#include <PolyhedronCore.hpp>

Public Types
typedef std::pair< unsigned int, unsigned int >	VertexPrimitivePair

Public Member Functions
	PolyhedronCore ()
	instanciates a new PolyhedronCore object More...

	PolyhedronCore (std::string filePath)
	instanciates a PolyhedronCore object with given OFF file More...

	PolyhedronCore (std::stringstream &stringStream)
	instanciates a PolyhedronCore object with given OFF file contents, as std::stringstream. More...

	~PolyhedronCore ()
	Default PolyhedronCore destructor. More...

void	read_off_file (std::string filePath)
	Reads an OFF file given a file path. More...

void	read_off_file (std::stringstream &stringStream)
	Reads an OFF file from a stream. More...

void	to_off_format (std::stringstream &offString, bool basefacet=true) const
	Creates an `std::stringstream` with the polyhedron contents, in OFF file format. More...

void	to_vtk_ugrid (vtkUnstructuredGrid &uGrid)
	Creates a VTK unstructured grid with the polyhedron contents. More...

void	clear ()
	Clears the geometric entities of the PolyhedronCore object. More...

void	clear_metric ()
	Clears the all computations performed on the polyhedron. More...

void	build_data_structure ()
	Builds the data structure which can be used to perform queries, e.g. adjacency. More...

void	compute_metric ()
	Computes geometric parameters related to the polyhedron. More...

void	build_aabb_tree ()
	Builds a static AABB tree based on the polyhedron primitives. More...

unsigned int	vertex_number () const

std::vector< double > &	get_hitPoint ()

unsigned int	basefacet_number () const

unsigned int	facet_number () const

unsigned int	edge_number () const

bool	is_watertight () const

const double *	min_corner_ptr () const

const double *	max_corner_ptr () const

bool	is_convex () const

double	volume () const

const double *	initial_centroid_ptr () const

const double *	centroid_ptr () const

void	inertia_tensor (double(&tensor)[3][3]) const
	update the `tensor` to the inertia operator of the polyhedron. More...

unsigned int	vertex_number_of_basefacet (int basefacetIndex) const

const unsigned int	vertex_index_of_basefacet (int basefacetIndex, int vertexIndex) const
	Allows to get a the global vertex index for a given base facet, with a given local vertex index. More...

const unsigned int	vertex_index_of_facet (int facetIndex, int vertexIndex) const
	Allows to get a the global vertex index for a given facet, with a given local vertex index. More...

const double *	vertex_ptr_of_facet (unsigned int facetIndex, unsigned int vectorIndex) const
	Allows to get the in-plane vectors of a given facet. More...

const double *	normal_ptr_of_facet (int facetIndex) const
	Allows to get the normal of a given facet. More...

const double *	vertex_ptr (int vertexIndex) const
	Allows to get a vertex coordinates array from its index in the `_vertices` vector. More...

const double *	normal_ptr_of_vertex (int vertexIndex) const
	Allows to get a refernce to a vertex coordinates array from its index in the `_vertices` vector. More...

unsigned int	basefacet_index_for_facet (unsigned int facetIndex) const
	Returns the base facet index for a triangle facet. More...

double	basefacet_area (unsigned int facetIndex) const
	Computes the area of a base facet. More...

double	facet_area (unsigned int facetIndex) const
	Computes the area of a triangle facet with index `facetIndex`. More...

void	apply_offset (double offsetX, double offsetY, double offsetZ)
	Applies an offset to all vertices coordinates of the polyhedron. More...

void	translate_to_centroid ()
	translates the polyhedron to its center of mass. More...

void	apply_scale_factor (double factor, double yFactor, double zFactor)
	Applies a scale factor to all vertices coordinates of the polyhedron. More...

bool	contain (double aPoint[3]) const
	Checks if the polyhedron contains a 3D point. More...

std::vector< unsigned int >	facet_hit_by_ray (Ray aRay) const
	get_s the list of facets hit by a ray. More...

const double *	closest_vertex_ptr (double aPoint[3]) const
	Finds the vertex in the polyhedron which is the closest to the query point. More...

