add triangle mesh affine transform

src/Vtk/Math/testing/vtkTriangleMeshTest.cpp

@@ -41,6 +41,16 @@ BOOST_AUTO_TEST_CASE(vtkTriangleMeshConstruction) {
   mesh.AddTriangle(Vector3i(0, 1, 2));
 
   Vtk::vtkTriangleMesh v_mesh(mesh);
+
+  Object::connect(&mesh, &TriangleMesh::Updated, [&mesh]() {
+    Vector3f points[3];
+    points[0] = mesh.GetPoint(0);
+    points[1] = mesh.GetPoint(1);
+    points[2] = mesh.GetPoint(2);
+    std::cout << "mesh updated: " << points[0].transpose() << " " << points[1].transpose() 
+              << " " << points[2].transpose() << std::endl;
+  });
+
   v_mesh.Update();
 
   if (std::getenv("CTEST_PROJECT_NAME") == nullptr) {

src/Vtk/Math/vtkTriangleMesh.cpp

@@ -40,6 +40,9 @@
 #include <vtkPolyData.h>
 #include <vtkPolyDataMapper.h>
 
+#include <vtkMatrix4x4.h>
+#include <vtkNew.h>
+#include "Math/vtkDense.h"
 #include "Vtk/Math/vtkTriangleMesh.h"
 #include <iostream>
 
@@ -55,12 +58,10 @@ void vtkTriangleMesh::vtk2uLib_update() {
             << "number of polys  = " << number_of_triangles << "\n"
             << "//////\n";
 
-  m_content.Points().resize(number_of_points);
+  m_content.Points().clear();
   for (int i = 0; i < number_of_points; ++i) {
     double *point = m_Poly->GetPoint(i);
-    m_content.Points()[i](0) = point[0];
-    m_content.Points()[i](1) = point[1];
-    m_content.Points()[i](2) = point[2];
+    m_content.Points().push_back(Vector3f(point[0], point[1], point[2]));
   }
 
   m_content.Triangles().resize(number_of_triangles);
@@ -83,11 +84,8 @@ void vtkTriangleMesh::uLib2vtk_update() {
   vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
   points->SetNumberOfPoints(number_of_points);
   for (vtkIdType i = 0; i < number_of_points; i++) {
-    double x, y, z;
-    x = m_content.Points().at(i)(0);
-    y = m_content.Points().at(i)(1);
-    z = m_content.Points().at(i)(2);
-    points->SetPoint(i, x, y, z);
+    Vector3f p = m_content.Points().at(i);
+    points->SetPoint(i, p(0), p(1), p(2));
   }
 
   vtkSmartPointer<vtkCellArray> polys = vtkSmartPointer<vtkCellArray>::New();
@@ -105,7 +103,33 @@ void vtkTriangleMesh::uLib2vtk_update() {
   m_Poly->SetPoints(points);
   m_Poly->SetPolys(polys);
   m_Poly->Modified();
+}
+
+void vtkTriangleMesh::contentUpdate() {
+  vtkMatrix4x4 *vmat = m_Actor->GetUserMatrix();
+  if (!vmat) {
+    vtkNew<vtkMatrix4x4> mat;
+    m_Actor->SetUserMatrix(mat);
+    vmat = mat;
+  }
+
+  Matrix4f transform = m_content.GetWorldMatrix();
+  Matrix4fToVtk(transform, vmat);
+
+  uLib2vtk_update();
+
+  m_Poly->Modified();
   m_Actor->GetMapper()->Update();
+  Puppet::Update();
+}
+
+void vtkTriangleMesh::Update() {
+  vtkMatrix4x4 *vmat = m_Actor->GetUserMatrix();
+  if (!vmat) return;
+
+  Matrix4f transform = VtkToMatrix4f(vmat);
+  m_content.SetMatrix(transform);
+  m_content.Updated();
 }
 
 // -------------------------------------------------------------------------- //
@@ -116,10 +140,18 @@ vtkTriangleMesh::vtkTriangleMesh(vtkTriangleMesh::Content &content)
       vtkSmartPointer<vtkPolyDataMapper>::New();
   mapper->SetInputData(m_Poly);
   m_Actor->SetMapper(mapper);
+
+  vtkNew<vtkMatrix4x4> vmat;
+  Matrix4fToVtk(m_content.GetWorldMatrix(), vmat);
+  m_Actor->SetUserMatrix(vmat);
+
   this->SetProp(m_Actor);
+  Object::connect(&m_content, &Content::Updated, this, &vtkTriangleMesh::contentUpdate);
+  this->contentUpdate();
 }
 
 vtkTriangleMesh::~vtkTriangleMesh() {
+  Object::disconnect(&m_content, &Content::Updated, this, &vtkTriangleMesh::contentUpdate);
   m_Poly->Delete();
   m_Actor->Delete();
 }
@@ -160,7 +192,5 @@ void vtkTriangleMesh::ReadFromStlFile(const char *filename) {
 
 vtkPolyData *vtkTriangleMesh::GetPolyData() const { return m_Poly; }
 
-void vtkTriangleMesh::Update() { uLib2vtk_update(); }
-
 } // namespace Vtk
 } // namespace uLib

src/Vtk/Math/vtkTriangleMesh.h

@@ -53,7 +53,9 @@ public:
 
   virtual class vtkPolyData *GetPolyData() const;
 
-  void Update();
+  virtual void contentUpdate();
+
+  virtual void Update();
 
 private:
   void vtk2uLib_update();