Represents a set of triangles & vertices via an array of Vec3d double vertices & Vec3i integer indices. More...
#include <imstkSurfaceMesh.h>
Inheritance diagram for imstk::SurfaceMesh:
Collaboration diagram for imstk::SurfaceMesh:
Public Member Functions | |
| void | initialize (std::shared_ptr< VecDataArray< double, 3 >> vertices, std::shared_ptr< VecDataArray< int, 3 >> triangleIndices, const bool computeDerivedData=false) |
| Initializes the rest of the data structures given vertex positions and triangle connectivity. | |
| void | initialize (std::shared_ptr< VecDataArray< double, 3 >> vertices, std::shared_ptr< VecDataArray< int, 3 >> triangleIndices, std::shared_ptr< VecDataArray< double, 3 >> normals, const bool computeDerivedData=false) |
| Initializes the rest of the data structures given vertex positions, triangle connectivity, and normals. | |
| void | computeTrianglesNormals () |
| Compute the normals of all the triangles. | |
| void | computeTriangleTangents () |
| Compute the tangents of all the triangles based off. | |
| void | computeVertexNormals () |
| Computes the normals of all the vertices. | |
| void | computeVertexTangents () |
| Comptues the tangents of all the vertices. | |
| Vec3d | computeBarycentricWeights (const int tetId, const Vec3d &pos) const override |
| compute the barycentric weights of a given point in 3D space for a given the triangle | |
| void | optimizeForDataLocality () |
| Rewire the node order and triangle connectivity to optimize for memory layout The intended use is for large meshes that doesn't fit into CPU/GPU memory. More... | |
| void | flipNormals () |
| Flip the normals for the whole mesh by reversing the winding order. | |
| void | correctWindingOrder () |
| Enforces consistency in the winding order of the triangles. | |
| void | computeUVSeamVertexGroups () |
| Finds vertices along vertex seams that share geometric properties. | |
| double | getVolume () override |
| Get the volume enclosed by the surface mesh. | |
| int | getNumTriangles () const |
| void | setTriangleIndices (std::shared_ptr< VecDataArray< int, 3 >> indices) |
| std::shared_ptr< VecDataArray< int, 3 > > | getTriangleIndices () const |
| std::unique_ptr< SurfaceMesh > | clone () |
| Polymorphic clone, hides the declaration in superclass return own type. | |
 Public Member Functions inherited from imstk::CellMesh< 3 > | |
| void | initialize (std::shared_ptr< VecDataArray< double, 3 >> vertices, std::shared_ptr< VecDataArray< int, N >> indices) |
| Initializes the rest of the data structures given vertex positions and connectivity. | |
| int | getCellVertexCount () const override |
| Number of verticies associated with the cell type. | |
| void | clear () override |
| Clears all the mesh data. | |
| void | computeVertexToCellMap () override |
| Computes neighboring cells for all vertices. | |
| void | computeVertexNeighbors () override |
| Computes neighboring vertices for all vertices. | |
| virtual Eigen::Vector< double, N > | computeBarycentricWeights (const int imstkNotUsed(cellId), const Vec3d &imstkNotUsed(pos)) const |
| compute the barycentric weights of a given point in 3D space for a given the cell | |
| Vec3d | computeWorldPosition (const int cellId, const Eigen::Matrix< double, N, 1 > &bary) const |
| compute the world position of a point in 3D given the cellId and a set of barycentric coordinates | |
| std::shared_ptr< AbstractDataArray > | getAbstractCells () const override |
| Get cells as abstract array. Overridden by derived classes to return cells as point indices. | |
| int | getNumCells () const override |
| Returns the number of cells. | |
| std::unique_ptr< CellMesh< N > > | clone () |
| Polymorphic clone, hides the declaration in superclass return own type. | |
| void | setCells (std::shared_ptr< VecDataArray< int, N >> indices) |
| Get/Set cell connectivity. | |
| std::shared_ptr< VecDataArray< int, N > > | getCells () const |
| Public Member Functions inherited from imstk::AbstractCellMesh | |
| bool | isMesh () const override |
| Returns true if the geometry is a mesh, else returns false. | |
| void | print () const override |
| Print the surface mesh. | |
| const std::vector< std::unordered_set< int > > & | getVertexToCellMap () const |
| Returns map of vertices to cells that contain the vertex (reverse linkage) | |
| const std::vector< int > | getCellsForVertex (const int vertexId) |
| Returns cells that contain the vertex, will calculate vertex cells if necessary. More... | |
| const std::vector< std::unordered_set< int > > & | getVertexNeighbors () const |
| Returns map of vertices to neighboring vertices. | |
