tesseract_collision::VHACD Namespace Reference

Classes
class	CircularList
	CircularList class. More...
class	CircularListElement
	CircularListElement class. More...
class	ICHull
class	IVHACD
struct	Material
class	Mesh
	Triangular mesh data structure. More...
class	Mutex
class	MyHACD_API
struct	Plane
class	PrimitiveSet
class	RaycastMesh
class	SArray
	SArray. More...
struct	Tetrahedron
class	TetrahedronSet
class	Timer
class	TMMEdge
	Edge data structure used in a triangular manifold mesh (TMM). More...
class	TMMesh
	triangular manifold mesh data structure. More...
class	TMMTriangle
	Triangle data structure used in a triangular manifold mesh (TMM). More...
class	TMMVertex
	Vertex data structure used in a triangular manifold mesh (TMM). More...
class	Vec2
	Vector dim 2. More...
class	Vec3
	Vector dim 3. More...
class	VHACD
class	Volume
struct	Voxel
class	VoxelSet

Enumerations
enum	ICHullError {   ICHullErrorOK = 0 , ICHullErrorCoplanarPoints , ICHullErrorNoVolume , ICHullErrorInconsistent ,   ICHullErrorNotEnoughPoints }
	Incremental Convex Hull algorithm (cf. http://cs.smith.edu/~orourke/books/ftp.html ). More...
enum	AXIS { AXIS_X = 0 , AXIS_Y = 1 , AXIS_Z = 2 }
enum	VOXEL_VALUE { PRIMITIVE_UNDEFINED = 0 , PRIMITIVE_OUTSIDE_SURFACE = 1 , PRIMITIVE_INSIDE_SURFACE = 2 , PRIMITIVE_ON_SURFACE = 3 }

Functions
template<typename T >
bool	Colinear (const Vec3< T > &a, const Vec3< T > &b, const Vec3< T > &c)
template<typename T >
const T	ComputeVolume4 (const Vec3< T > &a, const Vec3< T > &b, const Vec3< T > &c, const Vec3< T > &d)
template<typename T >
Vec3< T >	operator* (T lhs, const Vec3< T > &rhs)
template<typename T >
Vec2< T >	operator* (T lhs, const Vec2< T > &rhs)
template<typename T >
bool	InsideTriangle (const Vec2< T > &a, const Vec2< T > &b, const Vec2< T > &c, const Vec2< T > &p)
int32_t	TriBoxOverlap (const Vec3< double > &boxcenter, const Vec3< double > &boxhalfsize, const Vec3< double > &triver0, const Vec3< double > &triver1, const Vec3< double > &triver2)
template<class T >
void	ComputeAlignedPoint (const T *const points, const uint32_t idx, const Vec3< double > &barycenter, const double(&rot)[3][3], Vec3< double > &pt)
template<>
void	ComputeAlignedPoint< float > (const float *const points, const uint32_t idx, const Vec3< double > &barycenter, const double(&rot)[3][3], Vec3< double > &pt)
template<>
void	ComputeAlignedPoint< double > (const double *const points, const uint32_t idx, const Vec3< double > &barycenter, const double(&rot)[3][3], Vec3< double > &pt)
IVHACD *	CreateVHACD ()
IVHACD *	CreateVHACD_ASYNC ()
double	ComputePreferredCuttingDirection (const PrimitiveSet *const tset, Vec3< double > &dir)
void	ComputeAxesAlignedClippingPlanes (const VoxelSet &vset, const short downsampling, SArray< Plane > &planes)
void	ComputeAxesAlignedClippingPlanes (const TetrahedronSet &tset, const short downsampling, SArray< Plane > &planes)
void	RefineAxesAlignedClippingPlanes (const VoxelSet &vset, const Plane &bestPlane, const short downsampling, SArray< Plane > &planes)
void	RefineAxesAlignedClippingPlanes (const TetrahedronSet &tset, const Plane &bestPlane, const short downsampling, SArray< Plane > &planes)
double	ComputeLocalConcavity (const double volume, const double volumeCH)
double	ComputeConcavity (const double volume, const double volumeCH, const double volume0)
void	AddPoints (const Mesh *const mesh, SArray< Vec3< double > > &pts)
void	ComputeConvexHull (const Mesh *const ch1, const Mesh *const ch2, SArray< Vec3< double > > &pts, Mesh *const combinedCH)
int32_t	PlaneBoxOverlap (const Vec3< double > &normal, const Vec3< double > &vert, const Vec3< double > &maxbox)
void	Diagonalize (const double(&A)[3][3], double(&Q)[3][3], double(&D)[3][3])

Enumeration Type Documentation

AXIS

enum tesseract_collision::VHACD::AXIS

Enumerator
AXIS_X
AXIS_Y
AXIS_Z

ICHullError

enum tesseract_collision::VHACD::ICHullError

Incremental Convex Hull algorithm (cf. http://cs.smith.edu/~orourke/books/ftp.html ).

