A "smart" geometry loading class that caches previous geometries and maintains shared collision detection / appearance information. This greatly speeds up loading time if multiple instances of the same geometry are loaded from disk, because multiple ManagedGeometry objects can share the same underlying data. It can also read from dynamic geometry sources (ROS point cloud topics, for now). More...

#include <ManagedGeometry.h>

Public Types
typedef std::shared_ptr< Geometry::AnyCollisionGeometry3D >	GeometryPtr

typedef std::shared_ptr< GLDraw::GeometryAppearance >	AppearancePtr

Public Member Functions
	ManagedGeometry (const ManagedGeometry &rhs)
	Copy constructor is a shallow copy.

void	Clear ()
	Erases the items in this geometry.

bool	Empty () const
	Returns true if the pointer is NULL or the geometry itself is empty.

GeometryPtr	CreateEmpty ()
	Creates an empty geometry.

bool	Load (const std::string &filename)
	Loads a geometry, with caching.

bool	LoadNoCache (const std::string &filename)
	Loads a geometry, without caching.

bool	IsCached () const
	Returns true if this instance is cached.

bool	IsOriginal () const
	Returns true if this instance is cached and is identical to a file on disk.

void	AddToCache (const std::string &filename)
	Adds to cache, if not already in it.

const std::string &	CachedFilename () const
	Returns the filename to which this object is cached.

void	RemoveFromCache ()
	Remove self from cache, if in it.

void	TransformGeometry (const Math3D::Matrix4 &xform)

AppearancePtr	Appearance () const
	Returns the shared appearance data.

bool	IsAppearanceShared () const

void	SetUnique ()

void	SetUniqueAppearance ()

void	OnGeometryChange ()
	If the geometry is changed, call this to update the appearance.

void	DrawGL ()
	Renders the object using OpenGL.

void	DrawGLOpaque (bool opaque)
	Renders the opaque parts of the object using OpenGL.

bool	IsDynamicGeometry () const
	Returns true if this geometry is connected to a dynamic source.

bool	DynamicGeometryUpdate ()

const ManagedGeometry &	operator= (const ManagedGeometry &rhs)
	assignment is a shallow copy

	operator bool () const

bool	operator! () const

	operator GeometryPtr ()
	Dereferencing by cast, pointer access ->, or *.

	operator GeometryPtr () const

GeometryPtr	operator-> ()

const GeometryPtr	operator-> () const

Geometry::AnyCollisionGeometry3D &	operator* ()

const Geometry::AnyCollisionGeometry3D &	operator* () const

Static Public Member Functions
static ManagedGeometry *	IsCached (const std::string &filename)

Static Public Attributes
static GeometryManager	manager

Friends
class	GeometryManager

Detailed Description

A "smart" geometry loading class that caches previous geometries and maintains shared collision detection / appearance information. This greatly speeds up loading time if multiple instances of the same geometry are loaded from disk, because multiple ManagedGeometry objects can share the same underlying data. It can also read from dynamic geometry sources (ROS point cloud topics, for now).

Shared geometries: The Load function will load a file normally if it hasn't been loaded before. But if it has, this geometry will simply refer to the existing geometry, collision detection data structures, and Appearance information. This leads to major speed ups in running time and lower memory consumption when multiple objects of the same geometry are loaded.

Caching can have some weird effects. If you change the geometry / appearance of a shared ManagedGeometry, then all of the other ManagedGeometrys' will receive the same changes. To avoid this, you can either 1) Call LoadNoCache or RemoveFromCache before the subsequent geometry is loaded, which avoids sharing geometries in the first place. 2) Call SetUnique after loading, which entirely breaks the connection between the object and the other shared geometries. 3) Call SetUniqueAppearance, which breaks the connection between the object's appearance and the appearances of other shared geometries. Note that this does not break the connection between geometries.

Transforming geometries:

The TransformGeometry method automatically does the intended thing, which is to break the connection between this geometry and shared geometries. Moreover, if a prior geometry was transformed by the same amount, this geometry will be shared with the prior call. a.Load("file.obj"); b.Load("file.obj"); //b is now shared with a a.TransformGeometry(T); //this breaks the connection between a and b b.TransformGeometry(T); //now a and b have shared geometries again. But, their appearances are not shared.

Note: the Load / LoadNoCache functions can also accept non-file strings.

Dynamic geometries can be loaded from ROS topics. The string takes the form "ros://[ROS_TOPIC]" or "ros:PointCloud2//[ROS_TOPIC]". Only PointCloud2 messages are accepted for now.
Inline strings can be parsed using a string of the form {DATA} where DATA is a parseable geometry format, e.g.,

"{GeometricPrimitive Sphere 0 0 0 1}"

would load a sphere with center 0,0,0 and radius 1

Member Function Documentation

bool Klampt::ManagedGeometry::DynamicGeometryUpdate ( )

Updates dynamic geometry, if an update is available. If no update, returns false

bool Klampt::ManagedGeometry::IsAppearanceShared ( ) const

Returns true if there are multiple objects sharing the appearance data. If it is shared, then changing one appearance affects multiple objects.

static ManagedGeometry* Klampt::ManagedGeometry::IsCached ( const std::string & filename )

static

Returns NULL if the file hasn't been cached. Otherwise, returns a prior instance of the geometry.

void Klampt::ManagedGeometry::SetUnique ( )

Removes this geometry from the cache and separates its appearance data from all other instances of this object.

void Klampt::ManagedGeometry::SetUniqueAppearance ( )

Makes this item have its own appearance data separate from all other instances of this object.

void Klampt::ManagedGeometry::TransformGeometry ( const Math3D::Matrix4 & xform )

Transforms the geometry (requires removing from cache, and re-initializing collision data).

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

ManagedGeometry.h

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Friends

Detailed Description

Member Function Documentation