Description
Class for wrapping the HACD convex decomposition code by Khaled Mamou.
#include <ChConvexDecomposition.h>
Public Member Functions | |
| ChConvexDecompositionHACD () | |
| Basic constructor. | |
| virtual | ~ChConvexDecompositionHACD () |
| Destructor. | |
| virtual void | Reset () override |
| Reset the input mesh data. | |
| virtual bool | AddTriangle (const ChVector3d &v1, const ChVector3d &v2, const ChVector3d &v3) override |
| Add a triangle, by passing three points for vertices. More... | |
| virtual bool | AddTriangleMesh (const ChTriangleMesh &tm) override |
| Add a triangle mesh soup, by passing an entire ChTriangleMesh object. More... | |
| void | SetParameters (unsigned int num_clusters=2, unsigned int target_decimation=0, double small_cluster_threshold=0.25, bool add_faces_points=false, bool add_extra_dist_points=false, double concavity=100.0, double cc_connect_dist=30, double volume_weight=0.0, double compacity_alpha=0.1, unsigned int num_vertices_per_CH=50) |
| Set the parameters for this convex decomposition algorithm. More... | |
| virtual unsigned int | ComputeConvexDecomposition () override |
| Perform the convex decomposition. More... | |
| virtual unsigned int | GetHullCount () override |
| Get the number of computed hulls after the convex decomposition. | |
| virtual bool | GetConvexHullResult (unsigned int hull_index, ChTriangleMesh &convextrimesh) override |
| Get the n-th computed convex hull, by filling a ChTriangleMesh object that is passed as a parameter. More... | |
| virtual bool | GetConvexHullResult (unsigned int hull_index, std::vector< ChVector3d > &convexhull) override |
| Get the n-th computed convex hull, by filling a vector with related vertices. More... | |
| virtual void | WriteConvexHullsAsWavefrontObj (std::ostream &stream) override |
| Write the convex decomposition to a Wavefront '.obj' file, where each hull is a separate group. | |
 Public Member Functions inherited from chrono::ChConvexDecomposition | |
| ChConvexDecomposition () | |
| Basic constructor. | |
| virtual | ~ChConvexDecomposition () |
| Destructor. | |
| virtual bool | AddTriangle (const ChTriangle &t1) |
| Add a triangle, by passing a ChTriangle object (that will be copied, not referenced). More... | |
| virtual bool | WriteConvexHullsAsChullsFile (std::ostream &stream) |
| Write the convex decomposition to a '.chulls' file, where each hull is a sequence of non-repeated vertices. | |
Member Function Documentation
◆ AddTriangle()
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overridevirtual |
Add a triangle, by passing three points for vertices.
Note: the vertices must have proper winding (oriented triangle, normal pointing outside).
Implements chrono::ChConvexDecomposition.
◆ AddTriangleMesh()
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overridevirtual |
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 vertices must have proper winding (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::ChConvexDecomposition.
◆ ComputeConvexDecomposition()
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overridevirtual |
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::ChConvexDecomposition.
◆ GetConvexHullResult() [1/2]
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overridevirtual |
Get the n-th computed convex hull, by filling a ChTriangleMesh object that is passed as a parameter.
Note 1: passed ChTriangleMesh is cleared before populating it. Note 2: passed ChTriangleMesh is filled with disconnected triangles.
Implements chrono::ChConvexDecomposition.
◆ GetConvexHullResult() [2/2]
|
overridevirtual |
Get the n-th computed convex hull, by filling a vector with related vertices.
Note: passed vector of points is cleared before populating it.
Implements chrono::ChConvexDecomposition.
◆ SetParameters()
| void chrono::ChConvexDecompositionHACD::SetParameters | ( | unsigned int | num_clusters = 2, |
| unsigned int | target_decimation = 0, |
||
| double | small_cluster_threshold = 0.25, |
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| bool | add_faces_points = false, |
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| bool | add_extra_dist_points = false, |
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| double | concavity = 100.0, |
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| double | cc_connect_dist = 30, |
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| double | volume_weight = 0.0, |
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| double | compacity_alpha = 0.1, |
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| unsigned int | num_vertices_per_CH = 50 |
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| ) |
Set the parameters for this convex decomposition algorithm.
Use this function before calling ComputeConvexDecomposition().
- Parameters
-
num_clusters minimum number of clusters generated target_decimation if 0 no decimation, otherwise number of vertices in decimated mesh small_cluster_threshold threshold for small cluster grouping, as percentage of tot mesh surface add_faces_points add points in faces in concavity add_extra_dist_points add extra points in concavity concavity max allowed concavity cc_connect_dist max allowed distance for cc to be connected volume_weight 'beta' parameter, ie. volume weight compacity_alpha 'alpha' parameter, ie. compacity weight num_vertices_per_CH max vertices per conxex hull
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
