Program Listing for File convex.hxx
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#ifndef HPP_FCL_SHAPE_CONVEX_HXX
#define HPP_FCL_SHAPE_CONVEX_HXX
#include <set>
#include <vector>
namespace hpp {
namespace fcl {
template <typename PolygonT>
Convex<PolygonT>::Convex(bool own_storage, Vec3f* points_,
unsigned int num_points_, PolygonT* polygons_,
unsigned int num_polygons_)
: ConvexBase(), polygons(polygons_), num_polygons(num_polygons_) {
initialize(own_storage, points_, num_points_);
fillNeighbors();
}
template <typename PolygonT>
Convex<PolygonT>::Convex(const Convex<PolygonT>& other)
: ConvexBase(other),
polygons(other.polygons),
num_polygons(other.num_polygons) {
if (own_storage_) {
polygons = new PolygonT[num_polygons];
std::copy(other.polygons, other.polygons + num_polygons, polygons);
}
}
template <typename PolygonT>
Convex<PolygonT>::~Convex() {
if (own_storage_) delete[] polygons;
}
template <typename PolygonT>
void Convex<PolygonT>::set(bool own_storage, Vec3f* points_,
unsigned int num_points_, PolygonT* polygons_,
unsigned int num_polygons_) {
if (own_storage_) delete[] polygons;
ConvexBase::set(own_storage, points_, num_points_);
num_polygons = num_polygons_;
polygons = polygons_;
fillNeighbors();
}
template <typename PolygonT>
Convex<PolygonT>* Convex<PolygonT>::clone() const {
Vec3f* cloned_points = new Vec3f[num_points];
std::copy(points, points + num_points, cloned_points);
PolygonT* cloned_polygons = new PolygonT[num_polygons];
std::copy(polygons, polygons + num_polygons, cloned_polygons);
Convex* copy_ptr = new Convex(true, cloned_points, num_points,
cloned_polygons, num_polygons);
copy_ptr->ShapeBase::operator=(*this);
return copy_ptr;
}
template <typename PolygonT>
Matrix3f Convex<PolygonT>::computeMomentofInertia() const {
typedef typename PolygonT::size_type size_type;
typedef typename PolygonT::index_type index_type;
Matrix3f C = Matrix3f::Zero();
Matrix3f C_canonical;
C_canonical << 1 / 60.0, 1 / 120.0, 1 / 120.0, 1 / 120.0, 1 / 60.0, 1 / 120.0,
1 / 120.0, 1 / 120.0, 1 / 60.0;
for (unsigned int i = 0; i < num_polygons; ++i) {
const PolygonT& polygon = polygons[i];
// compute the center of the polygon
Vec3f plane_center(0, 0, 0);
for (size_type j = 0; j < polygon.size(); ++j)
plane_center += points[polygon[(index_type)j]];
plane_center /= polygon.size();
// compute the volume of tetrahedron making by neighboring two points, the
// plane center and the reference point (zero) of the convex shape
const Vec3f& v3 = plane_center;
for (size_type j = 0; j < polygon.size(); ++j) {
index_type e_first = polygon[static_cast<index_type>(j)];
index_type e_second =
polygon[static_cast<index_type>((j + 1) % polygon.size())];
const Vec3f& v1 = points[e_first];
const Vec3f& v2 = points[e_second];
Matrix3f A;
A << v1.transpose(), v2.transpose(),
v3.transpose(); // this is A' in the original document
C += A.transpose() * C_canonical * A * (v1.cross(v2)).dot(v3);
}
}
return C.trace() * Matrix3f::Identity() - C;
}
template <typename PolygonT>
Vec3f Convex<PolygonT>::computeCOM() const {
typedef typename PolygonT::size_type size_type;
typedef typename PolygonT::index_type index_type;
Vec3f com(0, 0, 0);
FCL_REAL vol = 0;
for (unsigned int i = 0; i < num_polygons; ++i) {
const PolygonT& polygon = polygons[i];
