buoyancy::Polyhedron Class Reference

Submerged volume calculation using polyhedron based on: Exact Buoyancy for Polyhedra by Eric Catto. More...

#include <polyhedron_volume.hh>

Classes
struct	Face
	Store vertex index for a triangular face. More...

Public Member Functions
Volume	ComputeFullVolume ()
	Compute full volume and center of buoyancy of the polyhedron. More...
Volume	SubmergedVolume (const ignition::math::Vector3d &x, const ignition::math::Quaterniond &q, Plane &plane)
	Compute submerge volume and center of buoyancy of a polyhedron. More...

Static Public Member Functions
static Polyhedron	makeCube (double x, double y, double z)
	Generate a cube polyhedron centered at origin. More...
static Polyhedron	makeCylinder (double r, double l, int n)
	Generate a cylinder polyhedron centered at origin. More...

Static Private Member Functions
static Volume	clipTriangle (const ignition::math::Vector3d &v1, const ignition::math::Vector3d &v2, const ignition::math::Vector3d &v3, double d1, double d2, double d3, const ignition::math::Vector3d &p=ignition::math::Vector3d({0., 0., 0.}))
	Clips a partially submerged triangle. More...
static Volume	tetrahedronVolume (const ignition::math::Vector3d &v1, const ignition::math::Vector3d &v2, const ignition::math::Vector3d &v3, const ignition::math::Vector3d &p=ignition::math::Vector3d({0., 0., 0.}))
	Computes volume and centroid of tetrahedron tetrahedron formed by triangle + arbitrary point. More...

Private Attributes
const double	EPSILON = 1e-6
	Values below this are zeroed out. More...
std::vector< Face >	faces
	Object faces. More...
std::vector< ignition::math::Vector3d >	vertices
	Object vertices. More...

Detailed Description

Submerged volume calculation using polyhedron based on: Exact Buoyancy for Polyhedra by Eric Catto.

Definition at line 58 of file polyhedron_volume.hh.

Member Function Documentation

Volume Polyhedron::clipTriangle ( const ignition::math::Vector3d &  v1, const ignition::math::Vector3d &  v2, const ignition::math::Vector3d &  v3, double  d1, double  d2, double  d3, const ignition::math::Vector3d &  p = ignition::math::Vector3d({0., 0., 0.})  )

staticprivate

Clips a partially submerged triangle.

Parameters

v1	point on triangle
v2	point on triangle
v3	point on triangle
d1	distance of point v1 to the splitting plane
d2	distance of point v2 to the splitting plane
d3	distance of point v3 to the splitting plane

Returns

Volume object for clipped tetrahedron

Definition at line 158 of file polyhedron_volume.cc.

Volume Polyhedron::ComputeFullVolume

(

)

Compute full volume and center of buoyancy of the polyhedron.

Returns

Volume object with volume and centroid

Definition at line 143 of file polyhedron_volume.cc.

Polyhedron Polyhedron::makeCube ( double  x, double  y, double  z  )

static

Generate a cube polyhedron centered at origin.

Parameters

x	length of cube
y	width of cube
z	height of cube

Returns

Polyhedron object

Definition at line 50 of file polyhedron_volume.cc.

Polyhedron Polyhedron::makeCylinder ( double  r, double  l, int  n  )

static

Generate a cylinder polyhedron centered at origin.

Parameters

r	radius of cylinder
l	length of cylinder
n	number of segments

Returns

Polyhedron object

Definition at line 84 of file polyhedron_volume.cc.

Volume Polyhedron::SubmergedVolume	(	const ignition::math::Vector3d &	x,
		const ignition::math::Quaterniond &	q,
		Plane &	plane
	)

Compute submerge volume and center of buoyancy of a polyhedron.

Parameters

x	our position
q	our orientation (quaternions)
plane	water surface defined as a plane

Returns

Volume object with volume and centroid (relative to world)

Definition at line 206 of file polyhedron_volume.cc.

Volume Polyhedron::tetrahedronVolume ( const ignition::math::Vector3d &  v1, const ignition::math::Vector3d &  v2, const ignition::math::Vector3d &  v3, const ignition::math::Vector3d &  p = ignition::math::Vector3d({0., 0., 0.})  )

staticprivate

Computes volume and centroid of tetrahedron tetrahedron formed by triangle + arbitrary point.

Parameters

v1	point on triangle
v2	point on triangle
v3	point on triangle
p	arbitrary point

Returns

Volume object with volume and centroid

Definition at line 128 of file polyhedron_volume.cc.

Member Data Documentation

const double buoyancy::Polyhedron::EPSILON = 1e-6

private

Values below this are zeroed out.

Definition at line 139 of file polyhedron_volume.hh.

std::vector<Face> buoyancy::Polyhedron::faces

private

Object faces.

Definition at line 136 of file polyhedron_volume.hh.

std::vector<ignition::math::Vector3d> buoyancy::Polyhedron::vertices

private

Object vertices.

Definition at line 133 of file polyhedron_volume.hh.

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

• polyhedron_volume.hh
• polyhedron_volume.cc