Mesh is a common base class for triangle meshes, such as Mesh or HeightField. More...

#include <Mesh.h>

Inheritance diagram for agxCollide::Mesh:

Classes
class	FaceEdgeCirculator
	Class in order to circulate over the edges connected to a Triangle's face. More...

class	Triangle
	Class for more intuitive access to the Mesh's mesh data. More...

struct	TriangleLineSegmentResult
	Struct used in calculateTriangleOverlapsAlongLineSegment. More...

class	VertexEdgeCirculator
	Class in order to circulate over the edges connected to a Triangle's vertex. More...

Public Types
typedef agx::Vector< TriangleLineSegmentResult >	TriangleLineSegmentResultVector

Public Types inherited from agxCollide::Shape
enum	Type { GROUP , BOX , CAPSULE , CYLINDER , LINE , PLANE , SPHERE , TRIMESH , HEIGHT_FIELD , CONVEX , WIRE_SHAPE , CONE , HOLLOW_CONE , HOLLOW_CYLINDER , NUM_TYPES }
	Define the type of a Shape. More...

Public Member Functions
virtual agx::SPDMatrix3x3	calculateInertia (agx::Real mass) const override
	Returns the inertia of the shape, scaled with the mass. Inherited from class Shape.

virtual BoundingAABB	calculateLocalBound () const override
	Calculate the bounding volume in the local coordinate system.

virtual void	calculatePossibleTriangleOverlapsAlongLineSegment (const agx::Vec3 &segmentStartLocal, const agx::Vec3 &segmentEndLocal, agx::UInt32Vector &triangleIndices) const =0
	Calculates an array of triangle indices of the triangles whose bounding volumes get intersected by a line segment.

virtual void	calculatePossibleTriangleOverlapsAlongLineSegment (const agx::Vec3 &segmentStartLocal, const agx::Vec3 &segmentEndLocal, agxData::LocalVector< agx::UInt32 > &triangleIndices) const =0
	Calculates an array of triangle indices of the triangles whose bounding volumes get intersected by a line segment.

void	calculateTriangleOverlapsAlongLineSegment (const agx::Vec3 &segmentStartLocal, const agx::Vec3 &segmentEndLocal, TriangleLineSegmentResultVector &triangleResults) const
	Calculates all triangle overlaps of a line segment with the mesh.

void	calculateTrianglesInVolume (const BoundingAABB &volume, const agx::AffineMatrix4x4 &meshToWorld, const agx::AffineMatrix4x4 &volumeToWorld, agx::UInt32Vector &triangleIndices) const
	Calculates an array of triangle indices of the triangles that are within a bounding volume.

void	calculateTrianglesInVolume (const BoundingAABB &volume, const agx::AffineMatrix4x4 &meshToWorld, const agx::AffineMatrix4x4 &volumeToWorld, agxData::LocalVector< agx::UInt32 > &triangleIndices) const

FaceEdgeCirculator	createFaceEdgeCirculator (size_t triangleIndex) const
	Creates an FaceEdgeCirculator pointing to this Triangle and a Voronoi region.

VertexEdgeCirculator	createVertexEdgeCirculator (size_t triangleIndex, uint_fast8_t localVertexIndex) const
	Creates an VertexEdgeCirculator pointing to this Triangle and a Voronoi region.

agx::Real	getBottomMargin () const

const AabbTree *	getBvhTree () const

virtual agx::Vec3	getCenter () const override

size_t	getGlobalVertexIndex (size_t triangleIndex, uint_fast8_t localVertexIndex) const
	Returns the global index of one of the three vertices in a triangle.

uint32_t	getHalfEdgePartnerEdge (size_t globalEdgeIndex) const

const BoundingAABB &	getLocalBound () const

const CollisionMeshData *	getMeshData () const

size_t	getNumTriangles () const

size_t	getNumVertices () const

agx::Real	getTotalMaximumEdgeLength () const

const Triangle	getTriangle (size_t triangleIndex) const

agx::Real	getTriangleMaximumEdgeLength (size_t triangleIndex) const

agx::Vec3	getTriangleNormal (size_t triangleIndex) const

agx::Vec3	getTriangleVertex (size_t triangleIndex, uint_fast8_t localVertexIndex) const
	Returns one of the three vertices in a triangle.

agx::Vec3	getVertex (size_t globalVertexIndex) const

virtual agx::Real	getVolume () const override

bool	hasHalfEdge () const

bool	hasInternalCenterPoint () const

bool	isConvexEdge (size_t globalEdgeIndex) const
	Is an edge convex? Returns always true if half edge information is missing on this edge/the whole mesh.

bool	isConvexVertex (size_t triangleIndex, size_t localVertexIndex) const
	Is an vertex convex? Returns always true if half edge information is missing on this vertex/the whole mesh.

bool	isTerrain () const

bool	isValid () const

bool	isValidAndClosed () const

bool	isValidEdgeIndex (size_t globalEdgeIndex) const

bool	isValidTriangleIndex (size_t globalTriangleIndex) const

void	setBottomMargin (agx::Real newMargin)
	Sets a bottom safety margin that is added below the lowest point of the height field in local z direction, to prevent tunneling in this direction.

virtual const BoundingAABB &	updateBoundingVolume () override
	Calculate the bounding volume based on the current Shape parameters including transformation.