VertexPrimitivePair	closest_vertex_and_primitive (double aPoint[3]) const
	Finds the vertex and the primitive it is associated to in the polyhedron which are the closest to the query point. More...

void	closest_point (double aPoint[3], double(&closestPoint)[3]) const
	Finds the point in the polyhedron which is the closest to the query point. More...

void	furthest_vertex_along_axis (const double *anAxis, unsigned int &furthestVertex) const
	Finds the vertex in the polyhedron which is the furthest in the given direction. More...

void	closest_vertex_callback (unsigned int aFacet, const double *aPoint, double &distance) const
	Finds the vertex in a polyhedron facets which is the closest to the requested point. More...

bool	raycast_aabb_tree_callback (unsigned int aFacet, Ray aRay) const
	Checks if a primitive is hit by a ray. More...

void	closest_vertex_and_primitive_callback (unsigned int aFacet, const double *aPoint, double &distance) const
	Finds the vertex in a polyhedron facet and the associated facet which realizes the shortest distance to the requested point. More...

void	closest_point_callback (unsigned int aFacet, const double *aPoint, double &distance) const
	Finds the point in a polyhedron facets which is the closest to the requested point. More...

void	furthest_vertex_callback (unsigned int aFacet, const double aPoint, const double anAxis, double &distance) const
	Finds the vertex in a polyhedron facets which is the furthest, in the requested direction. More...

bool	is_facet_crossed_by_ray (unsigned int aFacet, Ray aRay, double(&hitPoint)[3]) const
	Checks if a facet is crossed by a given ray. More...

void	closest_point_in_facet (unsigned int aFacet, const double *aPoint, double(&closestPoint)[3]) const
	Finds the closest point lying on a facet closest to aPoint. More...

const std::vector< unsigned int > &	facet_to_vertex () const

std::vector< unsigned int > &	facet_to_vertex ()

Private Member Functions
unsigned int	find_local_edge_index_of_facet (unsigned int aFacet, unsigned int anEdge)
	Finds the local index of an edge of a given global facet. More...

double	closest_point_to_edge (const double point0, const double point1, const double *, double(&closestPoint)[3]) const

Private Attributes
std::vector< double >	_vertices
	The list of vertices coordinates, given as [x0,y0,z0,...,xn,yn,zn]. More...

std::vector< unsigned int >	_basefacetToVertex
	The relationship between base facets (or raw facets, directly from the geometry file that is, which may have any number of vertices). This vector must be used along with the `_basefacetToVertexOffset` vector. More...

std::vector< unsigned int >	_basefacetToVertexOffset
	stores the offset required to access the first vertex of a base facet in `_basefacetToVertex` vector. More...

std::vector< unsigned int >	_verticesPerBaseFacet
	The number of vertices that form a base facet. More...

std::vector< unsigned int >	_facetToVertex
	The relationship between triangle facets and vertices. More...

std::vector< unsigned int >	_basefacetToFacetOffset
	stores the offset required to access the first triangle facet of a base facet in `_facetToBaseFacet` vector. More...

std::vector< unsigned int >	_facetToBaseFacet
	The relationship between a triangle facet to its base facet. More...

std::vector< unsigned int >	_facetToFacet
	The facet to facets connectivity list. More...

std::vector< unsigned int >	_facetToEdge
	The facet to edges connectivity list. More...

std::vector< unsigned int >	_edgeToVertex
	The edge to vertices connectivity list. More...

std::vector< unsigned int >	_edgeToFacet
	The edge to facets connectivity list. More...

std::vector< unsigned int >	_nonManifoldEdges
	The list of the non-manifold edges. More...

std::vector< double >	_facetsVectors
	The in-plane vectors of each facet in the polyhedron. More...

std::vector< double >	_facetsNormals
	The normals of each facet in the polyhedron. More...

std::vector< double >	_verticesNormals
	The normals of each vertex in the polyhedron. More...

bool	_isWatertight
	A flag that say if the polyhedron is watertight or not. More...

double	_minCorner [3]
	The min corner of the polyhedron bounding box. More...

double	_maxCorner [3]
	The max corner of the polyhedron bounding box. More...

double	_greatestSquaredDiagonal
	Greatest squared diagonal used to normalize errors. More...

