Base for convex polytope. More...

#include <coal/shape/geometric_shapes.h>

Inheritance diagram for coal::ConvexBaseTpl< _IndexType >:

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Collaboration diagram for coal::ConvexBaseTpl< _IndexType >:

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Public Types
typedef _IndexType	index_type

typedef _IndexType	IndexType

typedef ShapeBase	Base

using	Neighbors = coal::ConvexBaseTplNeighbors< IndexType >

using	SupportWarmStartPolytope = ConvexBaseTplSupportWarmStartPolytope< IndexType >

Public Member Functions
virtual	~ConvexBaseTpl ()

Base &	base ()
	Cast ConvexBaseTpl to ShapeBase. This method should never be marked as virtual.

const Base &	base () const
	Const cast ConvexBaseTpl to ShapeBase. This method should never be marked as virtual.

	ConvexBaseTpl (const ConvexBaseTpl &other)
	Copy constructor. The copy constructor only shallow copies the data (it copies the shared pointers but does not deep clones the data).

ConvexBaseTpl &	operator= (const ConvexBaseTpl &other)
	Copy assignment operator. The copy assignment operator shallow copies the data, just as the copy constructor.

virtual ConvexBaseTpl *	clone () const
	Clone (deep copy).

virtual ConvexBaseTpl *	deepcopy () const
	Deep copy of the ConvexBaseTpl. This method deep copies every field of the class.

template<typename OtherIndexType >
ConvexBaseTpl< OtherIndexType >	cast () const
	Cast this ConvexBase vertex indices to OtherIndexType. This effectively deep copies this ConvexBaseTpl into a new one.

void	computeLocalAABB ()
	Compute AABB.

NODE_TYPE	getNodeType () const
	Get node type: a convex polytope.

IndexType	neighbor (IndexType i, IndexType j) const
	Get the index of the j-th neighbor of the i-th vertex.

NODE_TYPE	getNodeType () const
	get the node type

NODE_TYPE	getNodeType () const
	get the node type

Public Member Functions inherited from coal::ShapeBase
	ShapeBase ()

	ShapeBase (const ShapeBase &other)


ShapeBase &	operator= (const ShapeBase &other)=default

virtual	~ShapeBase ()

OBJECT_TYPE	getObjectType () const
	Get object type: a geometric shape.

void	setSweptSphereRadius (Scalar radius)
	Set radius of sphere swept around the shape. Must be >= 0.

Scalar	getSweptSphereRadius () const
	Get radius of sphere swept around the shape. This radius is always >= 0.

Public Member Functions inherited from coal::CollisionGeometry
	CollisionGeometry ()

	CollisionGeometry (const CollisionGeometry &other)=default
	Copy constructor.

virtual	~CollisionGeometry ()

bool	operator== (const CollisionGeometry &other) const
	Equality operator.

bool	operator!= (const CollisionGeometry &other) const
	Difference operator.

void *	getUserData () const
	get user data in geometry

void	setUserData (void *data)
	set user data in geometry

bool	isOccupied () const
	whether the object is completely occupied

bool	isFree () const
	whether the object is completely free

bool	isUncertain () const
	whether the object has some uncertainty

virtual Vec3s	computeCOM () const
	compute center of mass

virtual Matrix3s	computeMomentofInertia () const
	compute the inertia matrix, related to the origin

virtual Scalar	computeVolume () const
	compute the volume

virtual Matrix3s	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com

Static Public Member Functions
static ConvexBaseTpl *	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.

static ConvexBaseTpl *	convexHull (const Vec3s points, unsigned int num_points, bool keepTriangles, const char qhullCommand=NULL)

Public Attributes
std::shared_ptr< std::vector< Vec3s > >	points
	An array of the points of the polygon.

unsigned int	num_points

std::shared_ptr< std::vector< Vec3s > >	normals
	An array of the normals of the polygon.

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.

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.

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)

SupportWarmStartPolytope	support_warm_starts
	Support warm start polytopes.

Public Attributes inherited from coal::CollisionGeometry
Vec3s	aabb_center
	AABB center in local coordinate.

Scalar	aabb_radius
	AABB radius.