Public Member Functions inherited from agxCollide::Shape
ShapeGroup *	asGroup ()
	Auto-cast shape to group.

const ShapeGroup *	asGroup () const
	Auto-cast shape to group.

virtual agx::Real	calculateBoundingRadius (BoundingAABB &localAABB) const
	Calculate the bounding volume (AABB) into `localAABB` and calculate the bounding radius based on the new AABB size.

virtual agx::SPDMatrix3x3	calculateInertia (agx::Real mass) const =0
	Calculate the inertia for the shape given a mass.

virtual BoundingAABB	calculateLocalBound () const =0
	Calculate the bounding volume in the local coordinate system.

virtual Shape *	clone () const
	Create a clone.

const BoundingAABB &	getBoundingVolume () const

virtual agx::Vec3	getCenter () const

agx::Physics::Geometry::ShapePtr	getEntity () const

Geometry *	getGeometry ()

const Geometry *	getGeometry () const

agx::AffineMatrix4x4	getLocalTransform () const

agx::UInt32	getModifiedCount () const

agxCollide::RenderData *	getRenderData ()

const agxCollide::RenderData *	getRenderData () const
	If this is a ShapeGroup, then this method will return nullptr as the render data is stored in the actual children (Box, Mesh etc.

virtual agx::Vec3	getSupportPoint (const agx::Vec3 &supportDirection) const
	Returns the support point on face of the shape.

agx::AffineMatrix4x4	getTransform () const

agx::UInt8	getType () const

const char *	getTypeName () const

virtual agx::Real	getVolume () const =0
	Return the volume of the shape.

virtual bool	hasSupportFunction () const

bool	isGroup () const

virtual void	propagateTransform (const agx::AffineMatrix4x4 &transform)

virtual void	setRenderData (agxCollide::RenderData *renderData)
	Store render data with the Shape.

virtual const BoundingAABB &	updateBoundingVolume ()=0
	Calculate the bounding volume based on the current Shape parameters including transformation.

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Static Public Member Functions
static size_t	getGlobalEdgeIndex (size_t triangleIndex, uint_fast8_t localEdgeIndex)
	Computes the global edge index from a given triangle index and the local edge index within this triangle.

static size_t	getGlobalTriangleIndex (size_t globalEdgeIndex)

static size_t	getLocalEdgeIndex (size_t globalEdgeIndex)

Static Public Member Functions inherited from agxCollide::Shape
static BoundingAABB	calculateBound (const agx::AffineMatrix4x4 &transform, const BoundingAABB &localBound)

static const char *	getTypeName (agx::UInt8 type)

Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Protected Member Functions
	Mesh (Shape::Type type, agx::Physics::Geometry::ShapePtr entity)
	Hidden, should only be called by child classes.

virtual	~Mesh ()
	Hide destructor.

void	restore (class agxStream::InputArchive &in) override

void	store (class agxStream::OutputArchive &out) const override

virtual void	updateBvhTree ()=0

Protected Member Functions inherited from agxCollide::Shape
	Shape (Type type, agx::Physics::Geometry::ShapePtr entity=agx::Physics::Geometry::ShapeModel::createInstance())
	Constructor.

virtual	~Shape ()
	Destructor.

agx::UInt32	incrementModifiedCount ()
	Increment the number of times the shape have been modified.

void	syncronizeShapeIndex ()

Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Protected Attributes
AabbTreeRef	m_aabbTree

CollisionMeshDataRef	m_collisionMeshData

BoundingAABB	m_localBound

Protected Attributes inherited from agxCollide::Shape
agx::Physics::Geometry::ShapeRef	m_entity

Geometry *	m_geometry

agx::ref_ptr< agx::Referenced >	m_internalData

ShapeGroup *	m_parent

agxCollide::RenderDataRef	m_renderData

agx::Index	m_shapeIndex

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Additional Inherited Members
Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Detailed Description

Mesh is a common base class for triangle meshes, such as Mesh or HeightField.

It is a purely abstract class and should not be used by itself.

All triangles are stored as triangle lists in counter clockwise winding. The raw data is stored in the CollisionMeshData class as arrays. For each triangle, edge i points from vertex i to vertex (i + 1) modulo 3, 0 <= i < 3 and are thus stored in the vertex indices (CollisionMeshData::indices).

There are three ways of accessing the mesh data:

Either directly via getMeshData()
For the data not related to mesh traversal, there exist also dedicated getter functions.
For easier use of mesh traversal (given a half-edge structure), there is a Triangle class (including a small overhead).
For easier use of mesh traversal (given a half-edge structure), there is a VertexEdgeCirculator and a FaceEdgeCirculator class (including a small overhead).