StaticAABBTree	_aabbTree
	The Axis Aligned Bounding Box tree built from the facets of the polyhedron. More...

bool	_isConvex
	The convexity of the polyhedron. More...

double	_volume
	The volume of the tetrahedron. More...

double	_initialCentroid [3]
	The initial centroid of the polyhedron, before any transformation. More...

double	_centroid [3]
	The centroid of the polyhedron. More...

double	_iMatrix [3][3]
	The inertia matrix of the polyhedron. More...

unsigned int	_closestVertexIndex
	The index of the closest vertex found during a closest point query on the AABB tree, and set by the `closest_point_callback()` method. More...

unsigned int	_primitivesHitByRayCount
	The number of primitives hit by a ray during a intersections count query on the AABB tree, and set by the `raycast_aabb_tree_callback()` method. More...

double	_closestPoint [3]
	contains the closest point found during a call to `closest_point()` method. More...

unsigned int	_furthestVertex
	contains the furthest vertex found during a call to `furthest_vertex_along_axis()` method. More...

std::vector< double >	_hitPoints
	The list of points coordinates on primitives hit by a ray during raycast on the AABB tree, and set by the `raycast_aabb_tree_callback()` method. More...

std::vector< unsigned int >	_hitPrimitives
	The list primitives hit by a ray during a raycast on the AABB tree, set by the `raycast_aabb_tree_callback()` callback method. More...

VertexPrimitivePair	_closestVertexAndPrimitiveIndices
	The index of the closest primitive associated to the closest vertex found during a closest and primitive point query on the AABB tree, and set by the `closest_pointAndPrimitiveCallback()` callback method. More...

std::vector< unsigned int >	_candidateFacets
	A vector containing candidate facets during the `closest_pointAndPrimitive()` procedure. It is set by the `closest_pointAndPrimitiveCallback()` callback method, and post-processed in the `closest_pointAndPrimitive()` method. More...

Static Private Attributes
static double	SquaredDistanceErrorThreshold = 1e-16
	Small value used to detect squared distance mismatch between two points. More...

static unsigned char	FacetEdgeVertex [3][2]
	contains the local connectivity of a facet vertices by edge. More...

static unsigned char	FacetEdgeDirection [3][3]
	contains flags that allow to know if an edge is oriented towards a facet. or its incident counterpart. More...

static const unsigned int	NotInList = (unsigned int)(-1)
	A flag to determine if an index is in a list. More...

Member Typedef Documentation

◆ VertexPrimitivePair

typedef std::pair<unsigned int, unsigned int> PolyhedronCore::VertexPrimitivePair

Constructor & Destructor Documentation

◆ PolyhedronCore() [1/3]

PolyhedronCore::PolyhedronCore ( )

instanciates a new PolyhedronCore object

instanciates a new empty PolyhedronCore object. By using this constuctor, the created object is empty and must be built manually using read_off_file().

◆ PolyhedronCore() [2/3]

PolyhedronCore::PolyhedronCore ( std::string filePath )

instanciates a PolyhedronCore object with given OFF file

instanciates a new PolyhedronCore object with the OFF file specified by filePath. This constructor also prepares the data structure, checks for mesh sanity and build the AABB tree for fast queries.

◆ PolyhedronCore() [3/3]

PolyhedronCore::PolyhedronCore ( std::stringstream & stringStream )

instanciates a PolyhedronCore object with given OFF file contents, as std::stringstream.

instanciates a new PolyhedronCore object with the OFF file contained in stringStream. This constructor also prepares the data structure, checks for mesh sanity and build the AABB tree for fast queries.

◆ ~PolyhedronCore()

PolyhedronCore::~PolyhedronCore ( )

Default PolyhedronCore destructor.

Member Function Documentation

◆ apply_offset()

void PolyhedronCore::apply_offset	(	double	offsetX,
		double	offsetY,
		double	offsetZ
	)

Applies an offset to all vertices coordinates of the polyhedron.

After applying the offsets, all metrics and the AABB tree are recomputed.

◆ apply_scale_factor()

void PolyhedronCore::apply_scale_factor	(	double	factor,
		double	yFactor,
		double	zFactor
	)

Applies a scale factor to all vertices coordinates of the polyhedron.

The scale factors are applied with respect to origin, that is point {0, 0, 0}. After applying the scale factors, all metrics and the AABB tree are recomputed.

◆ basefacet_area()

double PolyhedronCore::basefacet_area ( unsigned int facetIndex ) const

Computes the area of a base facet.

Computes the area of the base facet with index facetIndex. In case of gerometry file where facets are not necessarily triangles, this method computes the sum of areas of triangular facets composing the base facet.

◆ basefacet_index_for_facet()

unsigned int PolyhedronCore::basefacet_index_for_facet ( unsigned int facetIndex ) const

inline

Returns the base facet index for a triangle facet.

