TetGenDecomposition.cpp File Reference

#include "TetGenDecomposition.h"
#include "Geometry/Bodies/Body.h"
#include "Geometry/Bodies/MultiBody.h"
#include "MPLibrary/ValidityCheckers/CollisionDetection/CDInfo.h"
#include "MPLibrary/ValidityCheckers/CollisionDetection/PQPCollisionDetection.h"
#include "MPProblem/Environment/Environment.h"
#include "MPProblem/MPProblem.h"
#include "Workspace/WorkspaceDecomposition.h"
#include "Utilities/PMPLExceptions.h"
#include "Utilities/XMLNode.h"
#include "tetgen.h"
#include <CGAL/Exact_predicates_exact_constructions_kernel.h>
#include <CGAL/IO/io.h>
#include <CGAL/IO/Polyhedron_iostream.h>
#include <CGAL/IO/Nef_polyhedron_iostream_3.h>
#include <CGAL/IO/print_OFF.h>
#include <CGAL/Nef_polyhedron_3.h>
#include <CGAL/Polyhedron_3.h>
#include <CGAL/Nef_3/SNC_indexed_items.h>

Include dependency graph for TetGenDecomposition.cpp:

Macros
#define	TETLIBRARY

Typedefs
using	CGALKernel = CGAL::Exact_predicates_exact_constructions_kernel
using	NefPolyhedron = CGAL::Nef_polyhedron_3< CGALKernel >
using	Polyhedron = CGAL::Polyhedron_3< CGALKernel >

Functions
size_t	PointIndex (const NefPolyhedron &_polyhedron, const NefPolyhedron::Point_3 &_p)
void	AddVertices (tetgenio *const _freeModel, const NefPolyhedron &_freespace, const bool _debug)
vector< vector< vector< size_t > > >	ExtractFacets (const NefPolyhedron &_freespace)
void	AddFacets (tetgenio *const _freeModel, const NefPolyhedron &_freespace, const bool _debug)
void	AddHoles (tetgenio *const _freeModel, const NefPolyhedron &_freespace, const Environment *const _env, const bool _debug)
void	OutputNefPolyhedron (const NefPolyhedron &_p, const string _filename)

Macro Definition Documentation

TETLIBRARY

#define TETLIBRARY

Typedef Documentation

CGALKernel

using CGALKernel = CGAL::Exact_predicates_exact_constructions_kernel

NefPolyhedron

using NefPolyhedron = CGAL::Nef_polyhedron_3<CGALKernel>

Polyhedron

using Polyhedron = CGAL::Polyhedron_3<CGALKernel>

Function Documentation

AddFacets()

void AddFacets	(	tetgenio *const	_freeModel,
		const NefPolyhedron &	_freespace,
		const bool	_debug
	)

Add the facets to the free model.

Parameters

_freeModel	The tetgen model under construction.
_freespace	The free space polyhedra.
_debug	Show debug messages?

AddHoles()

void AddHoles	(	tetgenio *const	_freeModel,
		const NefPolyhedron &	_freespace,
		const Environment *const	_env,
		const bool	_debug
	)

Add holes to the free model for each obstacle.

Parameters

_freeModel	The tetgen model under construction.
_freespace	The free space polyhedra.
_env	The environment object.
_debug	Show debug messages?

Todo:

There seems to be an intermittent problem with adding holes for obstacles that touch the environment boundary. Sometimes it causes bad decompositions where the free space gets eaten away, and sometimes not. Not adding the hole sometimes causes tetgen to not remove the tetras within the obstacle. We need to characterize the cases where it fails and where it works.

AddVertices()

void AddVertices	(	tetgenio *const	_freeModel,
		const NefPolyhedron &	_freespace,
		const bool	_debug
	)

Add the vertices to the free model.

Parameters

_freeModel	The tetgen model under construction.
_freespace	The free space polyhedra.
_debug	Show debug messages?

ExtractFacets()

vector<vector<vector<size_t> > > ExtractFacets

(

const NefPolyhedron &

_freespace

)

Extract facet info from the freespace nef poly.

Parameters

_freespace

The freespace nef poly.

Returns

A set of facet descriptors.

OutputNefPolyhedron()

void OutputNefPolyhedron	(	const NefPolyhedron &	_p,
		const string	_filename
	)

PointIndex()

size_t PointIndex	(	const NefPolyhedron &	_polyhedron,
		const NefPolyhedron::Point_3 &	_p
	)

Get the index of a point in the freespace nef poly.

Parameters

_polyhedron	The nef polyhedron of interest.
_p	The point to locate.

Returns

The index of _p in _polyhedron's vertex list. If it is not found, an exception will be thrown.