Description
Class for wrapping the HACD convex decomposition code by Khaled Mamou (in the convexdecomposition/ directory) so that it is easier to use it by passing the Chrono structures of type ChTriangleMesh, ChTriangle, etc.
#include <ChCConvexDecomposition.h>
Public Member Functions | |
| ChConvexDecompositionHACD () | |
| Basic constructor. | |
| virtual | ~ChConvexDecompositionHACD () |
| Destructor. | |
| virtual void | Reset (void) |
| Reset the input mesh data. | |
| virtual bool | AddTriangle (const ChVector<> &v1, const ChVector<> &v2, const ChVector<> &v3) |
| Add a triangle, by passing three points for vertexes. More... | |
| virtual bool | AddTriangleMesh (const geometry::ChTriangleMesh &tm) |
| Add a triangle, by passing a ChTriangle object (that will be copied, not referenced). More... | |
| void | SetParameters (unsigned int nClusters=2, unsigned int targetDecimation=0, double smallClusterThreshold=0.25, bool addFacesPoints=false, bool addExtraDistPoints=false, double concavity=100.0, double ccConnectDist=30, double volumeWeight=0.0, double compacityAlpha=0.1, unsigned int nVerticesPerCH=50) |
| Set the parameters for this convex decomposition algorithm. More... | |
| virtual int | ComputeConvexDecomposition () |
| Perform the convex decomposition. More... | |
| virtual unsigned int | GetHullCount () |
| Get the number of computed hulls after the convex decomposition. | |
| virtual bool | GetConvexHullResult (unsigned int hullIndex, geometry::ChTriangleMesh &convextrimesh) |
| 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) |
| 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 void | WriteConvexHullsAsWavefrontObj (ChStreamOutAscii &mstream) |
| Save the computed convex hulls as a Wavefront file using the '.obj' fileformat, with each hull as a separate group. More... | |
 Public Member Functions inherited from chrono::collision::ChConvexDecomposition | |
| ChConvexDecomposition () | |
| Basic constructor. | |
| virtual | ~ChConvexDecomposition () |
| Destructor. | |
| virtual bool | AddTriangle (const geometry::ChTriangle &t1) |
| Add a triangle, by passing a ChTriangle object (that will be copied, not referenced). More... | |
| 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... | |
Member Function Documentation
◆ AddTriangle()
|
virtual |
Add a triangle, by passing three points for vertexes.
Note: the vertexes must be properly ordered (oriented triangle, normal pointing outside)
Implements chrono::collision::ChConvexDecomposition.
◆ AddTriangleMesh()
|
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) Add a triangle mesh soup, by passing an entire ChTriangleMesh object. Note 1: the triangle mesh does not need connectivity information (a basic 'triangle soup' is enough) Note 2: all vertexes must be properly ordered (oriented triangles, normals pointing outside). Note 3: the triangles must define closed volumes (holes, gaps in edges, etc. may trouble the decomposition)
Reimplemented from chrono::collision::ChConvexDecomposition.
◆ ComputeConvexDecomposition()
|
virtual |
Perform the convex decomposition.
This operation is time consuming, and it may take a while to complete. Quality of the results can depend a lot on the parameters. Also, meshes with triangles that are not well oriented (normals always pointing outside) or with gaps/holes, may give wrong results.
Implements chrono::collision::ChConvexDecomposition.
◆ SetParameters()
| void chrono::collision::ChConvexDecompositionHACD::SetParameters | ( | unsigned int | nClusters = 2, |
| unsigned int | targetDecimation = 0, |
||
| double | smallClusterThreshold = 0.25, |
||
| bool | addFacesPoints = false, |
||
| bool | addExtraDistPoints = false, |
||
| double | concavity = 100.0, |
||
| double | ccConnectDist = 30, |
||
| double | volumeWeight = 0.0, |
||
| double | compacityAlpha = 0.1, |
||
| unsigned int | nVerticesPerCH = 50 |
||
| ) |
Set the parameters for this convex decomposition algorithm.
Use this function before calling ComputeConvexDecomposition().
- Parameters
-
nClusters Minimum number of clusters targetDecimation If 0 no decimation, otherwise n.of vertexes in decimated mesh smallClusterThreshold Threshold for small cluster grouping addFacesPoints Add points in faces in concavity addExtraDistPoints Add extra points in concavity concavity Max allowed concavity ccConnectDist Max allowed distance for cc to be connected volumeWeight 'beta' parameter, ie. volume weight compacityAlpha 'alpha' paramater nVerticesPerCH Max vertices for cc.
◆ WriteConvexHullsAsWavefrontObj()
|
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.
Implements chrono::collision::ChConvexDecomposition.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/collision/ChCConvexDecomposition.h
- /builds/uwsbel/chrono/src/chrono/collision/ChCConvexDecomposition.cpp
