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

#include <mesh_shape.h>

Inheritance diagram for rviz::MeshShape:

Public Member Functions
void	addColor (const Ogre::ColourValue &color)
	Add color for a vertex. More...

void	addNormal (const Ogre::Vector3 &normal)
	Add normal for a vertex. More...

void	addTriangle (unsigned int p1, unsigned int p2, unsigned int p3)
	Add a triangle by indexing in the defined vertices. More...

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. More...

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. More...

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. More...

void	beginTriangles ()
	Start adding triangles to the mesh. More...

void	clear ()
	Clear the mesh. More...

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. More...

void	estimateVertexCount (size_t vcount)

Ogre::ManualObject *	getManualObject ()
	Get the manual object created for the mesh. More...

	MeshShape (Ogre::SceneManager scene_manager, Ogre::SceneNode parent_node=nullptr)
	Constructor. More...

	~MeshShape () override

Public Member Functions inherited from rviz::Shape
Ogre::Entity *	getEntity ()

Ogre::MaterialPtr	getMaterial ()

const Ogre::Quaternion &	getOrientation () override
	Get the local orientation of this object. More...

const Ogre::Vector3 &	getPosition () override
	Get the local position of this object. More...

Ogre::SceneNode *	getRootNode ()
	Get the root scene node (pivot node) for this object. More...

Type	getType ()

void	setColor (const Ogre::ColourValue &c)

void	setColor (float r, float g, float b, float a) override
	Set the color of the object. Values are in the range [0, 1]. More...

void	setOffset (const Ogre::Vector3 &offset)
	Set the offset for this shape. More...

void	setOrientation (const Ogre::Quaternion &orientation) override
	Set the orientation of the object. More...

void	setPosition (const Ogre::Vector3 &position) override
	Set the position of this object. More...

void	setScale (const Ogre::Vector3 &scale) override
	Set the scale of the object. Always relative to the identity orientation of the object. More...

void	setUserData (const Ogre::Any &data) override
	Sets user data on all ogre objects we own. More...

	Shape (Type shape_type, Ogre::SceneManager scene_manager, Ogre::SceneNode parent_node=nullptr)
	Constructor. More...

	~Shape () override

Public Member Functions inherited from rviz::Object
	Object (Ogre::SceneManager *scene_manager)

virtual	~Object ()

Private Attributes
Ogre::ManualObject *	manual_object_

bool	started_

Additional Inherited Members
Public Types inherited from rviz::Shape
enum	Type { Cone, Cube, Cylinder, Sphere, Mesh }

Static Public Member Functions inherited from rviz::Shape
static Ogre::Entity *	createEntity (const std::string &name, Type shape_type, Ogre::SceneManager *scene_manager)

Protected Attributes inherited from rviz::Shape
Ogre::Entity *	entity_

Ogre::MaterialPtr	material_

std::string	material_name_

Ogre::SceneNode *	offset_node_

Ogre::SceneNode *	scene_node_

Type	type_

Protected Attributes inherited from rviz::Object
Ogre::SceneManager *	scene_manager_
	Ogre scene manager this object is part of. More...

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.h.

Constructor & Destructor Documentation

◆ MeshShape()

rviz::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 NULL, uses the root scene node.

Definition at line 45 of file mesh_shape.cpp.

◆ ~MeshShape()

rviz::MeshShape::~MeshShape ( )

override

Definition at line 54 of file mesh_shape.cpp.

Member Function Documentation

◆ addColor()

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

Add color for a vertex.

Definition at line 109 of file mesh_shape.cpp.

◆ addNormal()

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

Add normal for a vertex.

Definition at line 104 of file mesh_shape.cpp.

◆ addTriangle()

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

Add a triangle by indexing in the defined vertices.

Definition at line 114 of file mesh_shape.cpp.

◆ addVertex() [1/3]

void rviz::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.

◆ addVertex() [2/3]

void rviz::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.

◆ addVertex() [3/3]

void rviz::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.

◆ beginTriangles()

void rviz::MeshShape::beginTriangles ( )

Start adding triangles to the mesh.

Definition at line 66 of file mesh_shape.cpp.

◆ clear()

void rviz::MeshShape::clear ( )

Clear the mesh.

Definition at line 141 of file mesh_shape.cpp.

◆ endTriangles()

void rviz::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 119 of file mesh_shape.cpp.

◆ estimateVertexCount()

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

Definition at line 60 of file mesh_shape.cpp.

◆ getManualObject()

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

inline

Get the manual object created for the mesh.

Definition at line 129 of file mesh_shape.h.

Member Data Documentation

◆ manual_object_

Ogre::ManualObject* rviz::MeshShape::manual_object_

private

Definition at line 137 of file mesh_shape.h.

◆ started_

bool rviz::MeshShape::started_