrix3d m_localRot
 The rotation matrix that rotates my reference frame into my parent's reference frame. More...
 
cMatrix3d m_globalRot
 The rotation matrix that rotates my reference frame into the world's reference frame. More...
 
cVector3d m_prevGlobalPos
 Previous position since last haptic computation. More...
 
cMatrix3d m_prevGlobalRot
 Previous rotation since last haptic computation. More...
 
cVector3d m_boundaryBoxMin
 Minimum position of boundary box. More...
 
cVector3d m_boundaryBoxMax
 Maximum position of boundary box. More...
 
bool m_boundaryBoxEmpty
 If true, then the boundary box does not include any object. More...
 
double m_frameSize
 Size of graphical representation of frame (X-Y-Z). More...
 
double m_frameThicknessScale
 Pen thickness of graphical representation of frame (X-Y-Z). More...
 
bool m_enabled
 If true, the object may be rendered graphically and haptically. More...
 
bool m_showEnabled
 If true, this object is rendered. More...
 
bool m_hapticEnabled
 If true, this object can be felt. More...
 
bool m_ghostEnabled
 If true, object is enabled as ghost. More...
 
bool m_showFrame
 If true, this object's reference frame is rendered as a set of arrows. More...
 
bool m_showBoundaryBox
 If true, this object's boundary box is displayed as a set of lines. More...
 
bool m_showCollisionDetector
 If true, the collision detector is displayed (if available) at this node. More...
 
bool m_useTextureMapping
 Should texture mapping be used? More...
 
bool m_useMaterialProperty
 Should material properties be used? More...
 
bool m_useVertexColors
 Should per-vertex colors be used? More...
 
bool m_useDisplayList
 Should we use a display list to render this mesh? More...
 
cDisplayList m_displayList
 Basic display list for current object. More...
 
int m_triangleMode
 The polygon rendering mode (GL_FILL or GL_LINE). More...
 
bool m_useTransparency
 
bool m_cullingEnabled
 
cShaderProgramPtr m_shaderProgram
 Shader program. More...
 
cTransform m_frameGL
 OpenGL matrix describing my position and orientation transformation. More...
 
cGenericCollisionm_collisionDetector
 The collision detector used to test for contact with this object. More...
 
std::vector< cGenericEffect * > m_effects
 List of haptic effects programmed for this object. More...
 

Additional Inherited Members

- Static Public Attributes inherited from chai3d::cGenericObject
static cColorf s_boundaryBoxColor
 Color of the boundary box. More...
 
- Static Protected Attributes inherited from chai3d::cGenericObject
static cMaterialPtr s_defaultMaterial = nullptr
 Default material property. More...
 

Detailed Description

This class implements a 3D polygonal mesh. A mesh is composed of a collection of vertices, triangles, materials, and texture properties that can be rendered graphically and haptically.

Constructor & Destructor Documentation

chai3d::cMesh::cMesh ( cMaterialPtr  a_material = cMaterialPtr())

Constructor of cMesh.

Parameters
a_materialMaterial property to be applied to object.
chai3d::cMesh::~cMesh ( )
virtual

Destructor of cMesh.

Member Function Documentation

cMesh * chai3d::cMesh::copy ( const bool  a_duplicateMaterialData = false,
const bool  a_duplicateTextureData = false,
const bool  a_duplicateMeshData = false,
const bool  a_buildCollisionDetector = false 
)
virtual

This method creates a copy of itself.

Parameters
a_duplicateMaterialDataIf true, material (if available) is duplicated, otherwise it is shared.
a_duplicateTextureDataIf true, texture data (if available) is duplicated, otherwise it is shared.
a_duplicateMeshDataIf true, mesh data (if available) is duplicated, otherwise it is shared.
a_buildCollisionDetectorIf true, collision detector (if available) is duplicated, otherwise it is shared.
Returns
Pointer to new object.

Reimplemented from chai3d::cGenericObject.

Reimplemented in chai3d::cLabel, chai3d::cDial, chai3d::cLevel, chai3d::cViewPanel, chai3d::cPanel, chai3d::cScope, chai3d::cBackground, chai3d::cBitmap, and chai3d::cGenericWidget.

void chai3d::cMesh::setTransparencyLevel ( const float  a_level,
const bool  a_applyToVertices = false,
const bool  a_applyToTextures = false,
const bool  a_affectChildren = false 
)
virtual

This method sets the alpha value at each vertex, in all of its material colors, optionally propagating the operation to my children.

