a 3d model that has geometry but also material and color. he model can be composed of multiple objects that are connected in a hierarchical manner. The model is designed for efficient drawing and as such special structures are used to order the indexes such that efficient drawing is possible. More...

#include <Model3D.hpp>

Classes
struct	Material
	describes material properties. A material can be either simple or "advanced" and in both cases it can be textured. A simple material is described by a 4-tuple of RGBA values. The advanced material defines multiple properties: diffuse, ambient, emissive, specular, shininess and transparency More...

class	Texture

Public Types
enum	SmoothMethod { AVERAGED_NORMALS , WEIGHTED_NORMALS }
	Method to do smoothing. More...

typedef rw::core::Ptr< Model3D >	Ptr
	smart pointer type to this class

using	TextureList = std::vector< rw::core::Ptr< Texture > >
	The data type for the texture list.

using	MaterialPolys = rw::geometry::Object3DGeneric::MaterialPolys

using	Object3DGeneric = rw::geometry::Object3DGeneric

template<class T = uint16_t>
using	Object3D = rw::geometry::Object3D< T >

Public Member Functions
	Model3D (const std::string &name)

	Model3D (const Model3D &model)
	Copy constructor, make a copy of the 3D object. More...

virtual	~Model3D ()
	destructor

void	optimize (double smooth_angle, SmoothMethod method=WEIGHTED_NORMALS)
	optimize vertices and vertice normals More...

int	addObject (Object3DGeneric::Ptr obj)
	add an Object to this Model3D More...

void	addGeometry (const Material &mat, rw::core::Ptr< class rw::geometry::Geometry > geom)
	add geometry to this model3d More...

void	addTriMesh (const Material &mat, const rw::geometry::TriMesh &mesh)
	add a triangle mesh to this model3d More...

void	addTriMesh (const Material &mat, rw::core::Ptr< const rw::geometry::TriMesh > geom)
	add a triangle mesh to this model3d More...

int	addMaterial (const Material &mat)
	all objects in a model use the materials defined on the model More...

Material *	getMaterial (const std::string &matid)
	get material with string id matid More...

bool	hasMaterial (const std::string &matid)
	check if model has material with id matid More...

void	removeObject (const std::string &name)
	remove object with string id name More...

void	scale (float scale)
	Scale all vertices in the mesh. More...

std::vector< Material > &	getMaterials ()
	get all materials that are available in this model

std::vector< Object3DGeneric::Ptr > &	getObjects ()
	get all objects that make out this model

const rw::math::Transform3D &	getTransform ()
	get pose of this Model3D

void	setTransform (const rw::math::Transform3D<> &t3d)
	set the pose of this Model3D

const std::string &	getName ()
	get string identifier of this model3d

const std::string &	getFilePath ()
	get filePath of this model3d

void	setName (const std::string &name)
	set string identifier of this model3d

void	setFilePath (const std::string &name)
	set filePath this model3d

int	getMask ()
	get mask of this model3d

void	setMask (int mask)
	set mask of this model3d

rw::geometry::GeometryData::Ptr	toGeometryData ()
	convert this model3d to a geometry. Notice that geometry does not hold any color information. More...

bool	isDynamic () const
	true if data in the model are expected to change

void	setDynamic (bool dynamic)
	set to true if data in the model are expected to change

std::vector< rw::core::Ptr< Texture > > &	getTextures ()
	Get/set the object Textures. More...

Public Attributes
std::vector< Material >	_materials
	The array of materials.

std::vector< Object3DGeneric::Ptr >	_objects
	The array of objects in the model.

Protected Attributes
rw::math::Transform3D	_transform
	The transform of the model.

std::string	_name
	Name of the model.

std::string	_filePath
	FilePath of the model, if model was constructed from file.

int	_mask
	The DrawableNode::DrawableTypeMask.

bool	_isDynamic
	If the data can be expected to change.

