Class MeshShape

Inheritance Relationships

Base Type

Class Documentation

class MeshShape : public rviz_rendering::Shape

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();

Public Functions

explicit RVIZ_RENDERING_PUBLIC 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 NULL, uses the root scene node.

RVIZ_RENDERING_PUBLIC ~MeshShape() override
RVIZ_RENDERING_PUBLIC void estimateVertexCount (size_t vcount)

Estimate the number of vertices ahead of time.

RVIZ_RENDERING_PUBLIC void beginTriangles ()

Start adding triangles to the mesh.

RVIZ_RENDERING_PUBLIC 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. */.

RVIZ_RENDERING_PUBLIC 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. */.

RVIZ_RENDERING_PUBLIC 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. */.

RVIZ_RENDERING_PUBLIC void addNormal (const Ogre::Vector3 &normal)

Add normal for a vertex.

RVIZ_RENDERING_PUBLIC void addColor (const Ogre::ColourValue &color)

Add color for a vertex.

RVIZ_RENDERING_PUBLIC void addTriangle (unsigned int p1, unsigned int p2, unsigned int p3)

Add a triangle by indexing in the defined vertices.

RVIZ_RENDERING_PUBLIC 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.

RVIZ_RENDERING_PUBLIC void clear ()

Clear the mesh.

RVIZ_RENDERING_PUBLIC Ogre::ManualObject * getManualObject ()

Get the manual object created for the mesh.