AABB	aabb_local
	AABB in local coordinate, used for tight AABB when only translation transform.

void *	user_data
	pointer to user defined data specific to this object

Scalar	cost_density
	collision cost for unit volume

Scalar	threshold_occupied
	threshold for occupied ( >= is occupied)

Scalar	threshold_free
	threshold for free (<= is free)

Static Public Attributes
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.

static constexpr size_t	num_support_warm_starts = 14
	Number of support warm starts.

Protected Member Functions
	ConvexBaseTpl ()
	Construct an uninitialized convex object Initialization is done with ConvexBase::initialize.

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.

void	set (std::shared_ptr< std::vector< Vec3s > > points_, unsigned int num_points_)
	Set the points of the convex shape.

void	buildSupportWarmStart ()
	Build the support points warm starts.

void	computeCenter ()

virtual bool	isEqual (const CollisionGeometry &_other) const
	equal operator with another object of derived type.

Static Protected Member Functions
template<typename OtherIndexType >
static void	deepcopy (const ConvexBaseTpl< IndexType > source, ConvexBaseTpl< OtherIndexType > copy)
	Deep copy of a ConvexBaseTpl. This method deep copies every field of the class.

Protected Attributes
std::shared_ptr< std::vector< IndexType > >	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.

Protected Attributes inherited from coal::ShapeBase
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.

Friends
template<typename OtherIndexType >
class	ConvexBaseTpl

Detailed Description

template<typename _IndexType>
class coal::ConvexBaseTpl< _IndexType >

Base for convex polytope.

Template Parameters

_IndexType type of vertices indexes.

Note: Inherited classes are responsible for filling ConvexBase::neighbors;

Member Typedef Documentation

◆ Base

template<typename _IndexType >

typedef ShapeBase coal::ConvexBaseTpl< _IndexType >::Base

◆ index_type

template<typename _IndexType >

typedef _IndexType coal::ConvexBaseTpl< _IndexType >::index_type

◆ IndexType

template<typename _IndexType >

typedef _IndexType coal::ConvexBaseTpl< _IndexType >::IndexType

◆ Neighbors

template<typename _IndexType >

using coal::ConvexBaseTpl< _IndexType >::Neighbors = coal::ConvexBaseTplNeighbors<IndexType>

◆ SupportWarmStartPolytope

template<typename _IndexType >

using coal::ConvexBaseTpl< _IndexType >::SupportWarmStartPolytope = ConvexBaseTplSupportWarmStartPolytope<IndexType>

Constructor & Destructor Documentation

◆ ~ConvexBaseTpl()

template<typename _IndexType >

virtual coal::ConvexBaseTpl< _IndexType >::~ConvexBaseTpl ( )

inlinevirtual

◆ ConvexBaseTpl() [1/2]

template<typename _IndexType >

coal::ConvexBaseTpl< _IndexType >::ConvexBaseTpl ( const ConvexBaseTpl< _IndexType > & other )

inline

Copy constructor. The copy constructor only shallow copies the data (it copies the shared pointers but does not deep clones the data).

◆ ConvexBaseTpl() [2/2]

template<typename _IndexType >

coal::ConvexBaseTpl< _IndexType >::ConvexBaseTpl ( )

inlineprotected

Construct an uninitialized convex object Initialization is done with ConvexBase::initialize.

Member Function Documentation

◆ base() [1/2]

template<typename _IndexType >

Base & coal::ConvexBaseTpl< _IndexType >::base ( )

inline

Cast ConvexBaseTpl to ShapeBase. This method should never be marked as virtual.

◆ base() [2/2]

template<typename _IndexType >

const Base & coal::ConvexBaseTpl< _IndexType >::base ( ) const

inline

Const cast ConvexBaseTpl to ShapeBase. This method should never be marked as virtual.

◆ buildSupportWarmStart()

template<typename _IndexType >

void coal::ConvexBaseTpl< _IndexType >::buildSupportWarmStart ( )

protected

Build the support points warm starts.

◆ cast()

template<typename _IndexType >

template<typename OtherIndexType >

ConvexBaseTpl< OtherIndexType > coal::ConvexBaseTpl< _IndexType >::cast ( ) const

inline

Cast this ConvexBase vertex indices to OtherIndexType. This effectively deep copies this ConvexBaseTpl into a new one.