Returns the base facet index for a triangle facet with index facetIndex. In case of gerometry file where facets are not necessarily triangles, this method returns the facet index as seen in the geometry file. In case of triangle facets based geometry, the returned index is the same as the input.

◆ basefacet_number()

unsigned int PolyhedronCore::basefacet_number ( ) const

inline

Returns: The number of base facets in the polyhedron.

◆ build_aabb_tree()

void PolyhedronCore::build_aabb_tree ( )

Builds a static AABB tree based on the polyhedron primitives.

Building the AABB tree of the polyhedron primitives enables queries in the polyhedron, such as closest point search or ray casting (e.g. for point containment check).

◆ build_data_structure()

void PolyhedronCore::build_data_structure ( )

Builds the data structure which can be used to perform queries, e.g. adjacency.

The variables defined in this method are the _facetToFacet, _facetToEdge, _edgeToVertex, _edgeToFacet and _nonManifoldEdges vectors, that contain relationships between facets, edges and vertices.

◆ centroid_ptr()

const double* PolyhedronCore::centroid_ptr ( ) const

inline

Returns: The centroid of the polyhedron.

◆ clear()

void PolyhedronCore::clear ( )

Clears the geometric entities of the PolyhedronCore object.

Removes all facets, edges and vertices, and non-manifold edges, and invokes the clear_metric() method.

◆ clear_metric()

void PolyhedronCore::clear_metric ( )

Clears the all computations performed on the polyhedron.

Removes all normals and vectors, and reset the centroid, inertia matrix, volume, watertightness and convexity flags.

◆ closest_point()

void PolyhedronCore::closest_point	(	double	aPoint[3],
		double(&)	closestPoint[3]
	)		const

Finds the point in the polyhedron which is the closest to the query point.

This method takes advantage of the AABB tree to find which point is closest to aPoint. Since the AABB tree does not know anything about the primitives it stores (except their Axis Aligned Bounding Box), the tree sends back a request to the Polyhedron object, through the closestPointCallback() callback method, to find which vertex is closest to the requested point.

◆ closest_point_callback()

void PolyhedronCore::closest_point_callback	(	unsigned int	aFacet,
		const double *	aPoint,
		double &	distance
	)		const

Finds the point in a polyhedron facets which is the closest to the requested point.

This method is intented to be invoked by the AABB tree during a closest point query. Given a global facet index aFacet and a comparison point Point, the method updates the distance parameter if the distance between aPoint and one of the facet vertices is smaller than the current value. Additionally, this method updates the index of the closest vertex in the facet, _closestVertexIndex.

◆ closest_point_in_facet()

void PolyhedronCore::closest_point_in_facet	(	unsigned int	aFacet,
		const double *	aPoint,
		double(&)	closestPoint[3]
	)		const

Finds the closest point lying on a facet closest to aPoint.

Finds the closest point lying in facet aFacet, which is closest to point aPoint, and sets closestPoint.

Note that Points lying exactly on a facet edge are not yet taken into account. If such a case appears, an assertion is raised.

◆ closest_point_to_edge()

double PolyhedronCore::closest_point_to_edge	(	const double *	point0,
		const double *	point1,
		const double *	aPoint,
		double(&)	closestPoint[3]
	)		const

private

◆ closest_vertex_and_primitive()

PolyhedronCore::VertexPrimitivePair PolyhedronCore::closest_vertex_and_primitive ( double aPoint[3] ) const

Finds the vertex and the primitive it is associated to in the polyhedron which are the closest to the query point.

This method takes advantage of the AABB tree to find which vertex and the primitive it is associated to are closest to aPoint. Since the AABB tree does not know anything about the primitives it stores (except their Axis Aligned Bounding Box), the tree sends back a request to the Polyhedron object, through the closestVertexAndPrimitiveCallback() callback method, to find which vertex is closest to the requested point and the facet which realizes the shortest distance between the query point and its center of mass.

◆ closest_vertex_and_primitive_callback()

void PolyhedronCore::closest_vertex_and_primitive_callback	(	unsigned int	aFacet,
		const double *	aPoint,
		double &	distance
	)		const

Finds the vertex in a polyhedron facet and the associated facet which realizes the shortest distance to the requested point.

This method is intented to be invoked by the AABB tree during a closest point query. Given a global facet index aFacet and a comparison point Point, the method updates the distance parameter if the distance between aPoint and one of the facet vertices is smaller than the current value. Additionally, this method updates the index of the closest vertex and the closest facet, _closestVertexAnPrimitiveIndices. The facet is chosen as the closest to the point query with respect to its center of mass.

◆ closest_vertex_callback()

void PolyhedronCore::closest_vertex_callback	(	unsigned int	aFacet,
		const double *	aPoint,
		double &	distance
	)		const

Finds the vertex in a polyhedron facets which is the closest to the requested point.

This method is intented to be invoked by the AABB tree during a closest point query. Given a global facet index aFacet and a comparison point Point, the method updates the distance parameter if the distance between aPoint and one of the facet vertices is smaller than the current value. Additionally, this method updates the index of the closest vertex in the facet, _closestVertexIndex.

◆ closest_vertex_ptr()

const double * PolyhedronCore::closest_vertex_ptr ( double aPoint[3] ) const

Finds the vertex in the polyhedron which is the closest to the query point.

This method takes advantage of the AABB tree to find which vertex is closest to aPoint. Since the AABB tree does not know anything about the primitives it stores (except their Axis Aligned Bounding Box), the tree sends back a request to the Polyhedron object, through the closestVertexCallback() method, to find which vertex is closest to the query point.

◆ compute_metric()

void PolyhedronCore::compute_metric ( )

Computes geometric parameters related to the polyhedron.

Computes informations such as min and max corners, volume, inertia matrix, etc.

◆ contain()

bool PolyhedronCore::contain ( double aPoint[3] ) const

Checks if the polyhedron contains a 3D point.

This method takes advantage of the AABB tree to perform a raycasting on the tree AABBs. The ray is created from the origin 3D point aPoint, towards the +X direction to avoid useless AABB faces intersection computations. Each time an AABB is hit, the facet it contains is tested wether it is also hit by the ray and, if yes, the intersection point and facet index are stored in _hitPoints and _hitPrimitives vectors, and the intersections counter _primitivesHitByRayCount is incremented. The point is considered inside the polyhedron if _primitivesHitByRayCount is greater than 0, and if intersections modulo 2 equals 0.

◆ edge_number()

unsigned int PolyhedronCore::edge_number ( ) const

inline

Returns: The number of edges in the polyhedron.

◆ facet_area()

double PolyhedronCore::facet_area ( unsigned int facetIndex ) const

Computes the area of a triangle facet with index facetIndex.

◆ facet_hit_by_ray()

std::vector< unsigned int > PolyhedronCore::facet_hit_by_ray ( Ray aRay ) const

get_s the list of facets hit by a ray.

This method takes advantage of the AABB tree to perform a raycasting on the tree AABBs. Each time an AABB is hit, the facet it contains is tested wether it is also hit by the ray and, if yes, the intersection point and facet index are stored in _hitPoints and _hitPrimitives vectors, and the intersections counter _primitivesHitByRayCount is incremented.

◆ facet_number()

unsigned int PolyhedronCore::facet_number ( ) const

inline

Returns: The number of facets in the polyhedron.

◆ facet_to_vertex() [1/2]

std::vector<unsigned int>& PolyhedronCore::facet_to_vertex ( )

inline

◆ facet_to_vertex() [2/2]

const std::vector<unsigned int>& PolyhedronCore::facet_to_vertex ( ) const

inline

◆ find_local_edge_index_of_facet()

unsigned int PolyhedronCore::find_local_edge_index_of_facet	(	unsigned int	aFacet,
		unsigned int	anEdge
	)

private

Finds the local index of an edge of a given global facet.

Finds the local index of an edge anEdge in the given facet with global index aFacet.

Returns: The local index (in 0,1,2) of the given edge.

◆ furthest_vertex_along_axis()

void PolyhedronCore::furthest_vertex_along_axis	(	const double *	anAxis,
		unsigned int &	furthestVertex
	)		const

Finds the vertex in the polyhedron which is the furthest in the given direction.

This method takes advantage of the AABB tree to find which vertex in the polyhedron is the furthest in the direction given by axis. Since the AABB tree does not know anything about the primitives it stores (except their Axis Aligned Bounding Box), the tree sends back a request to the Polyhedron object, through the furthestVertexCallback() callback method, to find which vertex is the furthest in the requested direction, for a given facet.

◆ furthest_vertex_callback()

void PolyhedronCore::furthest_vertex_callback	(	unsigned int	aFacet,
		const double *	aPoint,
		const double *	anAxis,
		double &	distance
	)		const

Finds the vertex in a polyhedron facets which is the furthest, in the requested direction.

