convex_decomposition_vhacd.h

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#ifndef TESSERACT_COLLISION_CONVEX_DECOMPOSITION_VHACD_H
#define TESSERACT_COLLISION_CONVEX_DECOMPOSITION_VHACD_H
 
#include <tesseract_collision/core/convex_decomposition.h>
 
namespace tesseract_collision
{
struct VHACDParameters
{
  double concavity{ 0.001 };
  double alpha{ 0.05 };
  double beta{ 0.05 };
  double min_volume_per_ch{ 0.0001 };
  uint32_t resolution{ 1000 };
  uint32_t max_num_vertices_per_ch{ 256 };
  uint32_t plane_downsampling{ 4 };
  uint32_t convexhull_downsampling{ 4 };
  uint32_t pca{ 0 };
  uint32_t mode{ 0 };  // 0: voxel-based (recommended), 1: tetrahedron-based
  uint32_t convexhull_approximation{ 1U };
  uint32_t ocl_acceleration{ 1U };
  uint32_t max_convehulls{ 1024 };
  bool project_hull_vertices{ true };
 
  void print() const;
};
 
class ConvexDecompositionVHACD : public ConvexDecomposition
{
public:
  using Ptr = std::shared_ptr<ConvexDecompositionVHACD>;
  using ConstPtr = std::shared_ptr<const ConvexDecompositionVHACD>;
 
  ConvexDecompositionVHACD() = default;
  ConvexDecompositionVHACD(const VHACDParameters& params);
 
  std::vector<tesseract_geometry::ConvexMesh::Ptr> compute(const tesseract_common::VectorVector3d& vertices,
                                                           const Eigen::VectorXi& faces) const override;
 
private:
  VHACDParameters params_;
};
 
}  // namespace tesseract_collision
#endif  // TESSERACT_COLLISION_CONVEX_DECOMPOSITION_VHACD_H