◆ clone()

template<typename _IndexType >

virtual ConvexBaseTpl * coal::ConvexBaseTpl< _IndexType >::clone ( ) const

inlinevirtual

Clone (deep copy).

Implements coal::CollisionGeometry.

Reimplemented in coal::ConvexTpl< PolygonT >.

◆ computeCenter()

template<typename IndexType >

void coal::ConvexBaseTpl< IndexType >::computeCenter ( )

protected

◆ computeLocalAABB()

template<typename IndexType >

void coal::ConvexBaseTpl< IndexType >::computeLocalAABB ( )

virtual

Compute AABB.

Implements coal::CollisionGeometry.

◆ convexHull() [1/2]

template<typename _IndexType >

static ConvexBaseTpl * coal::ConvexBaseTpl< _IndexType >::convexHull	(	const Vec3s *	points,
		unsigned int	num_points,
		bool	keepTriangles,
		const char *	qhullCommand = `NULL`
	)

static

◆ convexHull() [2/2]

template<typename _IndexType >

static ConvexBaseTpl * coal::ConvexBaseTpl< _IndexType >::convexHull	(	std::shared_ptr< std::vector< Vec3s > > &	points,
		unsigned int	num_points,
		bool	keepTriangles,
		const char *	qhullCommand = `NULL`
	)

static

Build a convex hull based on Qhull library and store the vertices and optionally the triangles.

Parameters

points,num_points	the points whose convex hull should be computed.
keepTriangles	if `true`, returns a Convex<Triangle> object which contains the triangle of the shape.
qhullCommand	the command sent to qhull. if `keepTriangles` is `true`, this parameter should include "Qt". If `NULL`, "Qt" is passed to Qhull. if `keepTriangles` is `false`, an empty string is passed to Qhull.

Note: Coal must have been compiled with option COAL_HAS_QHULL set to ON.

◆ deepcopy() [1/2]

template<typename _IndexType >

virtual ConvexBaseTpl * coal::ConvexBaseTpl< _IndexType >::deepcopy ( ) const

inlinevirtual

Deep copy of the ConvexBaseTpl. This method deep copies every field of the class.

Reimplemented in coal::ConvexTpl< PolygonT >.

◆ deepcopy() [2/2]

template<typename IndexType >

template<typename OtherIndexType >

void coal::ConvexBaseTpl< IndexType >::deepcopy	(	const ConvexBaseTpl< IndexType > *	source,
		ConvexBaseTpl< OtherIndexType > *	copy
	)

staticprotected

Deep copy of a ConvexBaseTpl. This method deep copies every field of the class.

◆ getNodeType() [1/3]

template<typename IndexType >

NODE_TYPE coal::ConvexBaseTpl< IndexType >::getNodeType ( ) const

virtual

Get node type: a convex polytope.

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [2/3]

NODE_TYPE coal::ConvexBaseTpl< std::uint16_t >::getNodeType ( ) const

inlinevirtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [3/3]

NODE_TYPE coal::ConvexBaseTpl< std::uint32_t >::getNodeType ( ) const

inlinevirtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ initialize()

template<typename IndexType >

void coal::ConvexBaseTpl< IndexType >::initialize	(	std::shared_ptr< std::vector< Vec3s > >	points_,
		unsigned int	num_points_
	)

protected

Initialize the points of the convex shape This also initializes the ConvexBase::center.

Parameters

points_	list of 3D points ///
num_points_	number of 3D points

◆ isEqual()

template<typename _IndexType >

virtual bool coal::ConvexBaseTpl< _IndexType >::isEqual ( const CollisionGeometry & other ) const

inlineprotectedvirtual

equal operator with another object of derived type.

Implements coal::CollisionGeometry.

◆ neighbor()

template<typename _IndexType >

IndexType coal::ConvexBaseTpl< _IndexType >::neighbor	(	IndexType	i,
		IndexType	j
	)		const

inline

Get the index of the j-th neighbor of the i-th vertex.

