TriMesh.hpp

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#ifndef DART_MATH_TRIMESH_HPP_
#define DART_MATH_TRIMESH_HPP_
 
#include <memory>
 
#include "dart/math/Mesh.hpp"
 
namespace dart {
namespace math {
 
template <typename S_>
class TriMesh : public Mesh<S_>
{
public:
  // Type aliases
  using S = S_;
  using Base = Mesh<S>;
  using Index = typename Base::Index;
  using Vector3 = typename Base::Vector3;
  using Triangle = Eigen::Matrix<Index, 3, 1>;
  using Vertices = typename Base::Vertices;
  using Normals = typename Base::Normals;
  using Triangles = std::vector<Triangle>;
 
  TriMesh();
 
  ~TriMesh() override = default;
 
  void setTriangles(const Vertices& vertices, const Triangles& triangles);
 
  void computeVertexNormals();
 
  bool hasTriangles() const;
 
  bool hasTriangleNormals() const;
 
  const Triangles& getTriangles() const;
 
  const Normals& getTriangleNormals() const;
 
  void clear() override;
 
  TriMesh operator+(const TriMesh& other) const;
 
  TriMesh& operator+=(const TriMesh& other);
 
  std::shared_ptr<TriMesh<S>> generateConvexHull(bool optimize = true) const;
 
protected:
  void computeTriangleNormals();
 
  void normalizeTriangleNormals();
 
  Triangles mTriangles;
 
  Normals mTriangleNormals;
};
 
extern template class TriMesh<double>;
 
using TriMeshf = TriMesh<float>;
using TriMeshd = TriMesh<double>;
 
} // namespace math
} // namespace dart
 
#include "dart/math/detail/TriMesh-impl.hpp"
 
#endif // DART_MATH_TRIMESH_HPP_