coal
3.0.1
Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library
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#include <coal/shape/convex.h>
Public Member Functions | |
Convex () | |
Construct an uninitialized convex object. More... | |
Convex (std::shared_ptr< std::vector< Vec3s >> points_, unsigned int num_points_, std::shared_ptr< std::vector< PolygonT >> polygons_, unsigned int num_polygons_) | |
Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information. More... | |
Convex (const Convex &other) | |
Copy constructor Only the list of neighbors is copied. More... | |
~Convex () | |
Matrix3s | computeMomentofInertia () const |
based on http://number-none.com/blow/inertia/bb_inertia.doc More... | |
Vec3s | computeCOM () const |
compute center of mass More... | |
Scalar | computeVolume () const |
compute the volume More... | |
void | set (std::shared_ptr< std::vector< Vec3s >> points, unsigned int num_points, std::shared_ptr< std::vector< PolygonT >> polygons, unsigned int num_polygons) |
Set the current Convex from a list of points and polygons. More... | |
virtual Convex< PolygonT > * | clone () const |
Clone (deep copy) More... | |
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virtual | ~ConvexBase () |
void | computeLocalAABB () |
Compute AABB. More... | |
NODE_TYPE | getNodeType () const |
Get node type: a convex polytope. More... | |
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ShapeBase () | |
ShapeBase (const ShapeBase &other) | |
More... | |
ShapeBase & | operator= (const ShapeBase &other)=default |
virtual | ~ShapeBase () |
OBJECT_TYPE | getObjectType () const |
Get object type: a geometric shape. More... | |
void | setSweptSphereRadius (Scalar radius) |
Set radius of sphere swept around the shape. Must be >= 0. More... | |
Scalar | getSweptSphereRadius () const |
Get radius of sphere swept around the shape. This radius is always >= 0. More... | |
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CollisionGeometry () | |
CollisionGeometry (const CollisionGeometry &other)=default | |
Copy constructor. More... | |
virtual | ~CollisionGeometry () |
bool | operator== (const CollisionGeometry &other) const |
Equality operator. More... | |
bool | operator!= (const CollisionGeometry &other) const |
Difference operator. More... | |
void * | getUserData () const |
get user data in geometry More... | |
void | setUserData (void *data) |
set user data in geometry More... | |
bool | isOccupied () const |
whether the object is completely occupied More... | |
bool | isFree () const |
whether the object is completely free More... | |
bool | isUncertain () const |
whether the object has some uncertainty More... | |
virtual Matrix3s | computeMomentofInertiaRelatedToCOM () const |
compute the inertia matrix, related to the com More... | |
Public Attributes | |
std::shared_ptr< std::vector< PolygonT > > | polygons |
An array of PolygonT object. PolygonT should contains a list of vertices for each polygon, in counter clockwise order. More... | |
unsigned int | num_polygons |
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std::shared_ptr< std::vector< Vec3s > > | points |
An array of the points of the polygon. More... | |
unsigned int | num_points |
std::shared_ptr< std::vector< Vec3s > > | normals |
An array of the normals of the polygon. More... | |
std::shared_ptr< std::vector< Scalar > > | offsets |
An array of the offsets to the normals of the polygon. Note: there are as many offsets as normals. More... | |
unsigned int | num_normals_and_offsets |
std::shared_ptr< std::vector< Neighbors > > | neighbors |
Neighbors of each vertex. It is an array of size num_points. For each vertex, it contains the number of neighbors and a list of indices pointing to them. More... | |
Vec3s | center |
center of the convex polytope, this is used for collision: center is guaranteed in the internal of the polytope (as it is convex) More... | |
SupportWarmStartPolytope | support_warm_starts |
Support warm start polytopes. More... | |
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Vec3s | aabb_center |
AABB center in local coordinate. More... | |
Scalar | aabb_radius |
AABB radius. More... | |
AABB | aabb_local |
AABB in local coordinate, used for tight AABB when only translation transform. More... | |
void * | user_data |
pointer to user defined data specific to this object More... | |
Scalar | cost_density |
collision cost for unit volume More... | |
Scalar | threshold_occupied |
threshold for occupied ( >= is occupied) More... | |
Scalar | threshold_free |
threshold for free (<= is free) More... | |
Protected Member Functions | |
void | fillNeighbors () |
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ConvexBase () | |
Construct an uninitialized convex object Initialization is done with ConvexBase::initialize. More... | |
void | initialize (std::shared_ptr< std::vector< Vec3s >> points_, unsigned int num_points_) |
