chrono::collision::ChConvexDecomposition Class Reference

Description

Base interface class for convex decomposition.

#include <ChConvexDecomposition.h>

Inheritance diagram for chrono::collision::ChConvexDecomposition:

Public Member Functions
	ChConvexDecomposition ()
	Basic constructor.
virtual	~ChConvexDecomposition ()
	Destructor.
virtual void	Reset (void)=0
	Reset the input mesh data.
virtual bool	AddTriangle (const ChVector<> &v1, const ChVector<> &v2, const ChVector<> &v3)=0
	Add a triangle, by passing three points for vertexes. More...
virtual bool	AddTriangle (const geometry::ChTriangle &t1)
	Add a triangle, by passing a ChTriangle object (that will be copied, not referenced). More...
virtual bool	AddTriangleMesh (const geometry::ChTriangleMesh &tm)
	Add a triangle mesh, by passing an entire ChTriangleMesh object. More...
virtual int	ComputeConvexDecomposition ()=0
	Perform the convex decomposition.
virtual unsigned int	GetHullCount ()=0
	Get the number of computed hulls after the convex decomposition.
virtual bool	GetConvexHullResult (unsigned int hullIndex, geometry::ChTriangleMesh &convextrimesh)=0
	Get the n-th computed convex hull, by filling a ChTriangleMesh object that is passed as a parameter.
virtual bool	GetConvexHullResult (unsigned int hullIndex, std::vector< ChVector< double > > &convexhull)=0
	Get the n-th computed convex hull, by filling a vector of points of the vertexes of the n-th hull that is passed as a parameter.
virtual bool	WriteConvexHullsAsChullsFile (ChStreamOutAscii &mstream)
	Write the convex decomposition to a ".chulls" file, where each hull is a sequence of x y z coords. More...
virtual void	WriteConvexHullsAsWavefrontObj (ChStreamOutAscii &mstream)=0
	Save the computed convex hulls as a Wavefront file using the '.obj' fileformat, with each hull as a separate group. More...

Member Function Documentation

AddTriangle() [1/2]

virtual bool chrono::collision::ChConvexDecomposition::AddTriangle ( const ChVector<> &  v1, const ChVector<> &  v2, const ChVector<> &  v3  )

pure virtual

Add a triangle, by passing three points for vertexes.

Note: the vertexes must be properly ordered (oriented triangle, normal pointing outside)

Implemented in chrono::collision::ChConvexDecompositionHACDv2, and chrono::collision::ChConvexDecompositionHACD.

AddTriangle() [2/2]

bool chrono::collision::ChConvexDecomposition::AddTriangle ( const geometry::ChTriangle &  t1 )

virtual

Add a triangle, by passing a ChTriangle object (that will be copied, not referenced).

Note: the vertexes must be properly ordered (oriented triangle, normal pointing outside)

AddTriangleMesh()

bool chrono::collision::ChConvexDecomposition::AddTriangleMesh ( const geometry::ChTriangleMesh &  tm )

virtual

Add a triangle mesh, by passing an entire ChTriangleMesh object.

Note: the triangles must define closed volumes (holes, gaps in edges, etc. may trouble the decomposition)

Reimplemented in chrono::collision::ChConvexDecompositionHACDv2, and chrono::collision::ChConvexDecompositionHACD.

WriteConvexHullsAsChullsFile()

bool chrono::collision::ChConvexDecomposition::WriteConvexHullsAsChullsFile ( ChStreamOutAscii &  mstream )

virtual

Write the convex decomposition to a ".chulls" file, where each hull is a sequence of x y z coords.

Can throw exceptions.

WriteConvexHullsAsWavefrontObj()

virtual void chrono::collision::ChConvexDecomposition::WriteConvexHullsAsWavefrontObj ( ChStreamOutAscii &  mstream )

pure virtual

Save the computed convex hulls as a Wavefront file using the '.obj' fileformat, with each hull as a separate group.

May throw exceptions if file locked etc.

Implemented in chrono::collision::ChConvexDecompositionHACDv2, and chrono::collision::ChConvexDecompositionHACD.

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

• /builds/uwsbel/chrono/src/chrono/collision/ChConvexDecomposition.h
• /builds/uwsbel/chrono/src/chrono/collision/ChConvexDecomposition.cpp