| const std::unordered_map< std::string, std::shared_ptr< AbstractDataArray > > & | getCellAttributes () const |
| Get the cell attributes map. | |
| void | setCellAttribute (const std::string &arrayName, std::shared_ptr< AbstractDataArray > arr) |
| std::shared_ptr< AbstractDataArray > | getCellAttribute (const std::string &name) const |
| bool | hasCellAttribute (const std::string &arrayName) const |
| Check if a specific data array exists. | |
| void | setCellAttributes (std::unordered_map< std::string, std::shared_ptr< AbstractDataArray >> attributes) |
| Set the cell attributes map. | |
| void | setCellScalars (const std::string &arrayName, std::shared_ptr< AbstractDataArray > scalars) |
| Get/Set the active scalars. | |
| void | setCellScalars (const std::string &arrayName) |
| std::string | getActiveCellScalars () const |
| std::shared_ptr< AbstractDataArray > | getCellScalars () const |
| void | setCellNormals (const std::string &arrayName, std::shared_ptr< VecDataArray< double, 3 >> normals) |
| Get/Set the active normals. | |
| void | setCellNormals (const std::string &arrayName) |
| std::string | getActiveCellNormals () const |
| std::shared_ptr< VecDataArray< double, 3 > > | getCellNormals () const |
| void | setCellTangents (const std::string &arrayName, std::shared_ptr< VecDataArray< double, 3 >> tangents) |
| Get/Set the active tangents. | |
| void | setCellTangents (const std::string &arrayName) |
| std::string | getActiveCellTangents () const |
| std::shared_ptr< VecDataArray< double, 3 > > | getCellTangents () const |
| Public Member Functions inherited from imstk::PointSet | |
| void | initialize (std::shared_ptr< VecDataArray< double, 3 >> positions) |
| Initializes the data structure given vertex positions. | |
| virtual void | computeBoundingBox (Vec3d &lowerCorner, Vec3d &upperCorner, const double paddingPercent=0.0) override |
| Compute the bounding box for the entire mesh. | |
| void | setInitialVertexPositions (std::shared_ptr< VecDataArray< double, 3 >> vertices) |
| Sets initial positions from an array. | |
| std::shared_ptr< VecDataArray< double, 3 > > | getInitialVertexPositions () const |
| Returns the vector of initial positions of the mesh vertices. | |
| Vec3d & | getInitialVertexPosition (const size_t vertNum) |
| Returns the initial position of a vertex given its index. | |
| void | setVertexPositions (std::shared_ptr< VecDataArray< double, 3 >> positions) |
| Sets current vertex positions of the mesh. | |
| std::shared_ptr< VecDataArray< double, 3 > > | getVertexPositions (DataType type=DataType::PostTransform) const |
| Returns the vector of current positions of the mesh vertices. | |
| void | setVertexPosition (const size_t vertNum, const Vec3d &pos) |
| Set the current position of a vertex given its index to certain position (this is not a thread-safe method) | |
| int | getNumVertices () const |
| Returns the number of total vertices in the mesh. | |
| void | setVertexAttribute (const std::string &arrayName, std::shared_ptr< AbstractDataArray > arr) |
| Set a data array holding some per vertex data. | |
| std::shared_ptr< AbstractDataArray > | getVertexAttribute (const std::string &arrayName) const |
| Get a specific data array. If the array name cannot be found, nullptr is returned. | |
| bool | hasVertexAttribute (const std::string &arrayName) const |
| Check if a specific data array exists. | |
| void | setVertexAttributes (std::unordered_map< std::string, std::shared_ptr< AbstractDataArray >> attributes) |
| Set the vertex attributes map. | |
| const std::unordered_map< std::string, std::shared_ptr< AbstractDataArray > > & | getVertexAttributes () const |
| Get the vertex attributes map. | |
| void | updatePostTransformData () const override |
| Applies the geometries member transform to produce currPositions. | |
| std::unique_ptr< PointSet > | clone () |
| Polymorphic clone, hides the declaration in superclass return own type. | |
| const Vec3d & | getVertexPosition (const size_t vertNum, DataType type=DataType::PostTransform) const |
| Returns the position of a vertex given its index. | |
| Vec3d & | getVertexPosition (const size_t vertNum, DataType type=DataType::PostTransform) |
| void | setVertexScalars (const std::string &arrayName, std::shared_ptr< AbstractDataArray > scalars) |
| Get/Set the active scalars. | |
| void | setVertexScalars (const std::string &arrayName) |
| std::string | getActiveVertexScalars () const |
| std::shared_ptr< AbstractDataArray > | getVertexScalars () const |
| void | setVertexNormals (const std::string &arrayName, std::shared_ptr< VecDataArray< double, 3 >> normals) |
