Convex polytope. More...

#include <coal/shape/convex.h>

Inheritance diagram for coal::ConvexTpl< PolygonT >:

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Collaboration diagram for coal::ConvexTpl< PolygonT >:

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Public Types
typedef PolygonT::IndexType	IndexType

typedef ConvexBaseTpl< IndexType >	Base

typedef Base::Neighbors	Neighbors

Public Types inherited from coal::ConvexBaseTpl< PolygonT::IndexType >
typedef PolygonT::IndexType	index_type

typedef PolygonT::IndexType	IndexType

typedef ShapeBase	Base

using	Neighbors = coal::ConvexBaseTplNeighbors< IndexType >

using	SupportWarmStartPolytope = ConvexBaseTplSupportWarmStartPolytope< IndexType >

Public Member Functions
	ConvexTpl ()
	Construct an uninitialized convex object.

	~ConvexTpl ()

	ConvexTpl (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.

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

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

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

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

ConvexTpl *	clone () const override
	Clone (deep copy).

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

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

virtual Matrix3s	computeMomentofInertia () const override
	based on http://number-none.com/blow/inertia/bb_inertia.doc

virtual Vec3s	computeCOM () const override
	compute center of mass

virtual Scalar	computeVolume () const override
	compute the volume

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.

Public Member Functions inherited from coal::ConvexBaseTpl< PolygonT::IndexType >
	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).

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

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.

NODE_TYPE	getNodeType () const
	get the node type

NODE_TYPE	getNodeType () const
	get the node type

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

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

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.

unsigned int	num_polygons

Public Attributes inherited from coal::ConvexBaseTpl< PolygonT::IndexType >
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)

Protected Member Functions
void	fillNeighbors ()

Protected Member Functions inherited from coal::ConvexBaseTpl< PolygonT::IndexType >
	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 OtherPolygonT >
static void	deepcopy (const ConvexTpl< PolygonT > source, ConvexTpl< OtherPolygonT > copy)

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

Additional Inherited Members
Static Public Member Functions inherited from coal::ConvexBaseTpl< PolygonT::IndexType >
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)

Static Public Attributes inherited from coal::ConvexBaseTpl< PolygonT::IndexType >
static constexpr size_t	num_vertices_large_convex_threshold
	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
	Number of support warm starts.

Protected Attributes inherited from coal::ConvexBaseTpl< PolygonT::IndexType >
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.

Detailed Description

template<typename PolygonT>
class coal::ConvexTpl< PolygonT >

Convex polytope.

Template Parameters

PolygonT the polygon class. It must have method size() and operator[](int i)

Member Typedef Documentation

◆ Base

template<typename PolygonT >

typedef ConvexBaseTpl<IndexType> coal::ConvexTpl< PolygonT >::Base

◆ IndexType

template<typename PolygonT >

typedef PolygonT::IndexType coal::ConvexTpl< PolygonT >::IndexType

◆ Neighbors

template<typename PolygonT >

typedef Base::Neighbors coal::ConvexTpl< PolygonT >::Neighbors

Constructor & Destructor Documentation

◆ ConvexTpl() [1/3]

template<typename PolygonT >

coal::ConvexTpl< PolygonT >::ConvexTpl ( )

inline

Construct an uninitialized convex object.

◆ ~ConvexTpl()

template<typename PolygonT >

coal::ConvexTpl< PolygonT >::~ConvexTpl ( )

inline

◆ ConvexTpl() [2/3]

template<typename PolygonT >

coal::ConvexTpl< PolygonT >::ConvexTpl	(	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.

Parameters

points_	list of 3D points
num_points_	number of 3D points
polygons_
num_polygons_	the number of polygons.

Note: num_polygons_ is not the allocated size of polygons_.

