Base class for any geometrical representation. More...
#include <imstkGeometry.h>
Inheritance diagram for imstk::Geometry:
Collaboration diagram for imstk::Geometry:
Public Types | |
| 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 *)> > |
Public Member Functions | |
| 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) | |
| virtual void | print () const |
| Print. | |
| virtual double | getVolume () |
| Returns the volume of the geometry (if valid) | |
| virtual void | computeBoundingBox (Vec3d &lowerCorner, Vec3d &upperCorner, const double paddingPercent=0.0) |
| Compute the bounding box for the geometry. More... | |
| virtual Vec3d | getCenter () |
| Returns the bounding box center. | |
| 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. | |
| virtual bool | isMesh () const |
| Returns true if the geometry is a mesh, else returns false. | |
| void | postModified () |
| Post modified event. | |
| virtual void | updatePostTransformData () const |
| 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. | |
Static Public Member Functions | |
| static size_t | getNumGlobalIds () |
| Get number of ids/geometries. | |
Protected Member Functions | |
| virtual void | applyTransform (const Mat4d &) |
| Directly apply transform to data. | |
Static Protected Member Functions | |
| static size_t | getUniqueId () |
| Get a unique ID for the new generated geometry object. | |
Protected Attributes | |
| 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 | |
| static std::atomic< size_t > | s_numGlobalIds = { 0 } |
| Total number of geometries that have been created in this program. | |
Detailed Description
Base class for any geometrical representation.
Definition at line 22 of file imstkGeometry.h.
Member Function Documentation
◆ computeBoundingBox()
|
virtual |
Compute the bounding box for the geometry.
- Todo:
- Padding should not be here
Reimplemented in imstk::SignedDistanceField, imstk::Capsule, imstk::OrientedBox, imstk::Cylinder, imstk::Plane, imstk::Sphere, imstk::PointSet, and imstk::CompoundGeometry.
Definition at line 23 of file imstkGeometry.cpp.
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◆ getTypeName()
|
pure virtual |
Returns the string representing the type name of the geometry.
Required to enable use of the IMSTK_TYPE_NAME macro
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The documentation for this class was generated from the following files:
- Source/Geometry/imstkGeometry.h
- Source/Geometry/imstkGeometry.cpp