Detailed Description

a 3d model that has geometry but also material and color. he model can be composed of multiple objects that are connected in a hierarchical manner. The model is designed for efficient drawing and as such special structures are used to order the indexes such that efficient drawing is possible.

Member Enumeration Documentation

◆ SmoothMethod

enum SmoothMethod

Method to do smoothing.

Enumerator
AVERAGED_NORMALS	vertex normal is determine as an avarage of all adjacent face normals
WEIGHTED_NORMALS	vertex normal is determined as AVARAGED_NORMALS, but with the face normals scaled by the face area

Constructor & Destructor Documentation

◆ Model3D() [1/2]

Model3D ( const std::string & name )

Constructor.

Parameters

name	[in] name of the model.

◆ Model3D() [2/2]

Model3D ( const Model3D & model )

Copy constructor, make a copy of the 3D object.

Parameters

model

Member Function Documentation

◆ addGeometry()

void addGeometry	(	const Material &	mat,
		rw::core::Ptr< class rw::geometry::Geometry >	geom
	)

add geometry to this model3d

Parameters

mat	[in] the material properties to use for the geometry.
geom	[in] the geometry to add.

◆ addMaterial()

int addMaterial ( const Material & mat )

all objects in a model use the materials defined on the model

Parameters

mat	[in] material to add.

Returns: id of the newly added material.

◆ addObject()

int addObject ( Object3DGeneric::Ptr obj )

add an Object to this Model3D

Parameters

obj	[in] the geometric object to add.

Returns: index of object in model3d

◆ addTriMesh() [1/2]

void addTriMesh	(	const Material &	mat,
		const rw::geometry::TriMesh &	mesh
	)

add a triangle mesh to this model3d

Parameters

mat	[in] the material properties to use for the mesh.
mesh	[in] the mesh geometry.

◆ addTriMesh() [2/2]

void addTriMesh	(	const Material &	mat,
		rw::core::Ptr< const rw::geometry::TriMesh >	geom
	)

add a triangle mesh to this model3d

Parameters

mat	[in] the material properties to use for the mesh.
geom	[in] the mesh geometry.

◆ getMaterial()

Material* getMaterial ( const std::string & matid )

get material with string id matid

Parameters

matid [in] string id

Returns: pointer to Matrial data

◆ getTextures()

std::vector<rw::core::Ptr<Texture> >& getTextures ( )

inline

Get/set the object Textures.

Returns: std::vector< rw::core::Ptr< Texture > >&

◆ hasMaterial()

bool hasMaterial ( const std::string & matid )

check if model has material with id matid

Parameters

matid [in] string id of material

Returns: true if exists in model

◆ optimize()

void optimize	(	double	smooth_angle,
		SmoothMethod	method = `WEIGHTED_NORMALS`
	)

optimize vertices and vertice normals

removes redundant vertices and recalculates all vertice normals based on the face normals and the angle between face normals smooth_angle.

Parameters

smooth_angle
method

◆ removeObject()

void removeObject ( const std::string & name )

remove object with string id name

Parameters

name	[in] name of object to remove

◆ scale()

void scale ( float scale )

Scale all vertices in the mesh.

◆ toGeometryData()

rw::geometry::GeometryData::Ptr toGeometryData ( )

convert this model3d to a geometry. Notice that geometry does not hold any color information.

Returns: a geometry of this model3d

The documentation for this class was generated from the following file:

geometry/Model3D.hpp

Classes

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ SmoothMethod

Constructor & Destructor Documentation

◆ Model3D() [1/2]

◆ Model3D() [2/2]

Member Function Documentation

◆ addGeometry()

◆ addMaterial()

◆ addObject()

◆ addTriMesh() [1/2]

◆ addTriMesh() [2/2]

◆ getMaterial()

◆ getTextures()

◆ hasMaterial()

◆ optimize()

◆ removeObject()

◆ scale()

◆ toGeometryData()