PolygonalMesh.h

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#ifndef SimTK_SimTKCOMMON_POLYGONAL_MESH_H_
#define SimTK_SimTKCOMMON_POLYGONAL_MESH_H_

/* -------------------------------------------------------------------------- *
 *                       Simbody(tm): SimTKcommon                             *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK biosimulation toolkit originating from           *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
 *                                                                            *
 * Portions copyright (c) 2008-14 Stanford University and the Authors.        *
 * Authors: Peter Eastman                                                     *
 * Contributors: Michael Sherman                                              *
 *                                                                            *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
 * not use this file except in compliance with the License. You may obtain a  *
 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
 *                                                                            *
 * Unless required by applicable law or agreed to in writing, software        *
 * distributed under the License is distributed on an "AS IS" BASIS,          *
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
 * See the License for the specific language governing permissions and        *
 * limitations under the License.                                             *
 * -------------------------------------------------------------------------- */

#include "SimTKcommon/Simmatrix.h"
#include "SimTKcommon/internal/PrivateImplementation.h"

namespace SimTK {

class PolygonalMesh;
class PolygonalMeshImpl;

// We only want the template instantiation to occur once. This symbol is defined
// in the SimTKcommon compilation unit that defines the PolygonalMesh class but 
// should not be defined any other time.
#ifndef SimTK_SIMTKCOMMON_DEFINING_POLYGONALMESH
    extern template class PIMPLHandle<PolygonalMesh, PolygonalMeshImpl, true>;
#endif

class SimTK_SimTKCOMMON_EXPORT PolygonalMesh 
:   public PIMPLHandle<PolygonalMesh, PolygonalMeshImpl, true> {
public:
    PolygonalMesh() {}

    static PolygonalMesh createSphereMesh(Real  radius, 
                                          int   resolution = 1);

    static PolygonalMesh createBrickMesh(const Vec3& halfDims, 
                                         int resolution = 1);

    static PolygonalMesh createCylinderMesh(const UnitVec3& axis,
                                            Real            radius, 
                                            Real            halfLength, 
                                            int             resolution=1);

    void clear();

    int getNumFaces() const;
    int getNumVertices() const;

    const Vec3& getVertexPosition(int vertex) const;
    int getNumVerticesForFace(int face) const;
    int getFaceVertex(int face, int vertex) const;

    int addVertex(const Vec3& position);

    int addFace(const Array_<int>& vertices);

    PolygonalMesh& scaleMesh(Real scale);

    PolygonalMesh&  transformMesh(const Transform& X_AM);

    void loadFile(const String& pathname);

    void loadObjFile(const String& pathname);

    void loadObjFile(std::istream& file);

    void loadVtpFile(const String& pathname);

    void loadStlFile(const String& pathname);

private:
    explicit PolygonalMesh(PolygonalMeshImpl* impl) : HandleBase(impl) {}
    void initializeHandleIfEmpty();
};

} // namespace SimTK

#endif // SimTK_SimTKCOMMON_POLYGONAL_MESH_H_