Description
Class for wrapping the V-HACD convex decomposition code by Khaled Mamou.
#include <ChConvexDecomposition.h>
Public Member Functions | |
| ChConvexDecompositionVHACD () | |
| Basic constructor. | |
| virtual | ~ChConvexDecompositionVHACD () |
| 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... | |
| void | SetParameters (unsigned int max_chull_count=256, unsigned int max_verts_per_chull=64, unsigned int voxel_resolution=1000, double min_volume_perc_error=1.0, unsigned int max_recursion_depth=10, bool shrink_wrap=true) |
| 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 | AddTriangleMesh (const ChTriangleMesh &tm) |
| Add a triangle mesh, by passing an entire ChTriangleMesh object. 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.
◆ 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::ChConvexDecompositionVHACD::SetParameters | ( | unsigned int | max_chull_count = 256, |
| unsigned int | max_verts_per_chull = 64, |
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| unsigned int | voxel_resolution = 1000, |
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| double | min_volume_perc_error = 1.0, |
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| unsigned int | max_recursion_depth = 10, |
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| bool | shrink_wrap = true |
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| ) |
Set the parameters for this convex decomposition algorithm.
Use this function before calling ComputeConvexDecomposition().
- Parameters
-
max_chull_count max number of chulls to produce max_verts_per_chull max number of vertices per chull voxel_resolution voxel resolution to use min_volume_perc_error min percentage of voxel volume wrt chull allowed max_recursion_depth max recursion depth shrink_wrap shrink voxel positions to the source mesh on output
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
