convex_decomposition_vhacd.h

Go to the documentation of this file.

 
#ifndef TESSERACT_COLLISION_CONVEX_DECOMPOSITION_VHACD_H
#define TESSERACT_COLLISION_CONVEX_DECOMPOSITION_VHACD_H
 
#define ENABLE_VHACD_IMPLEMENTATION 1
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <tesseract_collision/vhacd/VHACD.h>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_collision/core/convex_decomposition.h>
 
namespace tesseract_collision
{
struct VHACDParameters
{
  uint32_t max_convex_hulls{ 64 };
  uint32_t resolution{ 400000 };
  double minimum_volume_percent_error_allowed{ 1 };
  uint32_t max_recursion_depth{ 10 };
  bool shrinkwrap{ true };
  VHACD::FillMode fill_mode{ VHACD::FillMode::FLOOD_FILL };
  uint32_t max_num_vertices_per_ch{ 64 };
  bool async_ACD{ true };
  uint32_t min_edge_length{ 2 };
  bool find_best_plane{ false };
 
  void print() const;
};
 
class ConvexDecompositionVHACD : public ConvexDecomposition
{
public:
  using Ptr = std::shared_ptr<ConvexDecompositionVHACD>;
  using ConstPtr = std::shared_ptr<const ConvexDecompositionVHACD>;
 
  ConvexDecompositionVHACD() = default;
  ConvexDecompositionVHACD(const VHACDParameters& params);
 
  std::vector<std::shared_ptr<tesseract_geometry::ConvexMesh>> compute(const tesseract_common::VectorVector3d& vertices,
                                                                       const Eigen::VectorXi& faces) const override;
 
private:
  VHACDParameters params_;
};
 
}  // namespace tesseract_collision
#endif  // TESSERACT_COLLISION_CONVEX_DECOMPOSITION_VHACD_H