This class allows constructing Ogre shapes manually, from triangle lists. More...

#include <mesh_shape.hpp>

Inheritance diagram for rviz_rendering::MeshShape:

Collaboration diagram for rviz_rendering::MeshShape:

Public Member Functions
	MeshShape (Ogre::SceneManager scene_manager, Ogre::SceneNode parent_node=nullptr)
	Constructor.
	~MeshShape () override
void	estimateVertexCount (size_t vcount)
void	beginTriangles ()
	Start adding triangles to the mesh.
void	addVertex (const Ogre::Vector3 &position)
	Add a vertex to the mesh (no normal defined). If using this function only (not using addTriangle()) it is assumed that triangles are added by specifying the 3 vertices in order (3 consecutive calls to this function). This means there must be 3*n calls to this function to add n triangles. If addTriangle() is used, indexing in the defined vertices is done.
void	addVertex (const Ogre::Vector3 &position, const Ogre::Vector3 &normal)
	Add a vertex to the mesh with a normal defined. If using this function only (not using addTriangle()) it is assumed that triangles are added by specifying the 3 vertices in order (3 consecutive calls to this function). This means there must be 3*n calls to this function to add n triangles.If addTriangle() is used, indexing in the defined vertices is done.
void	addVertex (const Ogre::Vector3 &position, const Ogre::Vector3 &normal, const Ogre::ColourValue &color)
	Add a vertex to the mesh with normal and color defined. If using this function only (not using addTriangle()) it is assumed that triangles are added by specifying the 3 vertices in order (3 consecutive calls to this function). This means there must be 3*n calls to this function to add n triangles.If addTriangle() is used, indexing in the defined vertices is done.
void	addNormal (const Ogre::Vector3 &normal)
	Add normal for a vertex.
void	addColor (const Ogre::ColourValue &color)
	Add color for a vertex.
void	addTriangle (unsigned int p1, unsigned int p2, unsigned int p3)
	Add a triangle by indexing in the defined vertices.
void	endTriangles ()
	Notify that the set of triangles to add is complete. No more triangles can be added, beginTriangles() can no longer be called unless clear() was called.
void	clear ()
	Clear the mesh.
Ogre::ManualObject *	getManualObject ()
	Get the manual object created for the mesh.

Detailed Description

This class allows constructing Ogre shapes manually, from triangle lists.

For example: Assuming we have a set of mesh triangles represented like this:

struct Triangle
{
  unsigned v1, v2, v3; // index for the 3 vertices that make up a triangle
};
std::vector<Triangle> triangles;
std::vector<Ogre::Vector3> vertices;
std::vector<Ogre::Vector3> normals; // normal at every vertex

we can use this class to render the mesh as follows:

rviz::MeshShape *shape = new MeshShape(scene_manager);
mesh->estimateVertexCount(vertices.size());
mesh->beginTriangles();
for (std::size_t i = 0 ; i < vertices.size() ; ++i)
  mesh->addVertex(vertices[i], normals[i]);
for (std::size_t i = 0 ; i < triangles.size() ; ++i)
  mesh->addTriangle(triangles[i].v1, triangles[i].v2, triangles[i].v3);
mesh->endTriangles();

Definition at line 68 of file mesh_shape.hpp.

Constructor & Destructor Documentation

◆ MeshShape()

rviz_rendering::MeshShape::MeshShape	(	Ogre::SceneManager *	scene_manager,
		Ogre::SceneNode *	parent_node = nullptr )

Constructor.

Parameters

scene_manager	The scene manager this object is associated with
parent_node	A scene node to use as the parent of this object. If nullptr, uses the root scene node.

Definition at line 46 of file mesh_shape.cpp.

◆ ~MeshShape()

rviz_rendering::MeshShape::~MeshShape ( )

override

Definition at line 54 of file mesh_shape.cpp.

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Member Function Documentation

◆ addColor()

void rviz_rendering::MeshShape::addColor ( const Ogre::ColourValue & color )

Add color for a vertex.

Definition at line 107 of file mesh_shape.cpp.

◆ addNormal()

void rviz_rendering::MeshShape::addNormal ( const Ogre::Vector3 & normal )

Add normal for a vertex.

Definition at line 102 of file mesh_shape.cpp.

◆ addTriangle()

void rviz_rendering::MeshShape::addTriangle	(	unsigned int	p1,
		unsigned int	p2,
		unsigned int	p3 )

Add a triangle by indexing in the defined vertices.

Definition at line 112 of file mesh_shape.cpp.

◆ addVertex() [1/3]

void rviz_rendering::MeshShape::addVertex ( const Ogre::Vector3 & position )

Add a vertex to the mesh (no normal defined). If using this function only (not using addTriangle()) it is assumed that triangles are added by specifying the 3 vertices in order (3 consecutive calls to this function). This means there must be 3*n calls to this function to add n triangles. If addTriangle() is used, indexing in the defined vertices is done.

Definition at line 81 of file mesh_shape.cpp.

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◆ addVertex() [2/3]

void rviz_rendering::MeshShape::addVertex	(	const Ogre::Vector3 &	position,
		const Ogre::Vector3 &	normal )

Add a vertex to the mesh with a normal defined. If using this function only (not using addTriangle()) it is assumed that triangles are added by specifying the 3 vertices in order (3 consecutive calls to this function). This means there must be 3*n calls to this function to add n triangles.If addTriangle() is used, indexing in the defined vertices is done.

Definition at line 87 of file mesh_shape.cpp.

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◆ addVertex() [3/3]

void rviz_rendering::MeshShape::addVertex	(	const Ogre::Vector3 &	position,
		const Ogre::Vector3 &	normal,
		const Ogre::ColourValue &	color )

Add a vertex to the mesh with normal and color defined. If using this function only (not using addTriangle()) it is assumed that triangles are added by specifying the 3 vertices in order (3 consecutive calls to this function). This means there must be 3*n calls to this function to add n triangles.If addTriangle() is used, indexing in the defined vertices is done.

Definition at line 94 of file mesh_shape.cpp.

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◆ beginTriangles()

void rviz_rendering::MeshShape::beginTriangles ( )

Start adding triangles to the mesh.

Definition at line 66 of file mesh_shape.cpp.

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◆ clear()

void rviz_rendering::MeshShape::clear ( )

Clear the mesh.

Definition at line 143 of file mesh_shape.cpp.

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◆ endTriangles()

void rviz_rendering::MeshShape::endTriangles ( )

Notify that the set of triangles to add is complete. No more triangles can be added, beginTriangles() can no longer be called unless clear() was called.

Definition at line 117 of file mesh_shape.cpp.

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◆ estimateVertexCount()

void rviz_rendering::MeshShape::estimateVertexCount ( size_t vcount )

Definition at line 60 of file mesh_shape.cpp.

◆ getManualObject()

Ogre::ManualObject * rviz_rendering::MeshShape::getManualObject ( )

inline

Get the manual object created for the mesh.

Definition at line 127 of file mesh_shape.hpp.

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

moveit_ros/visualization/rviz_plugin_render_tools/include/ogre_helpers/mesh_shape.hpp
moveit_ros/visualization/rviz_plugin_render_tools/src/mesh_shape.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ MeshShape()

◆ ~MeshShape()

Member Function Documentation

◆ addColor()

◆ addNormal()

◆ addTriangle()

◆ addVertex() [1/3]

◆ addVertex() [2/3]

◆ addVertex() [3/3]

◆ beginTriangles()

◆ clear()

◆ endTriangles()

◆ estimateVertexCount()

◆ getManualObject()