#include <GMSPolyhedron.h>

Public Types
Local Types
enum class	COMAdjust { COM , Surface , None }

typedef CGAL::Exact_predicates_exact_constructions_kernel	CGALKernel

typedef CGALKernel::Point_3	CGALPoint

typedef CGAL::Polyhedron_3< CGALKernel >	CGALPolyhedron

Public Member Functions
Construction
	GMSPolyhedron ()

	GMSPolyhedron (const GMSPolyhedron &_p)

	GMSPolyhedron (GMSPolyhedron &&_p)

	GMSPolyhedron (glutils::triangulated_model &&_t)

	~GMSPolyhedron ()

Assignment
GMSPolyhedron &	operator= (const GMSPolyhedron &_p)

GMSPolyhedron &	operator= (GMSPolyhedron &&_p)

Transformation
GMSPolyhedron &	operator*= (const Transformation &_t)
	Apply a transformation to the polyhedron. More...

void	Invert ()
	Invert the polyhedron so that normals face the opposite direction. More...

void	Scale (double _scalingFactor)

Equality
bool	operator== (const GMSPolyhedron &_p) const

bool	operator!= (const GMSPolyhedron &_p) const

IO Functions
Vector3d	Read (const std::string &_fileName, COMAdjust _comAdjust)

Vector3d	LoadFromIModel (IModel *_imodel, COMAdjust _comAdjust)

void	WriteBYU (std::ostream &_os) const

void	WriteObj (std::ostream &_os) const

Accessors
std::vector< Vector3d > &	GetVertexList () noexcept

std::vector< GMSPolygon > &	GetPolygonList () noexcept

const std::vector< Vector3d > &	GetVertexList () const noexcept

const std::vector< GMSPolygon > &	GetPolygonList () const noexcept

const Vector3d &	GetCentroid () const
	Get the centroid of the polyhedron (average of the vertices). More...

double	GetSurfaceArea () const noexcept
	Get the total surface area of the polyhedron. More...

double	GetMaxRadius () const noexcept
	Get the maximum radius relative to the polyhedron's center. More...

double	GetMinRadius () const noexcept
	Get the minimum radius relative to the polyhedron's center. More...

Geometry Functions
Point3d	GetRandPtOnSurface () const
	Get a random point on the surface of the polyhedron. More...

std::unique_ptr< WorkspaceBoundingBox >	ComputeBoundingBox () const
	Compute an axis-aligned bounding box for this polyhedron. More...

GMSPolyhedron	ComputeConvexHull () const
	Compute the polyhedron's convex hull vertices and facets. More...

CGALPolyhedron	CGAL () const
	Get a CGAL polyhedron representation of this object. More...

void	UpdateCGALPoints ()

Collision Detection Models
RAPID_model *	GetRapidModel () const noexcept

PQP_Model *	GetPQPModel () const noexcept

const Vector3d &	GetInsidePoint () const noexcept

Static Public Member Functions
Build Common Shapes
static GMSPolyhedron	MakeBox (const Range< double > &_x, const Range< double > &_y, const Range< double > &_z)

Detailed Description

Geometric structure for polyhedra including vertices, faces, and surface area.

@TODO Replace this object with CGAL::Polyhedron_3 or at least extend from it. We really do not need three different classes to represent polyhedrons, and CGAL's representation is the most mature.

Examples: CollisionDetection_UseCase.cpp.

Member Typedef Documentation

◆ CGALKernel

typedef CGAL::Exact_predicates_exact_constructions_kernel GMSPolyhedron::CGALKernel

◆ CGALPoint

typedef CGALKernel::Point_3 GMSPolyhedron::CGALPoint

◆ CGALPolyhedron

typedef CGAL::Polyhedron_3<CGALKernel> GMSPolyhedron::CGALPolyhedron

Member Enumeration Documentation

◆ COMAdjust

enum GMSPolyhedron::COMAdjust

strong

Center of mass adjustment approaches

This enum lists the method to adjust all vertices of a model. 'COM' will subtract the center of mass (com) from all vertices. 'Surface' will subtract only x and z components of the com from all vertices. 'None' will not perform any adjustment.