Enumerator
ICHullErrorOK
ICHullErrorCoplanarPoints
ICHullErrorNoVolume
ICHullErrorInconsistent
ICHullErrorNotEnoughPoints

VOXEL_VALUE

enum tesseract_collision::VHACD::VOXEL_VALUE

Enumerator
PRIMITIVE_UNDEFINED
PRIMITIVE_OUTSIDE_SURFACE
PRIMITIVE_INSIDE_SURFACE
PRIMITIVE_ON_SURFACE

Function Documentation

AddPoints()

void tesseract_collision::VHACD::AddPoints	(	const Mesh *const	mesh,
		SArray< Vec3< double > > &	pts
	)

Colinear()

template<typename T >

bool tesseract_collision::VHACD::Colinear ( const Vec3< T > &  a, const Vec3< T > &  b, const Vec3< T > &  c  )

inline

ComputeAlignedPoint()

template<class T >

void tesseract_collision::VHACD::ComputeAlignedPoint ( const T *const  points, const uint32_t  idx, const Vec3< double > &  barycenter, const double(&)  rot[3][3], Vec3< double > &  pt  )

inline

ComputeAlignedPoint< double >()

template<>

void tesseract_collision::VHACD::ComputeAlignedPoint< double > ( const double *const  points, const uint32_t  idx, const Vec3< double > &  barycenter, const double(&)  rot[3][3], Vec3< double > &  pt  )

inline

ComputeAlignedPoint< float >()

template<>

void tesseract_collision::VHACD::ComputeAlignedPoint< float > ( const float *const  points, const uint32_t  idx, const Vec3< double > &  barycenter, const double(&)  rot[3][3], Vec3< double > &  pt  )

inline

ComputeAxesAlignedClippingPlanes() [1/2]

void tesseract_collision::VHACD::ComputeAxesAlignedClippingPlanes	(	const TetrahedronSet &	tset,
		const short	downsampling,
		SArray< Plane > &	planes
	)

ComputeAxesAlignedClippingPlanes() [2/2]

void tesseract_collision::VHACD::ComputeAxesAlignedClippingPlanes	(	const VoxelSet &	vset,
		const short	downsampling,
		SArray< Plane > &	planes
	)

ComputeConcavity()

double tesseract_collision::VHACD::ComputeConcavity ( const double  volume, const double  volumeCH, const double  volume0  )

inline

ComputeConvexHull()

void tesseract_collision::VHACD::ComputeConvexHull	(	const Mesh *const	ch1,
		const Mesh *const	ch2,
		SArray< Vec3< double > > &	pts,
		Mesh *const	combinedCH
	)

ComputeLocalConcavity()

double tesseract_collision::VHACD::ComputeLocalConcavity ( const double  volume, const double  volumeCH  )

inline

ComputePreferredCuttingDirection()

double tesseract_collision::VHACD::ComputePreferredCuttingDirection	(	const PrimitiveSet *const	tset,
		Vec3< double > &	dir
	)

ComputeVolume4()

template<typename T >

const T tesseract_collision::VHACD::ComputeVolume4 ( const Vec3< T > &  a, const Vec3< T > &  b, const Vec3< T > &  c, const Vec3< T > &  d  )

inline

CreateVHACD()

IVHACD * tesseract_collision::VHACD::CreateVHACD

(

void

)

CreateVHACD_ASYNC()

IVHACD * tesseract_collision::VHACD::CreateVHACD_ASYNC

(

void

)

Diagonalize()

void tesseract_collision::VHACD::Diagonalize	(	const double(&)	A[3][3],
		double(&)	Q[3][3],
		double(&)	D[3][3]
	)

InsideTriangle()

template<typename T >

bool tesseract_collision::VHACD::InsideTriangle ( const Vec2< T > &  a, const Vec2< T > &  b, const Vec2< T > &  c, const Vec2< T > &  p  )

inline

operator*() [1/2]

template<typename T >

Vec2< T > tesseract_collision::VHACD::operator* ( T  lhs, const Vec2< T > &  rhs  )

inline

operator*() [2/2]

template<typename T >

Vec3< T > tesseract_collision::VHACD::operator* ( T  lhs, const Vec3< T > &  rhs  )

inline

PlaneBoxOverlap()

int32_t tesseract_collision::VHACD::PlaneBoxOverlap	(	const Vec3< double > &	normal,
		const Vec3< double > &	vert,
		const Vec3< double > &	maxbox
	)

RefineAxesAlignedClippingPlanes() [1/2]

void tesseract_collision::VHACD::RefineAxesAlignedClippingPlanes	(	const TetrahedronSet &	tset,
		const Plane &	bestPlane,
		const short	downsampling,
		SArray< Plane > &	planes
	)

RefineAxesAlignedClippingPlanes() [2/2]

void tesseract_collision::VHACD::RefineAxesAlignedClippingPlanes	(	const VoxelSet &	vset,
		const Plane &	bestPlane,
		const short	downsampling,
		SArray< Plane > &	planes
	)

TriBoxOverlap()

int32_t tesseract_collision::VHACD::TriBoxOverlap	(	const Vec3< double > &	boxcenter,
		const Vec3< double > &	boxhalfsize,
		const Vec3< double > &	triver0,
		const Vec3< double > &	triver1,
		const Vec3< double > &	triver2
	)