chrono::collision::ChConvexDecompositionHACDv2 Class Reference

Description

Class for wrapping the HACD convex decomposition code revisited by John Ratcliff.

#include <ChCConvexDecomposition.h>

Inheritance diagram for chrono::collision::ChConvexDecompositionHACDv2:

Collaboration diagram for chrono::collision::ChConvexDecompositionHACDv2:

Public Member Functions
	ChConvexDecompositionHACDv2 ()
	Basic constructor.
virtual	~ChConvexDecompositionHACDv2 ()
	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 mesh soup, by passing an entire ChTriangleMesh object. More...
void	SetParameters (unsigned int mMaxHullCount=256, unsigned int mMaxMergeHullCount=256, unsigned int mMaxHullVertices=64, float mConcavity=0.2f, float mSmallClusterThreshold=0.0f, float mFuseTolerance=1e-9)
	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()

bool chrono::collision::ChConvexDecompositionHACDv2::AddTriangle ( const ChVector<> &  v1, const ChVector<> &  v2, const ChVector<> &  v3  )

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()

bool chrono::collision::ChConvexDecompositionHACDv2::AddTriangleMesh ( const geometry::ChTriangleMesh &  tm )

virtual

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()

int chrono::collision::ChConvexDecompositionHACDv2::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::ChConvexDecompositionHACDv2::SetParameters	(	unsigned int	mMaxHullCount = 256,
		unsigned int	mMaxMergeHullCount = 256,
		unsigned int	mMaxHullVertices = 64,
		float	mConcavity = 0.2f,
		float	mSmallClusterThreshold = 0.0f,
		float	mFuseTolerance = 1e-9
	)

Set the parameters for this convex decomposition algorithm.

Use this function before calling ComputeConvexDecomposition(). Repeated vertices will be fused with mFuseTolerance tolerance.

WriteConvexHullsAsWavefrontObj()

void chrono::collision::ChConvexDecompositionHACDv2::WriteConvexHullsAsWavefrontObj ( ChStreamOutAscii &  mstream )

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.

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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