Description

A triangle geometric shape for collisions and visualization.

#include <ChTriangle.h>

Inheritance diagram for chrono::geometry::ChTriangle:

Collaboration diagram for chrono::geometry::ChTriangle:

Public Member Functions
	ChTriangle (const ChVector<> &mp1, const ChVector<> &mp2, const ChVector<> &mp3)

	ChTriangle (const ChTriangle &source)

virtual ChTriangle *	Clone () const override
	"Virtual" copy constructor (covariant return type).

ChTriangle &	operator= (const ChTriangle &source)
	Assignment operator: copy from another triangle.

virtual GeometryType	GetClassType () const override
	Get the class type as unique numerical ID (faster than using ChronoRTTI mechanism). More...

virtual void	GetBoundingBox (double &xmin, double &xmax, double &ymin, double &ymax, double &zmin, double &zmax, ChMatrix33<> *Rot=NULL) const override
	Compute bounding box. More...

virtual ChVector	Baricenter () const override
	Compute center of mass It should be overridden by inherited classes.

virtual void	CovarianceMatrix (ChMatrix33<> &C) const override
	Compute the 3x3 covariance matrix (only the diagonal and upper part) It should be overridden by inherited classes.

virtual int	GetManifoldDimension () const override
	This is a surface.

bool	IsDegenerated () const

bool	Normal (ChVector<> &N) const

ChVector	GetNormal () const

double	PointTriangleDistance (ChVector<> B, double &mu, double &mv, bool &is_into, ChVector<> &Bprojected)
	Given point B, computes the distance from this triangle plane, returning also the projection of point on the plane and other infos. More...

virtual void	ArchiveOUT (ChArchiveOut &marchive) override
	Method to allow serialization of transient data to archives.

virtual void	ArchiveIN (ChArchiveIn &marchive) override
	Method to allow de-serialization of transient data from archives.

Public Member Functions inherited from chrono::geometry::ChGeometry
	ChGeometry (const ChGeometry &source)

virtual void	InflateBoundingBox (double &xmin, double &xmax, double &ymin, double &ymax, double &zmin, double &zmax, ChMatrix33<> *Rot=NULL) const
	Enlarge a previous existing bounding box. More...

virtual double	Size () const
	Returns the radius of the sphere which can enclose the geometry.

virtual void	Update ()
	Generic update of internal data. More...

Static Public Member Functions
static double	PointTriangleDistance (ChVector<> B, ChVector<> &A1, ChVector<> &A2, ChVector<> &A3, double &mu, double &mv, bool &is_into, ChVector<> &Bprojected)
	Given point B and a generic triangle, computes the distance from the triangle plane, returning also the projection of point on the plane and other infos. More...

static double	PointLineDistance (ChVector<> &p, ChVector<> &dA, ChVector<> &dB, double &mu, bool &is_insegment)
	Calculate distance between a point p and a line identified with segment dA,dB. More...

Public Attributes
ChVector	p1
	first triangle vertex

ChVector	p2
	second triangle vertex

ChVector	p3
	third triangle vertex

Additional Inherited Members
Public Types inherited from chrono::geometry::ChGeometry
enum	GeometryType { NONE, SPHERE, BOX, CYLINDER, TRIANGLE, CAPSULE, CONE, LINE, LINE_ARC, LINE_BEZIER, LINE_CAM, LINE_PATH, LINE_POLY, LINE_SEGMENT, ROUNDED_BOX, ROUNDED_CYLINDER, ROUNDED_CONE, TRIANGLEMESH, TRIANGLEMESH_CONNECTED, TRIANGLEMESH_SOUP }
	Enumeration of geometric objects.

Member Function Documentation

◆ GetBoundingBox()

void chrono::geometry::ChTriangle::GetBoundingBox	(	double &	xmin,
		double &	xmax,
		double &	ymin,
		double &	ymax,
		double &	zmin,
		double &	zmax,
		ChMatrix33<> *	Rot = `NULL`
	)		const

overridevirtual

Compute bounding box.

If a matrix Rot is not null, it should compute bounding box along the rotated directions represented by that transformation matrix Rot. It must be overridden by inherited classes.

Reimplemented from chrono::geometry::ChGeometry.

◆ GetClassType()

virtual GeometryType chrono::geometry::ChTriangle::GetClassType ( ) const

inlineoverridevirtual

Get the class type as unique numerical ID (faster than using ChronoRTTI mechanism).

Each inherited class must return an unique ID.

Reimplemented from chrono::geometry::ChGeometry.

◆ PointLineDistance()

double chrono::geometry::ChTriangle::PointLineDistance	(	ChVector<> &	p,
		ChVector<> &	dA,
		ChVector<> &	dB,
		double &	mu,
		bool &	is_insegment
	)

static

Calculate distance between a point p and a line identified with segment dA,dB.

Returns distance. Also, the mu value reference tells if the nearest projection of point on line falls into segment (for mu 0...1)

Returns: the distance

Parameters

p	point to be measured
dA	a point on the line
dB	another point on the line
mu	parametric coord: if in 0..1 interval, projection is between dA and dB
is_insegment	returns true if projected point is between dA and dB

◆ PointTriangleDistance() [1/2]

double chrono::geometry::ChTriangle::PointTriangleDistance	(	ChVector<>	B,
		ChVector<> &	A1,
		ChVector<> &	A2,
		ChVector<> &	A3,
		double &	mu,
		double &	mv,
		bool &	is_into,
		ChVector<> &	Bprojected
	)

static

Given point B and a generic triangle, computes the distance from the triangle plane, returning also the projection of point on the plane and other infos.

Returns: the signed distance

Parameters

B	point to be measured
A1	point of triangle
A2	point of triangle
A3	point of triangle
mu	returns U parametric coord of projection
mv	returns V parametric coord of projection
is_into	returns true if projection falls on the triangle
Bprojected	returns the position of the projected point

◆ PointTriangleDistance() [2/2]

double chrono::geometry::ChTriangle::PointTriangleDistance	(	ChVector<>	B,
		double &	mu,
		double &	mv,
		bool &	is_into,
		ChVector<> &	Bprojected
	)

inline

Given point B, computes the distance from this triangle plane, returning also the projection of point on the plane and other infos.

Returns: the signed distance

Parameters

B	point to be measured
mu	returns U parametric coord of projection
mv	returns V parametric coord of projection
is_into	returns true if projection falls on the triangle
Bprojected	returns the position of the projected point

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

/builds/uwsbel/chrono/src/chrono/geometry/ChTriangle.h
/builds/uwsbel/chrono/src/chrono/geometry/ChTriangle.cpp

Description

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Member Function Documentation

◆ GetBoundingBox()

◆ GetClassType()

◆ PointLineDistance()

◆ PointTriangleDistance() [1/2]

◆ PointTriangleDistance() [2/2]