raisim::VisualMesh

struct · #include <raisim/server/Visuals.hpp>

Inherits: raisim::Visuals

Visual mesh created by RaisimServer::addVisualMesh(), either from a file or from raw arrays.

Public member functions

updateMesh

void updateMesh(
    const std::vector<float> &vertexArray,
    const std::vector<uint8_t> &colorArray)

Replace the vertex positions and colors of a mesh created from raw arrays. The triangle indices are kept, so the vertex count should not change. Once called, the vertex and color arrays are sent with every frame.

Parameters

Parameter	Description
vertexArray (in)	vertex positions (x, y, z per vertex)
colorArray (in)	per-vertex RGB colors (0-255), same size as vertexArray

isUpdated

bool isUpdated() const

Returns true once updateMesh() has been called. The flag is never cleared.

Inherited members

From raisim::Visuals: color, getOrientation, getPosition, glow, lock, lockMutex, material, name, setBoxSize, setCapsuleSize, setColor, setCylinderSize, setOrientation, setPosition, setSphereSize, shadow, size, try_lock, type, unlock, unlockMutex