Todo:: This has been a major source of bugs for a long time and should be removed entirely. All polyhedrons should be bounding-box centered without exception.

Enumerator
COM
Surface
None

Constructor & Destructor Documentation

◆ GMSPolyhedron() [1/4]

GMSPolyhedron::GMSPolyhedron ( )

default

◆ GMSPolyhedron() [2/4]

GMSPolyhedron::GMSPolyhedron ( const GMSPolyhedron & _p )

◆ GMSPolyhedron() [3/4]

GMSPolyhedron::GMSPolyhedron ( GMSPolyhedron && _p )

◆ GMSPolyhedron() [4/4]

GMSPolyhedron::GMSPolyhedron ( glutils::triangulated_model && _t )

◆ ~GMSPolyhedron()

GMSPolyhedron::~GMSPolyhedron ( )

default

Member Function Documentation

◆ CGAL()

GMSPolyhedron::CGALPolyhedron GMSPolyhedron::CGAL ( ) const

Get a CGAL polyhedron representation of this object.

◆ ComputeBoundingBox()

std::unique_ptr< WorkspaceBoundingBox > GMSPolyhedron::ComputeBoundingBox ( ) const

Compute an axis-aligned bounding box for this polyhedron.

◆ ComputeConvexHull()

GMSPolyhedron GMSPolyhedron::ComputeConvexHull ( ) const

Compute the polyhedron's convex hull vertices and facets.

◆ GetCentroid()

const Vector3d & GMSPolyhedron::GetCentroid ( ) const

Get the centroid of the polyhedron (average of the vertices).

◆ GetInsidePoint()

const Vector3d & GMSPolyhedron::GetInsidePoint ( ) const

noexcept

Get a point just 'beneath' one of the facets to for is-inside-obstacle checks. This is to catch degenerate cases where the zero point.

◆ GetMaxRadius()

double GMSPolyhedron::GetMaxRadius ( ) const

noexcept

Get the maximum radius relative to the polyhedron's center.

◆ GetMinRadius()

double GMSPolyhedron::GetMinRadius ( ) const

noexcept

Get the minimum radius relative to the polyhedron's center.

◆ GetPolygonList() [1/2]

const vector< GMSPolygon > & GMSPolyhedron::GetPolygonList ( ) const

noexcept

◆ GetPolygonList() [2/2]

vector< GMSPolygon > & GMSPolyhedron::GetPolygonList ( )

noexcept

◆ GetPQPModel()

PQP_Model * GMSPolyhedron::GetPQPModel ( ) const

noexcept

Get the pqp CD model. It will be constructed if it doesn't already exist.

◆ GetRandPtOnSurface()

Point3d GMSPolyhedron::GetRandPtOnSurface ( ) const

Get a random point on the surface of the polyhedron.

◆ GetRapidModel()

RAPID_model * GMSPolyhedron::GetRapidModel ( ) const

noexcept

Get the rapid CD model. It will be constructed if it doesn't already exist.

◆ GetSurfaceArea()

double GMSPolyhedron::GetSurfaceArea ( ) const

noexcept

Get the total surface area of the polyhedron.

◆ GetVertexList() [1/2]

const vector< Vector3d > & GMSPolyhedron::GetVertexList ( ) const

noexcept

◆ GetVertexList() [2/2]

vector< Vector3d > & GMSPolyhedron::GetVertexList ( )

noexcept

◆ Invert()

void GMSPolyhedron::Invert ( )

Invert the polyhedron so that normals face the opposite direction.

◆ LoadFromIModel()

Vector3d GMSPolyhedron::LoadFromIModel	(	IModel *	_imodel,
		COMAdjust	_comAdjust
	)

Load vertices and triangles from the IModel, which loads all types of models.

