#include <vhacdVHACD.h>

Inheritance diagram for tesseract_collision::VHACD::VHACD:

Collaboration diagram for tesseract_collision::VHACD::VHACD:

[legend]

Public Member Functions
	VHACD ()
	Constructor. More...

uint32_t	GetNConvexHulls () const override

void	Cancel () override

void	GetConvexHull (uint32_t index, ConvexHull &ch) const override

void	Clean () override

void	Release () override

bool	Compute (float const points, uint32_t nPoints, uint32_t const triangles, uint32_t nTriangles, const Parameters &params) override

bool	Compute (double const points, uint32_t nPoints, uint32_t const triangles, uint32_t nTriangles, const Parameters &params) override

bool	OCLInit (void const oclDevice, VHACD::IVHACD::IUserLogger const logger=nullptr) override

bool	OCLRelease (IUserLogger const *logger=nullptr) override

virtual bool	ComputeCenterOfMass (std::array< double, 3 > &centerOfMass) const override

Public Member Functions inherited from tesseract_collision::VHACD::IVHACD
	IVHACD ()=default

virtual	~IVHACD ()=default

	IVHACD (const IVHACD &)=default

IVHACD &	operator= (const IVHACD &)=default

	IVHACD (IVHACD &&)=default

IVHACD &	operator= (IVHACD &&)=default

virtual void	Cancel ()=0

virtual bool	Compute (float const points, uint32_t countPoints, uint32_t const triangles, uint32_t countTriangles, const Parameters &params)=0

virtual bool	Compute (double const points, uint32_t countPoints, uint32_t const triangles, uint32_t countTriangles, const Parameters &params)=0

virtual uint32_t	GetNConvexHulls () const =0

virtual void	GetConvexHull (uint32_t index, ConvexHull &ch) const =0

virtual void	Clean ()=0

virtual void	Release ()=0

virtual bool	OCLInit (void const oclDevice, IUserLogger const logger=nullptr)=0

virtual bool	OCLRelease (IUserLogger const *logger=nullptr)=0

virtual bool	ComputeCenterOfMass (std::array< double, 3 > &centerOfMass) const =0

virtual bool	IsReady () const

Private Member Functions
void	SetCancel (bool cancel)

bool	GetCancel ()

void	Update (const double stageProgress, const double operationProgress, const Parameters &params)

void	Init ()

void	ComputePrimitiveSet (const Parameters &params)

void	ComputeACD (const Parameters &params)

void	MergeConvexHulls (const Parameters &params)

void	SimplifyConvexHull (Mesh *const ch, const size_t nvertices, const double minVolume)

void	SimplifyConvexHulls (const Parameters &params)

void	ComputeBestClippingPlane (const PrimitiveSet *inputPSet, const double volume, const SArray< Plane > &planes, const Vec3< double > &preferredCuttingDirection, const double w, const double alpha, const double beta, const int32_t convexhullDownsampling, const double progress0, const double progress1, Plane &bestPlane, double &minConcavity, const Parameters &params)

template<class T >
void	AlignMesh (const T const points, const uint32_t stridePoints, const uint32_t nPoints, const int32_t const triangles, const uint32_t strideTriangles, const uint32_t nTriangles, const Parameters &params)

template<class T >
void	VoxelizeMesh (const T const points, const uint32_t stridePoints, const uint32_t nPoints, const int32_t const triangles, const uint32_t strideTriangles, const uint32_t nTriangles, const Parameters &params)

template<class T >
bool	ComputeACD (const T const points, const uint32_t nPoints, const uint32_t const triangles, const uint32_t nTriangles, const Parameters &params)

Private Attributes
RaycastMesh *	mRaycastMesh { nullptr }

SArray< Mesh * >	m_convexHulls

std::string	m_stage

std::string	m_operation

double	m_overallProgress

double	m_stageProgress

double	m_operationProgress

double	m_rot [3][3]

double	m_volumeCH0

Vec3< double >	m_barycenter

Timer	m_timer

size_t	m_dim

Volume *	m_volume

PrimitiveSet *	m_pset

Mutex	m_cancelMutex

bool	m_cancel

int32_t	m_ompNumProcessors

Constructor & Destructor Documentation

◆ VHACD()

tesseract_collision::VHACD::VHACD::VHACD ( )

inline

Constructor.