| Get/Set the active normals. | |
| void | setVertexNormals (const std::string &arrayName) |
| std::string | getActiveVertexNormals () const |
| std::shared_ptr< VecDataArray< double, 3 > > | getVertexNormals () const |
| void | setVertexTangents (const std::string &arrayName, std::shared_ptr< VecDataArray< float, 3 >> tangents) |
| Get/Set the active tangents. | |
| void | setVertexTangents (const std::string &arrayName) |
| std::string | getActiveVertexTangents () const |
| std::shared_ptr< VecDataArray< float, 3 > > | getVertexTangents () const |
| void | setVertexTCoords (const std::string &arrayName, std::shared_ptr< VecDataArray< float, 2 >> tcoords) |
| Get/Set the active tcoords. | |
| void | setVertexTCoords (const std::string &arrayName) |
| std::string | getActiveVertexTCoords () const |
| std::shared_ptr< VecDataArray< float, 2 > > | getVertexTCoords () const |
| 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) | |
| 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. | |
| 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. | |
Protected Attributes | |
| std::map< NormalGroup, std::shared_ptr< std::vector< size_t > > > | m_UVSeamVertexGroups |
| Protected Attributes inherited from imstk::CellMesh< 3 > | |
| std::shared_ptr< VecDataArray< int, N > > | m_indices |
| Protected Attributes inherited from imstk::AbstractCellMesh | |
| std::vector< std::unordered_set< int > > | m_vertexToCells |
| Map of vertices to neighbor cells. | |
| std::vector< std::unordered_set< int > > | m_vertexToNeighborVertex |
| Map of vertices to neighbor vertices. More... | |
| std::unordered_map< std::string, std::shared_ptr< AbstractDataArray > > | m_cellAttributes |
| std::string | m_activeCellNormals = "" |
| std::string | m_activeCellTangents = "" |
| std::string | m_activeCellScalars = "" |
| Protected Attributes inherited from imstk::PointSet | |
| std::shared_ptr< VecDataArray< double, 3 > > | m_initialVertexPositions |
| std::shared_ptr< VecDataArray< double, 3 > > | m_vertexPositions |
| std::unordered_map< std::string, std::shared_ptr< AbstractDataArray > > | m_vertexAttributes |
| std::string | m_activeVertexNormals = "" |
| std::string | m_activeVertexScalars = "" |
| std::string | m_activeVertexTangents = "" |
| std::string | m_activeVertexTCoords = "" |
| Vec3d | m_lowerCorner |
| Vec3d | m_upperCorner |
| 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 |
Additional Inherited Members | |
| Public Types inherited from imstk::CellMesh< 3 > | |
| using | VertexDataType = VecDataArray< double, 3 > |
| using | CellIndexType = VecDataArray< int, N > |
| using | CellType = Eigen::Matrix< int, N, 1 > |
| 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 Public Attributes inherited from imstk::CellMesh< 3 > | |
| static constexpr int | CellVertexCount |
| Protected Member Functions inherited from imstk::AbstractCellMesh | |
| void | setCellActiveAttribute (std::string &activeAttributeName, std::string attributeName, const int expectedNumComponents, const ScalarTypeId expectedScalarType) |
| Protected Member Functions inherited from imstk::PointSet | |
| void | applyTransform (const Mat4d &m) override |
| Applies transformation m directly the initial and post transform data. | |
| void | setActiveVertexAttribute (std::string &activeAttributeName, const std::string attributeName, const int expectedNumComponents, const ScalarTypeId expectedScalarType) |
| Sets the active vertex attribute name as long as the # components is satisfied. Throws message and casts if incorrect scalar type is provided. | |
| Static Protected Member Functions inherited from imstk::Geometry | |
| static size_t | getUniqueId () |
| Get a unique ID for the new generated geometry object. | |
| 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. | |
Detailed Description
Represents a set of triangles & vertices via an array of Vec3d double vertices & Vec3i integer indices.
Definition at line 124 of file imstkSurfaceMesh.h.
Member Function Documentation
◆ optimizeForDataLocality()
| void imstk::SurfaceMesh::optimizeForDataLocality | ( | ) |
Rewire the node order and triangle connectivity to optimize for memory layout The intended use is for large meshes that doesn't fit into CPU/GPU memory.
- Todo:
- Further optimization to find a 1-d uninterrupted sub-graph at each iteration.
Definition at line 283 of file imstkSurfaceMesh.cpp.
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The documentation for this class was generated from the following files:
- Source/Geometry/Mesh/imstkSurfaceMesh.h
- Source/Geometry/Mesh/imstkSurfaceMesh.cpp
