tesseract_collision::VHACD::TetrahedronSet Class Reference

#include <vhacdVolume.h>

Inheritance diagram for tesseract_collision::VHACD::TetrahedronSet:

Collaboration diagram for tesseract_collision::VHACD::TetrahedronSet:

Public Member Functions
	~TetrahedronSet (void)
	Destructor. More...
	TetrahedronSet ()
	Constructor. More...
size_t	GetNPrimitives () const override
size_t	GetNPrimitivesOnSurf () const override
size_t	GetNPrimitivesInsideSurf () const override
const Vec3< double > &	GetMinBB () const
const Vec3< double > &	GetMaxBB () const
const Vec3< double > &	GetBarycenter () const
double	GetEigenValue (AXIS axis) const override
double	GetSacle () const
double	ComputeVolume () const override
double	ComputeMaxVolumeError () const override
void	ComputeConvexHull (Mesh &meshCH, const size_t sampling=1) const override
void	ComputePrincipalAxes () override
void	AlignToPrincipalAxes () override
void	RevertAlignToPrincipalAxes () override
void	Clip (const Plane &plane, PrimitiveSet *const positivePart, PrimitiveSet *const negativePart) const override
void	Intersect (const Plane &plane, SArray< Vec3< double > > *const positivePts, SArray< Vec3< double > > *const negativePts, const size_t sampling) const override
void	ComputeExteriorPoints (const Plane &plane, const Mesh &mesh, SArray< Vec3< double > > *const exteriorPts) const override
void	ComputeClippedVolumes (const Plane &plane, double &positiveVolume, double &negativeVolume) const override
void	SelectOnSurface (PrimitiveSet *const onSurfP) const override
void	ComputeBB () override
void	Convert (Mesh &mesh, const VOXEL_VALUE value) const override
bool	Add (Tetrahedron &tetrahedron)
PrimitiveSet *	Create () const override
Public Member Functions inherited from tesseract_collision::VHACD::PrimitiveSet
virtual	~PrimitiveSet ()
virtual PrimitiveSet *	Create () const =0
virtual size_t	GetNPrimitives () const =0
virtual size_t	GetNPrimitivesOnSurf () const =0
virtual size_t	GetNPrimitivesInsideSurf () const =0
virtual double	GetEigenValue (AXIS axis) const =0
virtual double	ComputeMaxVolumeError () const =0
virtual double	ComputeVolume () const =0
virtual void	Clip (const Plane &plane, PrimitiveSet *const positivePart, PrimitiveSet *const negativePart) const =0
virtual void	Intersect (const Plane &plane, SArray< Vec3< double > > *const positivePts, SArray< Vec3< double > > *const negativePts, const size_t sampling) const =0
virtual void	ComputeExteriorPoints (const Plane &plane, const Mesh &mesh, SArray< Vec3< double > > *const exteriorPts) const =0
virtual void	ComputeClippedVolumes (const Plane &plane, double &positiveVolume, double &negativeVolume) const =0
virtual void	SelectOnSurface (PrimitiveSet *const onSurfP) const =0
virtual void	ComputeConvexHull (Mesh &meshCH, const size_t sampling=1) const =0
virtual void	ComputeBB ()=0
virtual void	ComputePrincipalAxes ()=0
virtual void	AlignToPrincipalAxes ()=0
virtual void	RevertAlignToPrincipalAxes ()=0
virtual void	Convert (Mesh &mesh, const VOXEL_VALUE value) const =0
const Mesh &	GetConvexHull () const
Mesh &	GetConvexHull ()

Static Public Attributes
static const double	EPS = 0.0000000000001

Private Member Functions
void	AddClippedTetrahedra (const Vec3< double >(&pts)[10], const int32_t nPts)

Private Attributes
size_t	m_numTetrahedraOnSurface
size_t	m_numTetrahedraInsideSurface
double	m_scale
Vec3< double >	m_minBB
Vec3< double >	m_maxBB
Vec3< double >	m_barycenter
SArray< Tetrahedron, 8 >	m_tetrahedra
double	m_Q [3][3]
double	m_D [3][3]

Friends
class	Volume

Constructor & Destructor Documentation

~TetrahedronSet()

tesseract_collision::VHACD::TetrahedronSet::~TetrahedronSet

(

void

)

Destructor.

TetrahedronSet()

tesseract_collision::VHACD::TetrahedronSet::TetrahedronSet

(

)

Constructor.

Member Function Documentation

Add()

bool tesseract_collision::VHACD::TetrahedronSet::Add ( Tetrahedron &  tetrahedron )

inline

AddClippedTetrahedra()

void tesseract_collision::VHACD::TetrahedronSet::AddClippedTetrahedra ( const Vec3< double >(&)  pts[10], const int32_t  nPts  )

private

AlignToPrincipalAxes()

void tesseract_collision::VHACD::TetrahedronSet::AlignToPrincipalAxes ( )

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

Clip()

void tesseract_collision::VHACD::TetrahedronSet::Clip ( const Plane &  plane, PrimitiveSet *const  positivePart, PrimitiveSet *const  negativePart  ) const

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

ComputeBB()

void tesseract_collision::VHACD::TetrahedronSet::ComputeBB ( )

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

ComputeClippedVolumes()

void tesseract_collision::VHACD::TetrahedronSet::ComputeClippedVolumes ( const Plane &  plane, double &  positiveVolume, double &  negativeVolume  ) const

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

ComputeConvexHull()

void tesseract_collision::VHACD::TetrahedronSet::ComputeConvexHull ( Mesh &  meshCH, const size_t  sampling = 1  ) const

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

ComputeExteriorPoints()

void tesseract_collision::VHACD::TetrahedronSet::ComputeExteriorPoints ( const Plane &  plane, const Mesh &  mesh, SArray< Vec3< double > > *const  exteriorPts  ) const

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

ComputeMaxVolumeError()

double tesseract_collision::VHACD::TetrahedronSet::ComputeMaxVolumeError ( ) const

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

ComputePrincipalAxes()

void tesseract_collision::VHACD::TetrahedronSet::ComputePrincipalAxes ( )

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

ComputeVolume()

double tesseract_collision::VHACD::TetrahedronSet::ComputeVolume ( ) const

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

Convert()

void tesseract_collision::VHACD::TetrahedronSet::Convert ( Mesh &  mesh, const VOXEL_VALUE  value  ) const

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

Create()

PrimitiveSet * tesseract_collision::VHACD::TetrahedronSet::Create ( ) const

inlineoverridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

GetBarycenter()

const Vec3< double > & tesseract_collision::VHACD::TetrahedronSet::GetBarycenter ( ) const

inline

GetEigenValue()

double tesseract_collision::VHACD::TetrahedronSet::GetEigenValue ( AXIS  axis ) const

inlineoverridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

GetMaxBB()

const Vec3< double > & tesseract_collision::VHACD::TetrahedronSet::GetMaxBB ( ) const

inline

GetMinBB()

const Vec3< double > & tesseract_collision::VHACD::TetrahedronSet::GetMinBB ( ) const

inline

GetNPrimitives()

size_t tesseract_collision::VHACD::TetrahedronSet::GetNPrimitives ( ) const

inlineoverridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

GetNPrimitivesInsideSurf()

size_t tesseract_collision::VHACD::TetrahedronSet::GetNPrimitivesInsideSurf ( ) const

inlineoverridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

GetNPrimitivesOnSurf()

size_t tesseract_collision::VHACD::TetrahedronSet::GetNPrimitivesOnSurf ( ) const

inlineoverridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

GetSacle()

double tesseract_collision::VHACD::TetrahedronSet::GetSacle ( ) const

inline

Intersect()

void tesseract_collision::VHACD::TetrahedronSet::Intersect ( const Plane &  plane, SArray< Vec3< double > > *const  positivePts, SArray< Vec3< double > > *const  negativePts, const size_t  sampling  ) const

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

RevertAlignToPrincipalAxes()

void tesseract_collision::VHACD::TetrahedronSet::RevertAlignToPrincipalAxes ( )

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

SelectOnSurface()

void tesseract_collision::VHACD::TetrahedronSet::SelectOnSurface ( PrimitiveSet *const  onSurfP ) const

overridevirtual

Implements tesseract_collision::VHACD::PrimitiveSet.

Friends And Related Function Documentation

Volume

friend class Volume

friend

Member Data Documentation

EPS

const double tesseract_collision::VHACD::TetrahedronSet::EPS = 0.0000000000001

static

m_barycenter

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

private

m_D

double tesseract_collision::VHACD::TetrahedronSet::m_D[3][3]

private

m_maxBB

Vec3<double> tesseract_collision::VHACD::TetrahedronSet::m_maxBB

private

m_minBB

Vec3<double> tesseract_collision::VHACD::TetrahedronSet::m_minBB

private

m_numTetrahedraInsideSurface

size_t tesseract_collision::VHACD::TetrahedronSet::m_numTetrahedraInsideSurface

private

m_numTetrahedraOnSurface

size_t tesseract_collision::VHACD::TetrahedronSet::m_numTetrahedraOnSurface

private

m_Q

double tesseract_collision::VHACD::TetrahedronSet::m_Q[3][3]

private

m_scale

double tesseract_collision::VHACD::TetrahedronSet::m_scale

private

m_tetrahedra

SArray<Tetrahedron, 8> tesseract_collision::VHACD::TetrahedronSet::m_tetrahedra

private

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

• tesseract_collision/vhacd/include/tesseract_collision/vhacd/inc/vhacdVolume.h
• tesseract_collision/vhacd/src/vhacd/vhacdVolume.cpp