Template Class Convex

• Defined in File convex.h

Inheritance Relationships

Base Type

• public coal::ConvexBase (Class ConvexBase)

Derived Type

• public boost::serialization::internal::ConvexAccessor< PolygonT > (Template Struct ConvexAccessor)

Class Documentation

template<typename PolygonT>
class Convex : public coal::ConvexBase

Convex polytope.

Template Parameters:

PolygonT – the polygon class. It must have method size() and operator[](int i)

Subclassed by boost::serialization::internal::ConvexAccessor< PolygonT >

Public Functions

inline Convex()

Construct an uninitialized convex object.

Convex(std::shared_ptr<std::vector<Vec3s>> points_, unsigned int num_points_, std::shared_ptr<std::vector<PolygonT>> polygons_, unsigned int num_polygons_)

Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information.

Note

num_polygons_ is not the allocated size of polygons_.

Parameters:

• ownStorage – whether this class owns the pointers of points and polygons. If owned, they are deleted upon destruction.

• points_ – list of 3D points

• num_points_ – number of 3D points

• polygons_ – An array of PolygonT object. PolygonT should contains a list of vertices for each polygon, in counter clockwise order.

• num_polygons_ – the number of polygons.

Convex(const Convex &other)

Copy constructor Only the list of neighbors is copied.

~Convex()

virtual Matrix3s computeMomentofInertia() const

based on http://number-none.com/blow/inertia/bb_inertia.doc

virtual Vec3s computeCOM() const

compute center of mass

virtual CoalScalar computeVolume() const

compute the volume

void set(std::shared_ptr<std::vector<Vec3s>> points, unsigned int num_points, std::shared_ptr<std::vector<PolygonT>> polygons, unsigned int num_polygons)

Set the current Convex from a list of points and polygons.

Note

num_polygons is not the allocated size of polygons.

Parameters:

• ownStorage – whether this class owns the pointers of points and polygons. If owned, they are deleted upon destruction.

• points – list of 3D points

• num_points – number of 3D points

• polygons – An array of PolygonT object. PolygonT should contains a list of vertices for each polygon, in counter clockwise order.

• num_polygons – the number of polygons.

virtual Convex<PolygonT> *clone() const

Clone (deep copy)

Public Members

std::shared_ptr<std::vector<PolygonT>> polygons

An array of PolygonT object. PolygonT should contains a list of vertices for each polygon, in counter clockwise order.

unsigned int num_polygons

Protected Functions

void fillNeighbors()