◆ ConvexTpl() [3/3]

template<typename PolygonT >

coal::ConvexTpl< PolygonT >::ConvexTpl ( const ConvexTpl< PolygonT > & other )

inline

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

Member Function Documentation

◆ base() [1/2]

template<typename PolygonT >

Base & coal::ConvexTpl< PolygonT >::base ( )

inline

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

◆ base() [2/2]

template<typename PolygonT >

const Base & coal::ConvexTpl< PolygonT >::base ( ) const

inline

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

◆ cast()

template<typename PolygonT >

template<typename OtherPolygonT >

ConvexTpl< OtherPolygonT > coal::ConvexTpl< PolygonT >::cast ( ) const

inline

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

◆ clone()

template<typename PolygonT >

ConvexTpl * coal::ConvexTpl< PolygonT >::clone ( ) const

inlineoverridevirtual

Clone (deep copy).

Reimplemented from coal::ConvexBaseTpl< PolygonT::IndexType >.

◆ computeCOM()

template<typename PolygonT >

Vec3s coal::ConvexTpl< PolygonT >::computeCOM ( ) const

overridevirtual

compute center of mass

Reimplemented from coal::CollisionGeometry.

◆ computeMomentofInertia()

template<typename PolygonT >

Matrix3s coal::ConvexTpl< PolygonT >::computeMomentofInertia ( ) const

overridevirtual

based on http://number-none.com/blow/inertia/bb_inertia.doc

Reimplemented from coal::CollisionGeometry.

◆ computeVolume()

template<typename PolygonT >

Scalar coal::ConvexTpl< PolygonT >::computeVolume ( ) const

overridevirtual

compute the volume

Reimplemented from coal::CollisionGeometry.

◆ deepcopy() [1/2]

template<typename PolygonT >

ConvexTpl * coal::ConvexTpl< PolygonT >::deepcopy ( ) const

inlineoverridevirtual

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

Reimplemented from coal::ConvexBaseTpl< PolygonT::IndexType >.

◆ deepcopy() [2/2]

template<typename PolygonT >

template<typename OtherPolygonT >

void coal::ConvexTpl< PolygonT >::deepcopy	(	const ConvexTpl< PolygonT > *	source,
		ConvexTpl< OtherPolygonT > *	copy
	)

staticprotected

◆ fillNeighbors()

template<typename PolygonT >

void coal::ConvexTpl< PolygonT >::fillNeighbors ( )

protected

◆ operator=()

template<typename PolygonT >

ConvexTpl< PolygonT > & coal::ConvexTpl< PolygonT >::operator= ( const ConvexTpl< PolygonT > & other )

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

◆ set()

template<typename PolygonT >

void coal::ConvexTpl< PolygonT >::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.

Parameters

points	list of 3D points
num_points	number of 3D points
polygons
num_polygons	the number of polygons.

Note: num_polygons is not the allocated size of polygons.

Member Data Documentation

◆ num_polygons

template<typename PolygonT >

unsigned int coal::ConvexTpl< PolygonT >::num_polygons

◆ polygons

template<typename PolygonT >

std::shared_ptr<std::vector<PolygonT> > coal::ConvexTpl< PolygonT >::polygons

An array of PolygonT object. PolygonT should contains a list of vertices for each polygon, in counter clockwise order.

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

include/coal/serialization/collision_object.h
include/coal/shape/convex.h
include/coal/shape/convex.hxx

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ IndexType

◆ Neighbors

Constructor & Destructor Documentation

◆ ConvexTpl() [1/3]

◆ ~ConvexTpl()

◆ ConvexTpl() [2/3]

◆ ConvexTpl() [3/3]

Member Function Documentation

◆ base() [1/2]

◆ base() [2/2]

◆ cast()

◆ clone()

◆ computeCOM()

◆ computeMomentofInertia()

◆ computeVolume()

◆ deepcopy() [1/2]

◆ deepcopy() [2/2]

◆ fillNeighbors()

◆ operator=()

◆ set()

Member Data Documentation

◆ num_polygons

◆ polygons