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

#include <CMesh.h>

Inheritance diagram for chai3d::cMesh:

[legend]

Public Member Functions
	cMesh (cMaterialPtr a_material=cMaterialPtr())
	Constructor of cMesh. More...

virtual	~cMesh ()
	Destructor of cMesh. More...

virtual cMesh *	copy (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...

cGenericCollision *	getCollisionDetector () 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...

cGenericObject *	getParent () 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...

cGenericObject *	getOwner ()
	This method returns the owner of this object. More...

cGenericObject *	getChild (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...

cGenericObject *	m_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
cGenericObject *	m_parent
	Parent object. More...

cGenericObject *	m_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...

cGenericCollision *	m_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_material Material 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_duplicateMaterialData	If true, material (if available) is duplicated, otherwise it is shared.
a_duplicateTextureData	If true, texture data (if available) is duplicated, otherwise it is shared.
a_duplicateMeshData	If true, mesh data (if available) is duplicated, otherwise it is shared.
a_buildCollisionDetector	If 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_level	Level of transparency ranging from 0.0 to 1.0.
a_applyToVertices	If true, then apply changes to vertex colors.
a_applyToTextures	If true, then apply changes to texture.
a_affectChildren	If 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_affectChildren If 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_x	X coordinate of vertex.
a_y	Y coordinate of vertex.
a_z	Z coordinate of vertex.
a_normalX	X coordinate of normal associated with vertex.
a_normalY	Y coordinate of normal associated with vertex.
a_normalZ	Z coordinate of normal associated with vertex.
a_textureCoordX	X component of texture coordinate.
a_textureCoordY	Y component of texture coordinate.
a_textureCoordZ	Z 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_pos	Position of new vertex.
a_normal	Normal vector associated with new vertex.
a_textureCoord	Texture coordinate of new vertex.
a_color	Color 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_color New 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_indexVertex0	Index position of vertex 0.
a_indexVertex1	Index position of vertex 1.
a_indexVertex2	Index 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_vertex0	Position of vertex 0.
a_vertex1	Position of vertex 1.
a_vertex2	Position of vertex 2.
a_normal0	Normal of vertex 0.
a_normal1	Normal position of vertex 1.
a_normal2	Normal position of vertex 2.
a_textureCoord0	Texture coordinate of vertex 0.
a_textureCoord1	Texture coordinate of vertex 1.
a_textureCoord2	Texture coordinate of vertex 2.
a_colorVertex0	Color at vertex 0.
a_colorVertex1	Color at vertex 1.
a_colorVertex2	Color 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_index Index 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_angleThresholdDeg Threshold 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_lineWidth	Width of edge lines.
a_lineColor	Color 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_length	Length of normals.
a_color	Color 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_radius Bounding 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_scaleX	Scale factor along X axis.
a_scaleY	Scale factor along Y axis.
a_scaleZ	Scale 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_offset	Translation to apply to each vertex.
a_updateCollisionDetector	If 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_options Rendering 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_options Rendering options.

void chai3d::cMesh::renderTangents ( cRenderOptions & a_options )

protectedvirtual

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

Parameters

a_options Rendering options.

void chai3d::cMesh::renderEdges ( cRenderOptions & a_options )

protectedvirtual

This method renders all edges.

Parameters

a_options Rendering 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_options Rendering options.

void chai3d::cMesh::updateGlobalPositions ( const bool a_frameOnly )

protectedvirtual

This method computes the global position of all vertices.

Parameters

a_frameOnly If 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_obj	Destination object where properties are copied to.
a_duplicateMaterialData	If true, material (if available) is duplicated, otherwise it is shared.
a_duplicateTextureData	If true, texture data (if available) is duplicated, otherwise it is shared.
a_duplicateMeshData	If true, mesh data (if available) is duplicated, otherwise it is shared.
a_buildCollisionDetector	If 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_toolPos	Position of the tool.
a_toolVel	Velocity of the tool.
a_IDN	Identification 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:

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation