tesseract_collision::VHACD::ICHull Class Reference

#include <vhacdICHull.h>

Collaboration diagram for tesseract_collision::VHACD::ICHull:

Public Member Functions
bool	IsFlat ()
TMMesh &	GetMesh ()
	Returns the computed mesh. More...
bool	AddPoint (const Vec3< double > &point)
	Add one point to the convex-hull. More...
bool	AddPoint (const Vec3< double > &point, int32_t id)
	Add one point to the convex-hull. More...
bool	AddPoints (const Vec3< double > *points, size_t nPoints)
	Add points to the convex-hull. More...
ICHullError	Process ()
ICHullError	Process (const uint32_t nPointsCH, const double minVolume=0.0)
bool	IsInside (const Vec3< double > &pt0, const double eps=0.0)
const ICHull &	operator= (ICHull &rhs)
	ICHull ()
	Constructor. More...
	~ICHull (void)
	Destructor. More...

Static Public Attributes
static const double	sc_eps = 1.0e-15

Private Member Functions
ICHullError	DoubleTriangle ()
CircularListElement< TMMTriangle > *	MakeFace (CircularListElement< TMMVertex > *v0, CircularListElement< TMMVertex > *v1, CircularListElement< TMMVertex > *v2, CircularListElement< TMMTriangle > *fold)
	MakeFace creates a new face structure from three vertices (in ccw order). It returns a pointer to the face. More...
CircularListElement< TMMTriangle > *	MakeConeFace (CircularListElement< TMMEdge > *e, CircularListElement< TMMVertex > *v)
bool	ProcessPoint ()
bool	ComputePointVolume (double &totalVolume, bool markVisibleFaces)
bool	FindMaxVolumePoint (const double minVolume=0.0)
bool	CleanEdges ()
bool	CleanVertices (uint32_t &addedPoints)
bool	CleanTriangles ()
bool	CleanUp (uint32_t &addedPoints)
bool	MakeCCW (CircularListElement< TMMTriangle > *f, CircularListElement< TMMEdge > *e, CircularListElement< TMMVertex > *v)
void	Clear ()
	ICHull (const ICHull &rhs)

Private Attributes
TMMesh	m_mesh
SArray< CircularListElement< TMMEdge > * >	m_edgesToDelete
SArray< CircularListElement< TMMEdge > * >	m_edgesToUpdate
SArray< CircularListElement< TMMTriangle > * >	m_trianglesToDelete
Vec3< double >	m_normal
bool	m_isFlat

Static Private Attributes
static const int32_t	sc_dummyIndex = std::numeric_limits<int32_t>::max()

Constructor & Destructor Documentation

ICHull() [1/2]

tesseract_collision::VHACD::ICHull::ICHull

(

)

Constructor.

~ICHull()

tesseract_collision::VHACD::ICHull::~ICHull ( void  )

inline

Destructor.

ICHull() [2/2]

tesseract_collision::VHACD::ICHull::ICHull ( const ICHull &  rhs )

private

Member Function Documentation

AddPoint() [1/2]

bool tesseract_collision::VHACD::ICHull::AddPoint ( const Vec3< double > &  point )

inline

Add one point to the convex-hull.

AddPoint() [2/2]

bool tesseract_collision::VHACD::ICHull::AddPoint	(	const Vec3< double > &	point,
		int32_t	id
	)

Add one point to the convex-hull.

AddPoints()

bool tesseract_collision::VHACD::ICHull::AddPoints	(	const Vec3< double > *	points,
		size_t	nPoints
	)

Add points to the convex-hull.

CleanEdges()

bool tesseract_collision::VHACD::ICHull::CleanEdges ( )

private

CleanTriangles()

bool tesseract_collision::VHACD::ICHull::CleanTriangles ( )

private

CleanUp()

bool tesseract_collision::VHACD::ICHull::CleanUp ( uint32_t &  addedPoints )

private

CleanVertices()

bool tesseract_collision::VHACD::ICHull::CleanVertices ( uint32_t &  addedPoints )

private

Clear()

void tesseract_collision::VHACD::ICHull::Clear ( )

private

ComputePointVolume()

bool tesseract_collision::VHACD::ICHull::ComputePointVolume ( double &  totalVolume, bool  markVisibleFaces  )

private

DoubleTriangle()

ICHullError tesseract_collision::VHACD::ICHull::DoubleTriangle ( )

private

DoubleTriangle builds the initial double triangle. It first finds 3 noncollinear points and makes two faces out of them, in opposite order. It then finds a fourth point that is not coplanar with that face. The vertices are stored in the face structure in counterclockwise order so that the volume between the face and the point is negative. Lastly, the 3 newfaces to the fourth point are constructed and the data structures are cleaned up.

FindMaxVolumePoint()

bool tesseract_collision::VHACD::ICHull::FindMaxVolumePoint ( const double  minVolume = 0.0 )

private

GetMesh()

TMMesh & tesseract_collision::VHACD::ICHull::GetMesh ( )

inline

Returns the computed mesh.

IsFlat()

bool tesseract_collision::VHACD::ICHull::IsFlat ( )

inline

IsInside()

bool tesseract_collision::VHACD::ICHull::IsInside	(	const Vec3< double > &	pt0,
		const double	eps = 0.0
	)

MakeCCW()

bool tesseract_collision::VHACD::ICHull::MakeCCW ( CircularListElement< TMMTriangle > *  f, CircularListElement< TMMEdge > *  e, CircularListElement< TMMVertex > *  v  )

private

MakeConeFace()

CircularListElement< TMMTriangle > * tesseract_collision::VHACD::ICHull::MakeConeFace ( CircularListElement< TMMEdge > *  e, CircularListElement< TMMVertex > *  v  )

private

MakeFace()

CircularListElement< TMMTriangle > * tesseract_collision::VHACD::ICHull::MakeFace ( CircularListElement< TMMVertex > *  v0, CircularListElement< TMMVertex > *  v1, CircularListElement< TMMVertex > *  v2, CircularListElement< TMMTriangle > *  fold  )

private

MakeFace creates a new face structure from three vertices (in ccw order). It returns a pointer to the face.

operator=()

const ICHull & tesseract_collision::VHACD::ICHull::operator=

(

ICHull &

rhs

)

Process() [1/2]

ICHullError tesseract_collision::VHACD::ICHull::Process

(

)

Process() [2/2]

ICHullError tesseract_collision::VHACD::ICHull::Process	(	const uint32_t	nPointsCH,
		const double	minVolume = 0.0
	)

ProcessPoint()

bool tesseract_collision::VHACD::ICHull::ProcessPoint ( )

private

Member Data Documentation

m_edgesToDelete

SArray<CircularListElement<TMMEdge>*> tesseract_collision::VHACD::ICHull::m_edgesToDelete

private

m_edgesToUpdate

SArray<CircularListElement<TMMEdge>*> tesseract_collision::VHACD::ICHull::m_edgesToUpdate

private

m_isFlat

bool tesseract_collision::VHACD::ICHull::m_isFlat

private

m_mesh

TMMesh tesseract_collision::VHACD::ICHull::m_mesh

private

m_normal

Vec3<double> tesseract_collision::VHACD::ICHull::m_normal

private

m_trianglesToDelete

SArray<CircularListElement<TMMTriangle>*> tesseract_collision::VHACD::ICHull::m_trianglesToDelete

private

sc_dummyIndex

const int32_t tesseract_collision::VHACD::ICHull::sc_dummyIndex = std::numeric_limits<int32_t>::max()

staticprivate

sc_eps

const double tesseract_collision::VHACD::ICHull::sc_eps = 1.0e-15

static

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

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