Parameters
a_levelLevel of transparency ranging from 0.0 to 1.0.
a_applyToVerticesIf true, then apply changes to vertex colors.
a_applyToTexturesIf true, then apply changes to texture.
a_affectChildrenIf true, then children are updated too.

Reimplemented from chai3d::cGenericObject.

Reimplemented in chai3d::cPanel.

void chai3d::cMesh::markForUpdate ( const bool  a_affectChildren = false)
virtual

This method invalidates any existing display lists. You should call this on if you are using display lists and you modify mesh options, vertex positions, etc.

Parameters
a_affectChildrenIf true, then children are updated too.

Reimplemented from chai3d::cGenericObject.

unsigned int chai3d::cMesh::newVertex ( const double  a_x = 0.0,
const double  a_y = 0.0,
const double  a_z = 0.0,
const double  a_normalX = 1.0,
const double  a_normalY = 0.0,
const double  a_normalZ = 0.0,
const double  a_textureCoordX = 0.0,
const double  a_textureCoordY = 0.0,
const double  a_textureCoordZ = 0.0 
)

This method creates a new vertex and adds it to the vertex list.

Parameters
a_xX coordinate of vertex.
a_yY coordinate of vertex.
a_zZ coordinate of vertex.
a_normalXX coordinate of normal associated with vertex.
a_normalYY coordinate of normal associated with vertex.
a_normalZZ coordinate of normal associated with vertex.
a_textureCoordXX component of texture coordinate.
a_textureCoordYY component of texture coordinate.
a_textureCoordZZ component of texture coordinate.
Returns
Index number of new vertex.
unsigned int chai3d::cMesh::newVertex ( const cVector3d a_pos,
const cVector3d a_normal = cVector3d(1,0,0),
const cVector3d a_textureCoord = cVector3d(0,0,0),
const cColorf a_color = cColorf(0,0,0,1) 
)

This method creates a new vertex and adds it to the vertex list.

Parameters
a_posPosition of new vertex.
a_normalNormal vector associated with new vertex.
a_textureCoordTexture coordinate of new vertex.
a_colorColor of new vertex.
Returns
Index number of new vertex.
unsigned int chai3d::cMesh::getNumVertices ( ) const
inline
void chai3d::cMesh::setVertexColor ( const cColorf a_color)

This method sets the color of each vertex.

Parameters
a_colorNew color to be applied to each vertex.
unsigned int chai3d::cMesh::newTriangle ( const unsigned int  a_indexVertex0,
const unsigned int  a_indexVertex1,
const unsigned int  a_indexVertex2 
)

This method creates a new triangle by passing vertex indices.

Parameters
a_indexVertex0Index position of vertex 0.
a_indexVertex1Index position of vertex 1.
a_indexVertex2Index position of vertex 2.
Returns
Index number of new triangle.
unsigned int chai3d::cMesh::newTriangle ( const cVector3d a_vertex0 = cVector3d(0,0,0),
const cVector3d a_vertex1 = cVector3d(0,0,0),
const cVector3d a_vertex2 = cVector3d(0,0,0),
const cVector3d a_normal0 = cVector3d(1,0,0),
const cVector3d a_normal1 = cVector3d(1,0,0),
const cVector3d a_normal2 = cVector3d(1,0,0),
const cVector3d a_textureCoord0 = cVector3d(0,0,0),
const cVector3d a_textureCoord1 = cVector3d(0,0,0),
const cVector3d a_textureCoord2 = cVector3d(0,0,0),
const cColorf a_colorVertex0 = cColorf(0,0,0,1),
const cColorf a_colorVertex1 = cColorf(0,0,0,1),
const cColorf a_colorVertex2 = cColorf(0,0,0,1) 
)

This method creates a new triangle and three new vertices by passing vertex positions, normals and texture coordinates.