Member Function Documentation

◆ AlignMesh()

template<class T >

void tesseract_collision::VHACD::VHACD::AlignMesh	(	const T *const	points,
		const uint32_t	stridePoints,
		const uint32_t	nPoints,
		const int32_t *const	triangles,
		const uint32_t	strideTriangles,
		const uint32_t	nTriangles,
		const Parameters &	params
	)

inlineprivate

◆ Cancel()

void tesseract_collision::VHACD::VHACD::Cancel ( )

inlineoverridevirtual

Implements tesseract_collision::VHACD::IVHACD.

◆ Clean()

void tesseract_collision::VHACD::VHACD::Clean ( )

inlineoverridevirtual

Implements tesseract_collision::VHACD::IVHACD.

◆ Compute() [1/2]

bool tesseract_collision::VHACD::VHACD::Compute	(	double const *	points,
		uint32_t	nPoints,
		uint32_t const *	triangles,
		uint32_t	nTriangles,
		const Parameters &	params
	)

overridevirtual

Implements tesseract_collision::VHACD::IVHACD.

◆ Compute() [2/2]

bool tesseract_collision::VHACD::VHACD::Compute	(	float const *	points,
		uint32_t	nPoints,
		uint32_t const *	triangles,
		uint32_t	nTriangles,
		const Parameters &	params
	)

overridevirtual

Implements tesseract_collision::VHACD::IVHACD.

◆ ComputeACD() [1/2]

void tesseract_collision::VHACD::VHACD::ComputeACD ( const Parameters & params )

private

◆ ComputeACD() [2/2]

template<class T >

bool tesseract_collision::VHACD::VHACD::ComputeACD	(	const T *const	points,
		const uint32_t	nPoints,
		const uint32_t *const	triangles,
		const uint32_t	nTriangles,
		const Parameters &	params
	)

inlineprivate

◆ ComputeBestClippingPlane()

void tesseract_collision::VHACD::VHACD::ComputeBestClippingPlane	(	const PrimitiveSet *	inputPSet,
		const double	volume,
		const SArray< Plane > &	planes,
		const Vec3< double > &	preferredCuttingDirection,
		const double	w,
		const double	alpha,
		const double	beta,
		const int32_t	convexhullDownsampling,
		const double	progress0,
		const double	progress1,
		Plane &	bestPlane,
		double &	minConcavity,
		const Parameters &	params
	)

private

◆ ComputeCenterOfMass()

bool tesseract_collision::VHACD::VHACD::ComputeCenterOfMass ( std::array< double, 3 > & centerOfMass ) const

overridevirtual

Implements tesseract_collision::VHACD::IVHACD.

◆ ComputePrimitiveSet()

void tesseract_collision::VHACD::VHACD::ComputePrimitiveSet ( const Parameters & params )

private

◆ GetCancel()

bool tesseract_collision::VHACD::VHACD::GetCancel ( )

inlineprivate

◆ GetConvexHull()

void tesseract_collision::VHACD::VHACD::GetConvexHull	(	uint32_t	index,
		ConvexHull &	ch
	)		const

inlineoverridevirtual

Implements tesseract_collision::VHACD::IVHACD.

◆ GetNConvexHulls()

uint32_t tesseract_collision::VHACD::VHACD::GetNConvexHulls ( ) const

inlineoverridevirtual

Implements tesseract_collision::VHACD::IVHACD.

◆ Init()

void tesseract_collision::VHACD::VHACD::Init ( )

inlineprivate

◆ MergeConvexHulls()

void tesseract_collision::VHACD::VHACD::MergeConvexHulls ( const Parameters & params )

private

◆ OCLInit()

bool tesseract_collision::VHACD::VHACD::OCLInit	(	void const *	oclDevice,
		VHACD::IVHACD::IUserLogger const *	logger = `nullptr`
	)

overridevirtual

Implements tesseract_collision::VHACD::IVHACD.

◆ OCLRelease()

bool tesseract_collision::VHACD::VHACD::OCLRelease ( IUserLogger const * logger = nullptr )

overridevirtual

Implements tesseract_collision::VHACD::IVHACD.

◆ Release()

void tesseract_collision::VHACD::VHACD::Release ( )

inlineoverridevirtual

Implements tesseract_collision::VHACD::IVHACD.