// compute the center of the polygon
Vec3f plane_center(0, 0, 0);
for (size_type j = 0; j < polygon.size(); ++j)
plane_center += points[polygon[(index_type)j]];
plane_center /= polygon.size();
// compute the volume of tetrahedron making by neighboring two points, the
// plane center and the reference point (zero) of the convex shape
const Vec3f& v3 = plane_center;
for (size_type j = 0; j < polygon.size(); ++j) {
index_type e_first = polygon[static_cast<index_type>(j)];
index_type e_second =
polygon[static_cast<index_type>((j + 1) % polygon.size())];
const Vec3f& v1 = points[e_first];
const Vec3f& v2 = points[e_second];
FCL_REAL d_six_vol = (v1.cross(v2)).dot(v3);
vol += d_six_vol;
com += (points[e_first] + points[e_second] + plane_center) * d_six_vol;
}
}
return com / (vol * 4); // here we choose zero as the reference
}
template <typename PolygonT>
FCL_REAL Convex<PolygonT>::computeVolume() const {
typedef typename PolygonT::size_type size_type;
typedef typename PolygonT::index_type index_type;
FCL_REAL vol = 0;
for (unsigned int i = 0; i < num_polygons; ++i) {
const PolygonT& polygon = polygons[i];
// compute the center of the polygon
Vec3f plane_center(0, 0, 0);
for (size_type j = 0; j < polygon.size(); ++j)
plane_center += points[polygon[(index_type)j]];
plane_center /= polygon.size();
// compute the volume of tetrahedron making by neighboring two points, the
// plane center and the reference point (zero point) of the convex shape
const Vec3f& v3 = plane_center;
for (size_type j = 0; j < polygon.size(); ++j) {
index_type e_first = polygon[static_cast<index_type>(j)];
index_type e_second =
polygon[static_cast<index_type>((j + 1) % polygon.size())];
const Vec3f& v1 = points[e_first];
const Vec3f& v2 = points[e_second];
FCL_REAL d_six_vol = (v1.cross(v2)).dot(v3);
vol += d_six_vol;
}
}
return vol / 6;
}
template <typename PolygonT>
void Convex<PolygonT>::fillNeighbors() {
if (neighbors) delete[] neighbors;
neighbors = new Neighbors[num_points];
typedef typename PolygonT::size_type size_type;
typedef typename PolygonT::index_type index_type;
std::vector<std::set<index_type> > nneighbors(num_points);
unsigned int c_nneighbors = 0;
for (unsigned int l = 0; l < num_polygons; ++l) {
const PolygonT& polygon = polygons[l];
const size_type n = polygon.size();
for (size_type j = 0; j < polygon.size(); ++j) {
size_type i = (j == 0) ? n - 1 : j - 1;
size_type k = (j == n - 1) ? 0 : j + 1;
index_type pi = polygon[(index_type)i], pj = polygon[(index_type)j],
pk = polygon[(index_type)k];
// Update neighbors of pj;
if (nneighbors[pj].count(pi) == 0) {
c_nneighbors++;
nneighbors[pj].insert(pi);
}
if (nneighbors[pj].count(pk) == 0) {
c_nneighbors++;
nneighbors[pj].insert(pk);
}
}
}
if (nneighbors_) delete[] nneighbors_;
nneighbors_ = new unsigned int[c_nneighbors];
unsigned int* p_nneighbors = nneighbors_;
for (unsigned int i = 0; i < num_points; ++i) {
Neighbors& n = neighbors[i];
if (nneighbors[i].size() >= (std::numeric_limits<unsigned char>::max)())
HPP_FCL_THROW_PRETTY("Too many neighbors.", std::logic_error);
n.count_ = (unsigned char)nneighbors[i].size();
n.n_ = p_nneighbors;
p_nneighbors =
std::copy(nneighbors[i].begin(), nneighbors[i].end(), p_nneighbors);
}
assert(p_nneighbors == nneighbors_ + c_nneighbors);
}
} // namespace fcl
} // namespace hpp
#endif