Parameters
a_vertex0Position of vertex 0.
a_vertex1Position of vertex 1.
a_vertex2Position of vertex 2.
a_normal0Normal of vertex 0.
a_normal1Normal position of vertex 1.
a_normal2Normal position of vertex 2.
a_textureCoord0Texture coordinate of vertex 0.
a_textureCoord1Texture coordinate of vertex 1.
a_textureCoord2Texture coordinate of vertex 2.
a_colorVertex0Color at vertex 0.
a_colorVertex1Color at vertex 1.
a_colorVertex2Color at vertex 2.
Returns
Index number of new triangle.
bool chai3d::cMesh::removeTriangle ( const unsigned int  a_index)

This method removes a triangle by passing its index number.

Parameters
a_indexIndex number of triangle.
Returns
true if operation succeeds, false otherwise.
unsigned int chai3d::cMesh::getNumTriangles ( )

This method returns the number of stored triangles.

Returns
Number of triangles.
void chai3d::cMesh::clear ( )

This method clears all triangles and vertices.

void chai3d::cMesh::setShowTriangles ( const bool  a_showTriangles)
inline
bool chai3d::cMesh::getShowTriangles ( ) const
inline
void chai3d::cMesh::computeAllEdges ( double  a_angleThresholdDeg = 40.0)

This method creates a list of edges by providing a threshold angle in degrees. All triangles for which the angle between their respective surface normals are greater than the select angle threshold are added to the list of edges.

Parameters
a_angleThresholdDegThreshold angle in degrees.
void chai3d::cMesh::clearAllEdges ( )

This method clears all edges.

void chai3d::cMesh::setShowEdges ( const bool  a_showEdges)
inline
bool chai3d::cMesh::getShowEdges ( ) const
inline
void chai3d::cMesh::setEdgeProperties ( const double  a_lineWidth,
const cColorf a_lineColor 
)

This method sets the graphic properties for edge-rendering.

Parameters
a_lineWidthWidth of edge lines.
a_lineColorColor of edge lines.
void chai3d::cMesh::setEdgeLineWidth ( const double  a_width)
inline
void chai3d::cMesh::setShowNormals ( const bool  a_showNormals)
inline
bool chai3d::cMesh::getShowNormals ( ) const
inline
void chai3d::cMesh::setNormalsProperties ( const double  a_length,
const cColorf a_color 
)

This method defines the way normals are graphically rendered.

Parameters
a_lengthLength of normals.
a_colorColor of normals.
void chai3d::cMesh::setNormalsLength ( const double  a_length)
inline
void chai3d::cMesh::computeAllNormals ( )

This method computes all surface normals for every vertex in the mesh, by averaging the face normals of the triangle that include each vertex.

void chai3d::cMesh::reverseAllNormals ( )
virtual

This method reverses the normal for every vertex on this model. Useful for models that started with inverted faces and thus gave inward-pointing normals.

void chai3d::cMesh::computeBTN ( )

This method computes the normal matrix vectors for all triangles.

void chai3d::cMesh::setShowTangents ( const bool  a_showTangents)
inline
bool chai3d::cMesh::getShowTangents ( ) const
inline
void chai3d::cMesh::createBruteForceCollisionDetector ( )
virtual

This method builds a brute Force collision detector for this mesh.

void chai3d::cMesh::createAABBCollisionDetector ( const double  a_radius)
virtual

This method builds an AABB collision detector for this mesh.

Parameters
a_radiusBounding radius.
void chai3d::cMesh::scaleXYZ ( const double  a_scaleX,
const double  a_scaleY,
const double  a_scaleZ 
)

This method scales this object by using different scale factors along X,Y and Z axes.

Parameters
a_scaleXScale factor along X axis.
a_scaleYScale factor along Y axis.
a_scaleZScale factor along Z axis.
void chai3d::cMesh::offsetVertices ( const cVector3d a_offset,
const bool  a_updateCollisionDetector = true 
)
virtual

This method shifts all vertex positions by the specified amount.

Parameters
a_offsetTranslation to apply to each vertex.
a_updateCollisionDetectorIf true, then update collision detector.
cVector3d chai3d::cMesh::getCenterOfMass ( )
virtual

This method computes the center of mass of this mesh, based on vertex positions.