◆ SetCancel()

void tesseract_collision::VHACD::VHACD::SetCancel ( bool cancel )

inlineprivate

◆ SimplifyConvexHull()

void tesseract_collision::VHACD::VHACD::SimplifyConvexHull	(	Mesh *const	ch,
		const size_t	nvertices,
		const double	minVolume
	)

private

◆ SimplifyConvexHulls()

void tesseract_collision::VHACD::VHACD::SimplifyConvexHulls ( const Parameters & params )

private

◆ Update()

void tesseract_collision::VHACD::VHACD::Update	(	const double	stageProgress,
		const double	operationProgress,
		const Parameters &	params
	)

inlineprivate

◆ VoxelizeMesh()

template<class T >

void tesseract_collision::VHACD::VHACD::VoxelizeMesh	(	const T *const	points,
		const uint32_t	stridePoints,
		const uint32_t	nPoints,
		const int32_t *const	triangles,
		const uint32_t	strideTriangles,
		const uint32_t	nTriangles,
		const Parameters &	params
	)

inlineprivate

Member Data Documentation

◆ m_barycenter

Vec3<double> tesseract_collision::VHACD::VHACD::m_barycenter

private

◆ m_cancel

bool tesseract_collision::VHACD::VHACD::m_cancel

private

◆ m_cancelMutex

Mutex tesseract_collision::VHACD::VHACD::m_cancelMutex

private

◆ m_convexHulls

SArray<Mesh*> tesseract_collision::VHACD::VHACD::m_convexHulls

private

◆ m_dim

size_t tesseract_collision::VHACD::VHACD::m_dim

private

◆ m_ompNumProcessors

int32_t tesseract_collision::VHACD::VHACD::m_ompNumProcessors

private

◆ m_operation

std::string tesseract_collision::VHACD::VHACD::m_operation

private

◆ m_operationProgress

double tesseract_collision::VHACD::VHACD::m_operationProgress

private

◆ m_overallProgress

double tesseract_collision::VHACD::VHACD::m_overallProgress

private

◆ m_pset

PrimitiveSet* tesseract_collision::VHACD::VHACD::m_pset

private

◆ m_rot

double tesseract_collision::VHACD::VHACD::m_rot[3][3]

private

◆ m_stage

std::string tesseract_collision::VHACD::VHACD::m_stage

private

◆ m_stageProgress

double tesseract_collision::VHACD::VHACD::m_stageProgress

private

◆ m_timer

Timer tesseract_collision::VHACD::VHACD::m_timer

private

◆ m_volume

Volume* tesseract_collision::VHACD::VHACD::m_volume

private

◆ m_volumeCH0

double tesseract_collision::VHACD::VHACD::m_volumeCH0

private

◆ mRaycastMesh

RaycastMesh* tesseract_collision::VHACD::VHACD::mRaycastMesh { nullptr }

private

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

tesseract_collision/vhacd/include/tesseract_collision/vhacd/inc/vhacdVHACD.h
tesseract_collision/vhacd/src/vhacd/VHACD.cpp

Public Member Functions

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ VHACD()

Member Function Documentation

◆ AlignMesh()

◆ Cancel()

◆ Clean()

◆ Compute() [1/2]

◆ Compute() [2/2]

◆ ComputeACD() [1/2]

◆ ComputeACD() [2/2]

◆ ComputeBestClippingPlane()

◆ ComputeCenterOfMass()

◆ ComputePrimitiveSet()

◆ GetCancel()

◆ GetConvexHull()

◆ GetNConvexHulls()

◆ Init()

◆ MergeConvexHulls()

◆ OCLInit()

◆ OCLRelease()

◆ Release()

◆ SetCancel()

◆ SimplifyConvexHull()

◆ SimplifyConvexHulls()

◆ Update()

◆ VoxelizeMesh()

Member Data Documentation

◆ m_barycenter

◆ m_cancel

◆ m_cancelMutex

◆ m_convexHulls

◆ m_dim

◆ m_ompNumProcessors

◆ m_operation

◆ m_operationProgress

◆ m_overallProgress

◆ m_pset

◆ m_rot

◆ m_stage

◆ m_stageProgress

◆ m_timer

◆ m_volume

◆ m_volumeCH0

◆ mRaycastMesh