This method is intented to be invoked by the AABB tree during a furthest vertex query. Given a global facet index aFacet, a comparison point aPoint and a direction anAxis, the method updates the distance parameter if the distance between aPoint and one of the facet vertices is greater than the current value. Additionally, this method updates the index of the furthest vertex in the facet, _furthestVertexIndex.

◆ get_hitPoint()

std::vector<double>& PolyhedronCore::get_hitPoint ( )

inline

Returns: The list of hit point (see raycasting).

◆ inertia_tensor()

void PolyhedronCore::inertia_tensor ( double(&) tensor[3][3] ) const

inline

update the tensor to the inertia operator of the polyhedron.

◆ initial_centroid_ptr()

const double* PolyhedronCore::initial_centroid_ptr ( ) const

inline

Returns: The initial centroid of the polyhedron, before any transformation.

◆ is_convex()

bool PolyhedronCore::is_convex ( ) const

inline

Returns: The convexity of the polyhedron.

◆ is_facet_crossed_by_ray()

bool PolyhedronCore::is_facet_crossed_by_ray	(	unsigned int	aFacet,
		Ray	aRay,
		double(&)	hitPoint[3]
	)		const

Checks if a facet is crossed by a given ray.

Checks if facet with index aFacet is crossed by the ray aRay.

Returns: true or false whether the facet is crossed by the ray or not.

◆ is_watertight()

bool PolyhedronCore::is_watertight ( ) const

inline

Returns: The watertightness of the polyhedron.

◆ max_corner_ptr()

const double* PolyhedronCore::max_corner_ptr ( ) const

inline

Returns: The max corner of the polyhedron (axis aligned) bounding box.

◆ min_corner_ptr()

const double* PolyhedronCore::min_corner_ptr ( ) const

inline

Returns: The min corner of the polyhedron (axis aligned) bounding box.

◆ normal_ptr_of_facet()

const double* PolyhedronCore::normal_ptr_of_facet ( int facetIndex ) const

inline

Allows to get the normal of a given facet.

Returns: A double array pointer to the components of the facet normal with index facetIndex in the _facetsNormals vector.

◆ normal_ptr_of_vertex()

const double* PolyhedronCore::normal_ptr_of_vertex ( int vertexIndex ) const

inline

Allows to get a refernce to a vertex coordinates array from its index in the _vertices vector.

Returns: A reference double array pointer to the coordinates of the vertex with index vertexIndex in the _vertices vector.

Allows to get a vertex normal array from its index in the _verticesNormals vector.

Returns: A double array pointer to the components of the vertex normal with index vertexIndex in the _verticesNormals vector.

◆ raycast_aabb_tree_callback()

bool PolyhedronCore::raycast_aabb_tree_callback	(	unsigned int	aFacet,
		Ray	aRay
	)		const

Checks if a primitive is hit by a ray.

This method is intented to be invoked by the AABB tree during counting primtives hit by a ray. Given a global facet index aFacet and a ray aRay, the method checks if the ray hits the primitive. Additionally, this method updates the global number of primitives hit by the ray, _primitivesHitByRayCount.

◆ read_off_file() [1/2]

void PolyhedronCore::read_off_file ( std::string filePath )

Reads an OFF file given a file path.

This method reads an Object File Format (OFF) mesh file. It only reads the vertices and facets (not the edges).

◆ read_off_file() [2/2]

void PolyhedronCore::read_off_file ( std::stringstream & stringStream )

Reads an OFF file from a stream.

This method reads an Object File Format (OFF) mesh file. It only reads the vertices and facets (not the edges).

◆ to_off_format()

void PolyhedronCore::to_off_format	(	std::stringstream &	offString,
		bool	basefacet = `true`
	)		const

Creates an std::stringstream with the polyhedron contents, in OFF file format.

This method creates a standard string stream with the polyhedron contents, in Object File Format (OFF) mesh file. It only writes the vertices and facets (not the edges).

◆ to_vtk_ugrid()

void PolyhedronCore::to_vtk_ugrid ( vtkUnstructuredGrid & uGrid )

Creates a VTK unstructured grid with the polyhedron contents.

This method creates a VTK unstructured grid with the contents of the polyhedron. It allows to further save it in .vtu file.

◆ translate_to_centroid()

void PolyhedronCore::translate_to_centroid ( )

translates the polyhedron to its center of mass.

After applying the translation, all metrics and the AABB tree are recomputed.