Parameters

_imodel An IModel input. @param_comAdjust The COM adjustment type to use.

Returns: The parsed model's center of mass.

@TODO Remove this and force everything to be bounding-box centered.

◆ MakeBox()

GMSPolyhedron GMSPolyhedron::MakeBox	(	const Range< double > &	_x,
		const Range< double > &	_y,
		const Range< double > &	_z
	)

static

Build an axis-aligned box polyhedron.

Parameters

_x	The min/max range in the x direction.
_y	The min/max range in the y direction.
_z	The min/max range in the z direction.

Returns

The polyhedron object. Vertex diagram:

2-----6    +Y

/| /| | 3--—7 | |—+X | 0—|-4 / |/ |/ +Z 1--—5

◆ operator!=()

bool GMSPolyhedron::operator!= ( const GMSPolyhedron & _p ) const

◆ operator*=()

GMSPolyhedron & GMSPolyhedron::operator*= ( const Transformation & _t )

Apply a transformation to the polyhedron.

◆ operator=() [1/2]

GMSPolyhedron & GMSPolyhedron::operator= ( const GMSPolyhedron & _p )

◆ operator=() [2/2]

GMSPolyhedron & GMSPolyhedron::operator= ( GMSPolyhedron && _p )

◆ operator==()

bool GMSPolyhedron::operator== ( const GMSPolyhedron & _p ) const

◆ Read()

Vector3d GMSPolyhedron::Read	(	const std::string &	_fileName,
		COMAdjust	_comAdjust
	)

Read in a geometry file in either BYU or OBJ format.

Parameters

_fileName	The name of the file to read.
_comAdjust	The type of COM adjustment to use.

Returns: The parsed model's center of mass.

◆ Scale()

void GMSPolyhedron::Scale ( double _scalingFactor )

Scale a polyhedron by a factor and keep it centered at its original centroid.

Parameters

_scalingFactor The scaling factor

◆ UpdateCGALPoints()

void GMSPolyhedron::UpdateCGALPoints ( )

Make sure the CGAL points match the vertex list. This is only needed for polys that are created manually rather than from file. The points will not be exact as they are copied from doubles.

◆ WriteBYU()

void GMSPolyhedron::WriteBYU ( std::ostream & _os ) const

Output the model to a BYU-format file.

Parameters

_os	The output stream to use.

◆ WriteObj()

void GMSPolyhedron::WriteObj ( std::ostream & _os ) const

Output the model to a Obj-format file.

Parameters

_os	The output stream to use.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/Geometry/GMSPolyhedron.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/Geometry/GMSPolyhedron.cpp

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Typedef Documentation

◆ CGALKernel

◆ CGALPoint

◆ CGALPolyhedron

Member Enumeration Documentation

◆ COMAdjust

Constructor & Destructor Documentation

◆ GMSPolyhedron() [1/4]

◆ GMSPolyhedron() [2/4]

◆ GMSPolyhedron() [3/4]

◆ GMSPolyhedron() [4/4]

◆ ~GMSPolyhedron()

Member Function Documentation

◆ CGAL()

◆ ComputeBoundingBox()

◆ ComputeConvexHull()

◆ GetCentroid()

◆ GetInsidePoint()

◆ GetMaxRadius()

◆ GetMinRadius()

◆ GetPolygonList() [1/2]

◆ GetPolygonList() [2/2]

◆ GetPQPModel()

◆ GetRandPtOnSurface()

◆ GetRapidModel()

◆ GetSurfaceArea()

◆ GetVertexList() [1/2]

◆ GetVertexList() [2/2]

◆ Invert()

◆ LoadFromIModel()

◆ MakeBox()

◆ operator!=()

◆ operator*=()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator==()

◆ Read()

◆ Scale()

◆ UpdateCGALPoints()

◆ WriteBYU()

◆ WriteObj()