Meshes such as Trimeshes or HeightFields can have a half edge structure which can be used for traversing the mesh. There, each edge has a half edge partner, which is the corresponding edge in the neighboring triangle. At holes (or at borders of a HeightField), this neighbor triangle will be invalid.

Due to the internal representation, errors can occur if the number of triangles exceeds the maximum of integers / 3 - 1, (for 32 bit: 1431655764). Therefore, input data with larger numbers of triangles will be cut off at this point.

Definition at line 69 of file Mesh.h.

Member Typedef Documentation

◆ TriangleLineSegmentResultVector

typedef agx::Vector<TriangleLineSegmentResult> agxCollide::Mesh::TriangleLineSegmentResultVector

Definition at line 517 of file Mesh.h.

Constructor & Destructor Documentation

◆ Mesh()

agxCollide::Mesh::Mesh	(	Shape::Type	type,
		agx::Physics::Geometry::ShapePtr	entity
	)

protected

Hidden, should only be called by child classes.

◆ ~Mesh()

virtual agxCollide::Mesh::~Mesh ( )

protectedvirtual

Hide destructor.

Member Function Documentation

◆ calculateInertia()

agx::SPDMatrix3x3 agxCollide::Mesh::calculateInertia ( agx::Real mass ) const

overridevirtual

Returns the inertia of the shape, scaled with the mass. Inherited from class Shape.

Implements agxCollide::Shape.

Definition at line 826 of file Mesh.h.

segmentStartLocal	The segment starting point in mesh coordinates.
segmentEndLocal	The segment ending point in mesh coordinates.
triangleIndices	A vector of triangle indices. It will be emptied before being written to.

void agxCollide::Mesh::calculateTriangleOverlapsAlongLineSegment	(	const agx::Vec3 &	segmentStartLocal,
		const agx::Vec3 &	segmentEndLocal,
		TriangleLineSegmentResultVector &	triangleResults
	)		const

void agxCollide::Mesh::calculateTrianglesInVolume	(	const BoundingAABB &	volume,
		const agx::AffineMatrix4x4 &	meshToWorld,
		const agx::AffineMatrix4x4 &	volumeToWorld,
		agx::UInt32Vector &	triangleIndices
	)		const

volume	The bounding box.
meshToWorld	A transformation from the mesh's local frame to world coordinates.
volumeToWorld	A transformation from the volume's local frame to world coordinates.
triangleIndices	A vector of triangle indices. It will be emptied before writing to it.

triangleIndex	- Index of the triangle
localVertexIndex	The local index of the vertex that the VertexEdgeCirculator should point to.

triangleIndex	The global triangle index.
localEdgeIndex	The local edge index within this triangle.

size_t agxCollide::Mesh::getGlobalVertexIndex	(	size_t	triangleIndex,
		uint_fast8_t	localVertexIndex
	)		const

triangleIndex	Index of the triangle the vertex belongs to.
localVertexIndex	The vertex's index within the triangle (0 to 2).

agx::Vec3 agxCollide::Mesh::getTriangleVertex	(	size_t	triangleIndex,
		uint_fast8_t	localVertexIndex
	)		const

bool agxCollide::Mesh::isConvexVertex	(	size_t	triangleIndex,
		size_t	localVertexIndex
	)		const

triangleIndex	The global index of the triangle
localVertexIndex	The local index of the vertex in the triangle

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ TriangleLineSegmentResultVector

Constructor & Destructor Documentation

◆ Mesh()

◆ ~Mesh()

Member Function Documentation

◆ calculateInertia()

◆ calculateLocalBound()

◆ calculatePossibleTriangleOverlapsAlongLineSegment() [1/2]

◆ calculatePossibleTriangleOverlapsAlongLineSegment() [2/2]

◆ calculateTriangleOverlapsAlongLineSegment()

◆ calculateTrianglesInVolume() [1/2]

◆ calculateTrianglesInVolume() [2/2]

◆ createFaceEdgeCirculator()

◆ createVertexEdgeCirculator()

◆ getBottomMargin()

◆ getBvhTree()

◆ getCenter()

◆ getGlobalEdgeIndex()

◆ getGlobalTriangleIndex()

◆ getGlobalVertexIndex()

◆ getHalfEdgePartnerEdge()

◆ getLocalBound()

◆ getLocalEdgeIndex()

◆ getMeshData()

◆ getNumTriangles()

◆ getNumVertices()

◆ getTotalMaximumEdgeLength()

◆ getTriangle()

◆ getTriangleMaximumEdgeLength()

◆ getTriangleNormal()

◆ getTriangleVertex()

◆ getVertex()

◆ getVolume()

◆ hasHalfEdge()

◆ hasInternalCenterPoint()

◆ isConvexEdge()

◆ isConvexVertex()

◆ isTerrain()

◆ isValid()

◆ isValidAndClosed()

◆ isValidEdgeIndex()

◆ isValidTriangleIndex()

◆ restore()

◆ setBottomMargin()

◆ store()

◆ updateBoundingVolume()

◆ updateBvhTree()

Member Data Documentation

◆ m_aabbTree

◆ m_collisionMeshData

◆ m_localBound