Description
Class for wrapping the HACD convex decomposition code revisited by John Ratcliff.
#include <ChConvexDecomposition.h>
Public Member Functions | |
| ChConvexDecompositionHACDv2 () | |
| Basic constructor. | |
| virtual | ~ChConvexDecompositionHACDv2 () |
| Destructor. | |
| virtual void | Reset () override |
| Reset the input mesh data. | |
| virtual bool | AddTriangle (const ChVector3d &v1, const ChVector3d &v2, const ChVector3d &v3) override |
| Add a triangle, by passing three points for vertices. More... | |
| virtual bool | AddTriangleMesh (const ChTriangleMesh &tm) override |
| Add a triangle mesh soup, by passing an entire ChTriangleMesh object. More... | |
| void | SetParameters (unsigned int max_hull_count=256, unsigned int max_merge_hull_count=256, unsigned int max_hull_vertices=64, float concavity=0.2f, float small_cluster_threshold=0.0f, float fuse_tolerance=1e-9f, bool verbose=true) |
| Set the parameters for this convex decomposition algorithm. More... | |
| virtual unsigned int | ComputeConvexDecomposition () override |
| Perform the convex decomposition. More... | |
| virtual unsigned int | GetHullCount () override |
| Get the number of computed hulls after the convex decomposition. | |
| virtual bool | GetConvexHullResult (unsigned int hull_index, ChTriangleMesh &convextrimesh) override |
| Get the n-th computed convex hull, by filling a ChTriangleMesh object that is passed as a parameter. More... | |
| virtual bool | GetConvexHullResult (unsigned int hull_index, std::vector< ChVector3d > &convexhull) override |
| Get the n-th computed convex hull, by filling a vector with related vertices. More... | |
| virtual void | WriteConvexHullsAsWavefrontObj (std::ostream &stream) override |
| Write the convex decomposition to a Wavefront '.obj' file, where each hull is a separate group. | |
 Public Member Functions inherited from chrono::ChConvexDecomposition | |
| ChConvexDecomposition () | |
| Basic constructor. | |
| virtual | ~ChConvexDecomposition () |
| Destructor. | |
| virtual bool | AddTriangle (const ChTriangle &t1) |
| Add a triangle, by passing a ChTriangle object (that will be copied, not referenced). More... | |
| virtual bool | WriteConvexHullsAsChullsFile (std::ostream &stream) |
| Write the convex decomposition to a '.chulls' file, where each hull is a sequence of non-repeated vertices. | |
Member Function Documentation
◆ AddTriangle()
|
overridevirtual |
Add a triangle, by passing three points for vertices.
Note: the vertices must have proper winding (oriented triangle, normal pointing outside).
Implements chrono::ChConvexDecomposition.
◆ AddTriangleMesh()
|
overridevirtual |
Add a triangle mesh soup, by passing an entire ChTriangleMesh object.
Note 1: the triangle mesh does not need connectivity information (a basic 'triangle soup' is enough). Note 2: all vertices must have proper winding (oriented triangles, normals pointing outside). Note 3: the triangles must define closed volumes (holes, gaps in edges, etc. may trouble the decomposition).
Reimplemented from chrono::ChConvexDecomposition.
◆ ComputeConvexDecomposition()
|
overridevirtual |
Perform the convex decomposition.
This operation is time consuming, and it may take a while to complete. Quality of the results can depend a lot on the parameters. Also, meshes with triangles that are not well oriented (normals always pointing outside) or with gaps/holes, may give wrong results.
Implements chrono::ChConvexDecomposition.
◆ GetConvexHullResult() [1/2]
|
overridevirtual |
Get the n-th computed convex hull, by filling a ChTriangleMesh object that is passed as a parameter.
Note 1: passed ChTriangleMesh is cleared before populating it. Note 2: passed ChTriangleMesh is filled with disconnected triangles.
Implements chrono::ChConvexDecomposition.
◆ GetConvexHullResult() [2/2]
|
overridevirtual |
Get the n-th computed convex hull, by filling a vector with related vertices.
Note: passed vector of points is cleared before populating it.
Implements chrono::ChConvexDecomposition.
◆ SetParameters()
| void chrono::ChConvexDecompositionHACDv2::SetParameters | ( | unsigned int | max_hull_count = 256, |
| unsigned int | max_merge_hull_count = 256, |
||
| unsigned int | max_hull_vertices = 64, |
||
| float | concavity = 0.2f, |
||
| float | small_cluster_threshold = 0.0f, |
||
| float | fuse_tolerance = 1e-9f, |
||
| bool | verbose = true |
||
| ) |
Set the parameters for this convex decomposition algorithm.
Use this function before calling ComputeConvexDecomposition(). Repeated vertices within fuse_tolerance threshold will be fused.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/collision/ChConvexDecomposition.h
- /builds/uwsbel/chrono/src/chrono/collision/ChConvexDecomposition.cpp