◆ operator=()

template<typename IndexType >

ConvexBaseTpl< IndexType > & coal::ConvexBaseTpl< IndexType >::operator= ( const ConvexBaseTpl< _IndexType > & other )

Copy assignment operator. The copy assignment operator shallow copies the data, just as the copy constructor.

◆ set()

template<typename IndexType >

void coal::ConvexBaseTpl< IndexType >::set	(	std::shared_ptr< std::vector< Vec3s > >	points_,
		unsigned int	num_points_
	)

protected

Set the points of the convex shape.

Parameters

points_	list of 3D points ///
num_points_	number of 3D points

Friends And Related Symbol Documentation

◆ ConvexBaseTpl

template<typename _IndexType >

template<typename OtherIndexType >

friend class ConvexBaseTpl

friend

Member Data Documentation

◆ center

template<typename _IndexType >

Vec3s coal::ConvexBaseTpl< _IndexType >::center

center of the convex polytope, this is used for collision: center is guaranteed in the internal of the polytope (as it is convex)

◆ neighbors

template<typename _IndexType >

std::shared_ptr<std::vector<Neighbors> > coal::ConvexBaseTpl< _IndexType >::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.

◆ nneighbors_

template<typename _IndexType >

std::shared_ptr<std::vector<IndexType> > coal::ConvexBaseTpl< _IndexType >::nneighbors_

protected

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.

◆ normals

template<typename _IndexType >

std::shared_ptr<std::vector<Vec3s> > coal::ConvexBaseTpl< _IndexType >::normals

An array of the normals of the polygon.

◆ num_normals_and_offsets

template<typename _IndexType >

unsigned int coal::ConvexBaseTpl< _IndexType >::num_normals_and_offsets

◆ num_points

template<typename _IndexType >

unsigned int coal::ConvexBaseTpl< _IndexType >::num_points

◆ num_support_warm_starts

template<typename _IndexType >

constexpr size_t coal::ConvexBaseTpl< _IndexType >::num_support_warm_starts = 14

staticconstexpr

Number of support warm starts.

◆ num_vertices_large_convex_threshold

template<typename _IndexType >

constexpr size_t coal::ConvexBaseTpl< _IndexType >::num_vertices_large_convex_threshold = 32

staticconstexpr

Above this threshold, the convex polytope is considered large. This influcences the way the support function is computed.

◆ offsets

template<typename _IndexType >

std::shared_ptr<std::vector<Scalar> > coal::ConvexBaseTpl< _IndexType >::offsets

An array of the offsets to the normals of the polygon. Note: there are as many offsets as normals.

◆ points

template<typename _IndexType >

std::shared_ptr<std::vector<Vec3s> > coal::ConvexBaseTpl< _IndexType >::points

An array of the points of the polygon.

◆ support_warm_starts

template<typename _IndexType >

SupportWarmStartPolytope coal::ConvexBaseTpl< _IndexType >::support_warm_starts

Support warm start polytopes.

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

include/coal/BVH/BVH_model.h
include/coal/shape/geometric_shapes.h
include/coal/shape/geometric_shapes.hxx

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ Base

◆ index_type

◆ IndexType

◆ Neighbors

◆ SupportWarmStartPolytope

Constructor & Destructor Documentation

◆ ~ConvexBaseTpl()

◆ ConvexBaseTpl() [1/2]

◆ ConvexBaseTpl() [2/2]

Member Function Documentation

◆ base() [1/2]

◆ base() [2/2]

◆ buildSupportWarmStart()

◆ cast()

◆ clone()

◆ computeCenter()

◆ computeLocalAABB()

◆ convexHull() [1/2]

◆ convexHull() [2/2]

◆ deepcopy() [1/2]

◆ deepcopy() [2/2]

◆ getNodeType() [1/3]

◆ getNodeType() [2/3]

◆ getNodeType() [3/3]

◆ initialize()

◆ isEqual()

◆ neighbor()

◆ operator=()

◆ set()

Friends And Related Symbol Documentation

◆ ConvexBaseTpl

Member Data Documentation

◆ center

◆ neighbors

◆ nneighbors_

◆ normals

◆ num_normals_and_offsets

◆ num_points

◆ num_support_warm_starts

◆ num_vertices_large_convex_threshold

◆ offsets

◆ points

◆ support_warm_starts