Simbody  3.6
PolygonalMesh.h
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1 #ifndef SimTK_SimTKCOMMON_POLYGONAL_MESH_H_
2 #define SimTK_SimTKCOMMON_POLYGONAL_MESH_H_
3 
4 /* -------------------------------------------------------------------------- *
5  * Simbody(tm): SimTKcommon *
6  * -------------------------------------------------------------------------- *
7  * This is part of the SimTK biosimulation toolkit originating from *
8  * Simbios, the NIH National Center for Physics-Based Simulation of *
9  * Biological Structures at Stanford, funded under the NIH Roadmap for *
10  * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
11  * *
12  * Portions copyright (c) 2008-14 Stanford University and the Authors. *
13  * Authors: Peter Eastman *
14  * Contributors: Michael Sherman *
15  * *
16  * Licensed under the Apache License, Version 2.0 (the "License"); you may *
17  * not use this file except in compliance with the License. You may obtain a *
18  * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
19  * *
20  * Unless required by applicable law or agreed to in writing, software *
21  * distributed under the License is distributed on an "AS IS" BASIS, *
22  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
23  * See the License for the specific language governing permissions and *
24  * limitations under the License. *
25  * -------------------------------------------------------------------------- */
26 
27 #include "SimTKcommon/Simmatrix.h"
29 
30 namespace SimTK {
31 
32 class PolygonalMesh;
33 class PolygonalMeshImpl;
34 
35 // We only want the template instantiation to occur once. This symbol is defined
36 // in the SimTKcommon compilation unit that defines the PolygonalMesh class but
37 // should not be defined any other time.
38 #ifndef SimTK_SIMTKCOMMON_DEFINING_POLYGONALMESH
39  extern template class PIMPLHandle<PolygonalMesh, PolygonalMeshImpl, true>;
40 #endif
41 
72 public:
75 
87  static PolygonalMesh createSphereMesh(Real radius,
88  int resolution = 1);
89 
122  static PolygonalMesh createBrickMesh(const Vec3& halfDims,
123  int resolution = 1);
124 
153  static PolygonalMesh createCylinderMesh(const UnitVec3& axis,
154  Real radius,
155  Real halfLength,
156  int resolution=1);
157 
160  void clear();
161 
163  int getNumFaces() const;
165  int getNumVertices() const;
166 
171  const Vec3& getVertexPosition(int vertex) const;
174  int getNumVerticesForFace(int face) const;
181  int getFaceVertex(int face, int vertex) const;
182 
187  int addVertex(const Vec3& position);
188 
197  int addFace(const Array_<int>& vertices);
198 
206  PolygonalMesh& scaleMesh(Real scale);
207 
214  PolygonalMesh& transformMesh(const Transform& X_AM);
215 
227  void loadFile(const String& pathname);
228 
233  void loadObjFile(const String& pathname);
234 
240  void loadObjFile(std::istream& file);
241 
246  void loadVtpFile(const String& pathname);
247 
256  void loadStlFile(const String& pathname);
257 
258 private:
259  explicit PolygonalMesh(PolygonalMeshImpl* impl) : HandleBase(impl) {}
260  void initializeHandleIfEmpty();
261 };
262 
263 } // namespace SimTK
264 
265 #endif // SimTK_SimTKCOMMON_POLYGONAL_MESH_H_
PrivateImplementation.h
SimTK::PolygonalMesh::PolygonalMesh
PolygonalMesh()
Create an empty PolygonalMesh, with no vertices or faces.
Definition: PolygonalMesh.h:74
SimTK
This is a System that represents the dynamics of a particle moving along a smooth surface.
Definition: Assembler.h:37
Simmatrix.h
SimTK::UnitVec< Real, 1 >
SimTK::Vec< 3 >
SimTK_SimTKCOMMON_EXPORT
#define SimTK_SimTKCOMMON_EXPORT
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:224
SimTK::PolygonalMesh
This class provides a description of a mesh made of polygonal faces (not limited to triangles).
Definition: PolygonalMesh.h:70
SimTK::PIMPLHandle< PolygonalMesh, PolygonalMeshImpl, true >
SimTK::Array_< int >
SimTK::Real
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:606
SimTK::String
SimTK::String is a plug-compatible std::string replacement (plus some additional functionality) inten...
Definition: String.h:62
SimTK::Transform_< Real >