Template Class ConvexBaseTpl

Inheritance Relationships

Base Type

Class Documentation

template<typename _IndexType>
class ConvexBaseTpl : public coal::ShapeBase

Base for convex polytope.

Note

Inherited classes are responsible for filling ConvexBase::neighbors;

Template Parameters:

_IndexType – type of vertices indexes.

Public Types

typedef _IndexType IndexType
typedef ShapeBase Base
using Neighbors = coal::ConvexBaseTplNeighbors<IndexType>
using SupportWarmStartPolytope = ConvexBaseTplSupportWarmStartPolytope<IndexType>

Public Functions

COAL_DEPRECATED_MESSAGE (Use IndexType) typedef _IndexType index_type
inline virtual ~ConvexBaseTpl()
inline Base &base()

Cast ConvexBaseTpl to ShapeBase. This method should never be marked as virtual.

inline const Base &base() const

Const cast ConvexBaseTpl to ShapeBase. This method should never be marked as virtual.

inline ConvexBaseTpl(const ConvexBaseTpl &other)

Copy constructor. The copy constructor only shallow copies the data (it copies the shared pointers but does not deep clones the data).

ConvexBaseTpl &operator=(const ConvexBaseTpl &other)

Copy assignment operator. The copy assignment operator shallow copies the data, just as the copy constructor.

inline virtual ConvexBaseTpl *clone() const

Clone (deep copy).

inline virtual ConvexBaseTpl *deepcopy() const

Deep copy of the ConvexBaseTpl. This method deep copies every field of the class.

template<typename OtherIndexType>
inline ConvexBaseTpl<OtherIndexType> cast() const

Cast this ConvexBase vertex indices to OtherIndexType. This effectively deep copies this ConvexBaseTpl into a new one.

virtual void computeLocalAABB()

Compute AABB.

virtual NODE_TYPE getNodeType() const

Get node type: a convex polytope.

inline IndexType neighbor(IndexType i, IndexType j) const

Get the index of the j-th neighbor of the i-th vertex.

inline virtual NODE_TYPE getNodeType() const

get the node type

inline virtual NODE_TYPE getNodeType() const

get the node type

Public Members

std::shared_ptr<std::vector<Vec3s>> points

An array of the points of the polygon.

unsigned int num_points
std::shared_ptr<std::vector<Vec3s>> normals

An array of the normals of the polygon.

std::shared_ptr<std::vector<Scalar>> offsets

An array of the offsets to the normals of the polygon. Note: there are as many offsets as normals.

unsigned int num_normals_and_offsets
std::shared_ptr<std::vector<Neighbors>> neighbors

Neighbors of each vertex. It is an array of size num_points. For each vertex, it contains the number of neighbors and a list of indices pointing to them.

Vec3s center

center of the convex polytope, this is used for collision: center is guaranteed in the internal of the polytope (as it is convex)

SupportWarmStartPolytope support_warm_starts

Support warm start polytopes.

Public Static Functions

static COAL_DLLAPI ConvexBaseTpl * convexHull (std::shared_ptr< std::vector< Vec3s >> &points, unsigned int num_points, bool keepTriangles, const char *qhullCommand=NULL)

Build a convex hull based on Qhull library and store the vertices and optionally the triangles.

Note

Coal must have been compiled with option COAL_HAS_QHULL set to ON.

Parameters:

  • points, num_points – the points whose convex hull should be computed.

  • keepTriangles – if true, returns a Convex<Triangle> object which contains the triangle of the shape.

  • qhullCommand – the command sent to qhull.

    • if keepTriangles is true, this parameter should include “Qt”. If NULL, “Qt” is passed to Qhull.

    • if keepTriangles is false, an empty string is passed to Qhull.

static COAL_DEPRECATED COAL_DLLAPI ConvexBaseTpl * convexHull (const Vec3s *points, unsigned int num_points, bool keepTriangles, const char *qhullCommand=NULL)

Public Static Attributes

static constexpr size_t num_vertices_large_convex_threshold = 32

Above this threshold, the convex polytope is considered large. This influcences the way the support function is computed.

static constexpr size_t num_support_warm_starts = 14

Number of support warm starts.

Protected Functions

inline ConvexBaseTpl()

Construct an uninitialized convex object Initialization is done with ConvexBase::initialize.

void initialize(std::shared_ptr<std::vector<Vec3s>> points_, unsigned int num_points_)

Initialize the points of the convex shape This also initializes the ConvexBase::center.

Parameters:

  • points_ – list of 3D points ///

  • num_points_ – number of 3D points

void set(std::shared_ptr<std::vector<Vec3s>> points_, unsigned int num_points_)

Set the points of the convex shape.

Parameters:

  • points_ – list of 3D points ///

  • num_points_ – number of 3D points

void COAL_DLLAPI buildSupportWarmStart ()

Build the support points warm starts.

void computeCenter()
inline virtual bool isEqual(const CollisionGeometry &_other) const

equal operator with another object of derived type.

Protected Attributes

std::shared_ptr<std::vector<IndexType>> nneighbors_

Array of indices of the neighbors of each vertex. Since we don’t know a priori the number of neighbors of each vertex, we store the indices of the neighbors in a single array. The neighbors attribute, an array of Neighbors, is used to point each vertex to the right indices in the nneighbors_ array.

Protected Static Functions

template<typename OtherIndexType>
static void deepcopy(const ConvexBaseTpl<IndexType> *source, ConvexBaseTpl<OtherIndexType> *copy)

Deep copy of a ConvexBaseTpl. This method deep copies every field of the class.

Friends

friend class ConvexBaseTpl