Returns
Center of mass.
void chai3d::cMesh::render ( cRenderOptions a_options)
protectedvirtual

This method renders this mesh using OpenGL. This method actually just prepares some OpenGL state, and uses renderMesh to actually do the rendering.

Parameters
a_optionsRendering options.

Reimplemented from chai3d::cGenericObject.

Reimplemented in chai3d::cVoxelObject, chai3d::cScope, chai3d::cLabel, and chai3d::cBackground.

void chai3d::cMesh::renderNormals ( cRenderOptions a_options)
protectedvirtual

This method renders a graphic representation of each normal of the mesh.

Parameters
a_optionsRendering options.
void chai3d::cMesh::renderTangents ( cRenderOptions a_options)
protectedvirtual

This method draws a small line for each tangent and bi-tangent.

Parameters
a_optionsRendering options.
void chai3d::cMesh::renderEdges ( cRenderOptions a_options)
protectedvirtual

This method renders all edges.

Parameters
a_optionsRendering options.
void chai3d::cMesh::renderMesh ( cRenderOptions a_options)
protectedvirtual

This method renders the mesh itself. This method is declared public to allow sharing of data among meshes, which is not possible given most implementations of 'protected'. But it should only be accessed from within render() or derived versions of render().

Parameters
a_optionsRendering options.
void chai3d::cMesh::updateGlobalPositions ( const bool  a_frameOnly)
protectedvirtual

This method computes the global position of all vertices.

Parameters
a_frameOnlyIf false, then the global position of all vertices is computed.

Reimplemented from chai3d::cGenericObject.

void chai3d::cMesh::updateBoundaryBox ( )
protectedvirtual

This method compute the axis-aligned boundary box that encloses all triangles in this mesh.

Reimplemented from chai3d::cGenericObject.

Reimplemented in chai3d::cDial, and chai3d::cGenericWidget.

void chai3d::cMesh::copyMeshProperties ( cMesh a_obj,
const bool  a_duplicateMaterialData,
const bool  a_duplicateTextureData,
const bool  a_duplicateMeshData,
const bool  a_buildCollisionDetector 
)
protected

This method copies all properties of this mesh to another.

Parameters
a_objDestination object where properties are copied to.
a_duplicateMaterialDataIf true, material (if available) is duplicated, otherwise it is shared.
a_duplicateTextureDataIf true, texture data (if available) is duplicated, otherwise it is shared.
a_duplicateMeshDataIf true, mesh data (if available) is duplicated, otherwise it is shared.
a_buildCollisionDetectorIf true, collision detector (if available) is duplicated, otherwise it is shared.
virtual void chai3d::cMesh::scaleObject ( const double &  a_scaleFactor)
inlineprotectedvirtual

Reimplemented from chai3d::cGenericObject.

void chai3d::cMesh::computeLocalInteraction ( const cVector3d a_toolPos,
const cVector3d a_toolVel,
const unsigned int  a_IDN 
)
protectedvirtual

This method uses the position of the tool and searches for the nearest point located at the surface of the current object and identifies if the point is located inside or outside of the object.

For mesh objects, this information is computed by the virtual tool when computing the finger-proxy model. More information can be found in file cToolCursor.cpp under method cToolCursor::computeInteractionForces() Both variables m_interactionProjectedPoint and m_interactionInside are assigned values based on the objects encountered by the proxy.

Parameters
a_toolPosPosition of the tool.
a_toolVelVelocity of the tool.
a_IDNIdentification number of the force algorithm.

Reimplemented from chai3d::cGenericObject.

Member Data Documentation

bool chai3d::cMesh::m_showTriangles
protected
bool chai3d::cMesh::m_showNormals
protected
bool chai3d::cMesh::m_showTangents
protected
double chai3d::cMesh::m_normalsLength
protected
bool chai3d::cMesh::m_showEdges
protected
double chai3d::cMesh::m_edgeLineWidth
protected
cDisplayList chai3d::cMesh::m_displayListEdges
protected
cColorf chai3d::cMesh::m_normalsColor
cColorf chai3d::cMesh::m_edgeLineColor
cVertexArrayPtr chai3d::cMesh::m_vertices
cTriangleArrayPtr chai3d::cMesh::m_triangles
std::vector<cEdge> chai3d::cMesh::m_edges

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