Initialize the points of the convex shape This also initializes the ConvexBase::center. More... | |
void | set (std::shared_ptr< std::vector< Vec3s >> points_, unsigned int num_points_) |
Set the points of the convex shape. More... | |
ConvexBase (const ConvexBase &other) | |
Copy constructor Only the list of neighbors is copied. More... | |
void | buildSupportWarmStart () |
Build the support points warm starts. More... | |
Additional Inherited Members | |
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static ConvexBase * | convexHull (std::shared_ptr< std::vector< Vec3s >> &points, unsigned int num_points, bool keepTriangles, const char *qhullCommand=NULL) |
Build a convex hull based on Qhull library and store the vertices and optionally the triangles. More... | |
static ConvexBase * | convexHull (const Vec3s *points, unsigned int num_points, bool keepTriangles, const char *qhullCommand=NULL) |
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static constexpr size_t | num_vertices_large_convex_threshold = 32 |
Above this threshold, the convex polytope is considered large. This influcences the way the support function is computed. More... | |
static constexpr size_t | num_support_warm_starts = 14 |
Number of support warm starts. More... | |
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std::shared_ptr< std::vector< unsigned int > > | nneighbors_ |
Array of indices of the neighbors of each vertex. Since we don't know a priori the number of neighbors of each vertex, we store the indices of the neighbors in a single array. The neighbors attribute, an array of Neighbors , is used to point each vertex to the right indices in the nneighbors_ array. More... | |
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Scalar | m_swept_sphere_radius {0} |
Radius of the sphere swept around the shape. Default value is 0. Note: this property differs from inflated method of certain derived classes (e.g. Box, Sphere, Ellipsoid, Capsule, Cone, Cylinder) in the sense that inflated returns a new shape which can be inflated but also deflated. Also, an inflated shape is not rounded. It simply has a different size. Sweeping a shape with a sphere is a different operation (a Minkowski sum), which rounds the sharp corners of a shape. The swept sphere radius is a property of the shape itself and can be manually updated between collision checks. More... | |
Convex polytope.
PolygonT | the polygon class. It must have method size() and operator[](int i) |
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inline |
Construct an uninitialized convex object.
coal::Convex< PolygonT >::Convex | ( | std::shared_ptr< std::vector< Vec3s >> | points_, |
unsigned int | num_points_, | ||
std::shared_ptr< std::vector< PolygonT >> | polygons_, | ||
unsigned int | num_polygons_ | ||
) |
Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information.
ownStorage | whether this class owns the pointers of points and polygons. If owned, they are deleted upon destruction. |
points_ | list of 3D points |
num_points_ | number of 3D points |
polygons_ | An array of PolygonT object. PolygonT should contains a list of vertices for each polygon, in counter clockwise order. |
num_polygons_ | the number of polygons. |
coal::Convex< PolygonT >::Convex | ( | const Convex< PolygonT > & | other | ) |
Copy constructor Only the list of neighbors is copied.
coal::Convex< PolygonT >::~Convex |
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virtual |
Clone (deep copy)
Reimplemented from coal::ConvexBase.
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virtual |
compute center of mass
Reimplemented from coal::CollisionGeometry.
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virtual |
based on http://number-none.com/blow/inertia/bb_inertia.doc
Reimplemented from coal::CollisionGeometry.
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virtual |
compute the volume
Reimplemented from coal::CollisionGeometry.
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protected |
void coal::Convex< PolygonT >::set | ( | std::shared_ptr< std::vector< Vec3s >> | points, |
unsigned int | num_points, | ||
std::shared_ptr< std::vector< PolygonT >> | polygons, | ||
unsigned int | num_polygons | ||
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Set the current Convex from a list of points and polygons.
ownStorage | whether this class owns the pointers of points and polygons. If owned, they are deleted upon destruction. |
points | list of 3D points |
num_points | number of 3D points |
polygons | An array of PolygonT object. PolygonT should contains a list of vertices for each polygon, in counter clockwise order. |
num_polygons | the number of polygons. |
unsigned int coal::Convex< PolygonT >::num_polygons |
std::shared_ptr<std::vector<PolygonT> > coal::Convex< PolygonT >::polygons |
An array of PolygonT object. PolygonT should contains a list of vertices for each polygon, in counter clockwise order.