iMSTK: imstk::CompoundGeometry Class Reference

#include <imstkCompoundGeometry.h>

Inheritance diagram for imstk::CompoundGeometry:

Collaboration diagram for imstk::CompoundGeometry:

Public Member Functions
	IMSTK_TYPE_NAME (CompoundGeometry)

void	add (std::shared_ptr< AnalyticalGeometry > geometry)
	Adds a geometry to the compound geometry.

void	setLocalTransform (size_t index, const Mat4d &transform)

size_t	count () const

std::shared_ptr< Geometry >	get (size_t index) const

void	print () const override
	Print. More...

double	getVolume () override
	Returns the volume of the geometry (if valid) More...

void	computeBoundingBox (Vec3d &lowerCorner, Vec3d &upperCorner, const double paddingPercent=0.0) override
	Compute the bounding box for the geometry. More...

Vec3d	getCenter () override
	Returns the bounding box center. More...

bool	isMesh () const override
	Returns true if the geometry is a mesh, else returns false. More...

void	updatePostTransformData () const override

void	applyTransform (const Mat4d &) override
	Directly apply transform to data. More...

Public Member Functions inherited from imstk::Geometry
	Geometry (const Geometry &other)

void	operator= (const Geometry &other)

virtual const std::string	getTypeName () const =0
	Returns the string representing the type name of the geometry. More...

	SIGNAL (Geometry, modified)

void	transform (const Mat4d &T, TransformType type=TransformType::ConcatenateToTransform)
	Applies a rigid transform to the geometry.

std::unique_ptr< Geometry >	clone ()
	polymorphic clone function, utilize this to get a copy of the geometry without casting to the expected geometry type

const std::string &	getName () const
	Get the name of the geometry.

void	setName (const std::string &name)

size_t	getGlobalId () const
	Get the global (unique) index of the geometry.

void	postModified ()
	Post modified event.

void	translate (const Vec3d &t, TransformType type=TransformType::ConcatenateToTransform)
	Translate the geometry in Cartesian space.

void	translate (double x, double y, double z, TransformType type=TransformType::ConcatenateToTransform)

void	rotate (const Quatd &q, TransformType type=TransformType::ConcatenateToTransform)
	Rotate the geometry in Cartesian space.

void	rotate (const Mat3d &m, TransformType type=TransformType::ConcatenateToTransform)

void	rotate (const Vec3d &axis, double radians, TransformType type=TransformType::ConcatenateToTransform)

void	scale (const Vec3d &scaling, TransformType type=TransformType::ConcatenateToTransform)
	Scale in Cartesian directions.

void	scale (const double scaling, TransformType type=TransformType::ConcatenateToTransform)

Vec3d	getTranslation () const
	Get/Set translation.

void	setTranslation (const Vec3d &t)

void	setTranslation (const double x, const double y, const double z)

Mat3d	getRotation () const
	Get/Set rotation.

void	setRotation (const Mat3d &m)

void	setRotation (const Quatd &q)

void	setRotation (const Vec3d &axis, const double angle)

Vec3d	getScaling () const
	Get/Set scaling.

void	setScaling (const Vec3d &s)

void	setScaling (const double s)

const Mat4d &	getTransform () const
	Get/Set the transform.

void	setTransform (const Mat4d &m)

Public Member Functions inherited from imstk::EventObject
template<typename T >
void	postEvent (const T &e)
	Emits the event Direct observers will be immediately called, in sync Queued observers will receive the Command in their queue for later execution, reciever must implement doEvent.

template<typename T >
void	queueEvent (const T &e)
	Queues event directly to this.

void	doEvent ()
	Do an event, if none exists return.

void	doAllEvents ()
	Do all the events in the event queue.

void	foreachEvent (std::function< void(Command cmd)> func)
	Thread safe loop over all event commands, one can implement a custom handler.

void	rforeachEvent (std::function< void(Command cmd)> func)
	thread safe reverse loop over all event commands, one can implement a custom handler

void	clearEvents ()
	Removes all events from queue cleans up copies of the event.

Additional Inherited Members
Public Types inherited from imstk::Geometry
enum	TransformType { ApplyToData, ConcatenateToTransform }
	Enumeration for the transformation to apply ApplyToTransform to apply the transformation to the data ConcatenateToTransform to apply the transformation to the transform matrix.

enum	DataType { PreTransform, PostTransform }
	Enumeration for the data to retrieve PreTransform for data where transform matrix is not applied PostTransform for data where transform matrix is applied.

Public Types inherited from imstk::EventObject
using	Observer = std::tuple< bool, std::weak_ptr< EventObject >, std::function< void(Event *)> >

Static Public Member Functions inherited from imstk::Geometry
static size_t	getNumGlobalIds ()
	Get number of ids/geometries.

Static Protected Member Functions inherited from imstk::Geometry
static size_t	getUniqueId ()
	Get a unique ID for the new generated geometry object.

Protected Attributes inherited from imstk::Geometry
bool	m_transformApplied = true

bool	m_boundsDirty = true

Mat4d	m_transform = Mat4d::Identity()
	Transformation matrix.

size_t	m_globalId
	Unique ID assigned to each geometry upon construction.

std::string	m_name = "unnamed"

Protected Attributes inherited from imstk::EventObject
ParallelUtils::SpinLock	eventQueueLock

std::deque< Command >	eventQueue

std::vector< std::pair< std::string, std::vector< Observer > > >	queuedObservers

std::vector< std::pair< std::string, std::vector< Observer > > >	directObservers

Static Protected Attributes inherited from imstk::Geometry
static std::atomic< size_t >	s_numGlobalIds = { 0 }
	Total number of geometries that have been created in this program.