◆ vertex_index_of_basefacet()

const unsigned int PolyhedronCore::vertex_index_of_basefacet	(	int	basefacetIndex,
		int	vertexIndex
	)		const

inline

Allows to get a the global vertex index for a given base facet, with a given local vertex index.

Returns: An unsigned int corresponding to the global index of local vertex vertexIndex, for the base facet with index facetIndex.

◆ vertex_index_of_facet()

const unsigned int PolyhedronCore::vertex_index_of_facet	(	int	facetIndex,
		int	vertexIndex
	)		const

inline

Allows to get a the global vertex index for a given facet, with a given local vertex index.

Returns: An unsigned int corresponding to the global index of local vertex vertexIndex, for the facet with index facetIndex.

◆ vertex_number()

unsigned int PolyhedronCore::vertex_number ( ) const

inline

Returns: The number of vertices in the polyhedron.

◆ vertex_number_of_basefacet()

unsigned int PolyhedronCore::vertex_number_of_basefacet ( int basefacetIndex ) const

inline

Returns: The number of vertices in the base facet defined by basefacet.

◆ vertex_ptr()

const double* PolyhedronCore::vertex_ptr ( int vertexIndex ) const

inline

Allows to get a vertex coordinates array from its index in the _vertices vector.

Returns: A double array pointer to the coordinates of the vertex with index vertexIndex in the _vertices vector.

◆ vertex_ptr_of_facet()

const double* PolyhedronCore::vertex_ptr_of_facet	(	unsigned int	facetIndex,
		unsigned int	vectorIndex
	)		const

inline

Allows to get the in-plane vectors of a given facet.

Returns: A double array pointer to the components of the vector with index vectorIndex of facet facetIndex in the _facetsVectors vector.

◆ volume()

double PolyhedronCore::volume ( ) const

inline

Returns: The volume of the polyhedron.

Member Data Documentation

◆ _aabbTree

StaticAABBTree PolyhedronCore::_aabbTree

private

The Axis Aligned Bounding Box tree built from the facets of the polyhedron.

It is used to perform queries, such as closest point, containment checks, etc.

◆ _basefacetToFacetOffset

std::vector<unsigned int> PolyhedronCore::_basefacetToFacetOffset

private

stores the offset required to access the first triangle facet of a base facet in _facetToBaseFacet vector.

◆ _basefacetToVertex

std::vector<unsigned int> PolyhedronCore::_basefacetToVertex

private

The relationship between base facets (or raw facets, directly from the geometry file that is, which may have any number of vertices). This vector must be used along with the _basefacetToVertexOffset vector.

◆ _basefacetToVertexOffset

std::vector<unsigned int> PolyhedronCore::_basefacetToVertexOffset

private

stores the offset required to access the first vertex of a base facet in _basefacetToVertex vector.

◆ _candidateFacets

std::vector<unsigned int> PolyhedronCore::_candidateFacets

mutableprivate

A vector containing candidate facets during the closest_pointAndPrimitive() procedure. It is set by the closest_pointAndPrimitiveCallback() callback method, and post-processed in the closest_pointAndPrimitive() method.

◆ _centroid

double PolyhedronCore::_centroid[3]

private

The centroid of the polyhedron.

◆ _closestPoint

double PolyhedronCore::_closestPoint[3]

mutableprivate

contains the closest point found during a call to closest_point() method.

◆ _closestVertexAndPrimitiveIndices

VertexPrimitivePair PolyhedronCore::_closestVertexAndPrimitiveIndices

mutableprivate

The index of the closest primitive associated to the closest vertex found during a closest and primitive point query on the AABB tree, and set by the closest_pointAndPrimitiveCallback() callback method.

The closest primitive realizes the sortest distance between its center of mass and the point query.

◆ _closestVertexIndex

unsigned int PolyhedronCore::_closestVertexIndex

mutableprivate

The index of the closest vertex found during a closest point query on the AABB tree, and set by the closest_point_callback() method.

◆ _edgeToFacet

std::vector<unsigned int> PolyhedronCore::_edgeToFacet

private

The edge to facets connectivity list.

In a sane mesh, an edge may be connected to one or two facets, which are given in this array as global indices. When populating this conectivity list, if an edge is found to be adjacent to more than two facets, this edge is added to the _nonManifoldEdges vector for further sanity check.

◆ _edgeToVertex

std::vector<unsigned int> PolyhedronCore::_edgeToVertex

private

The edge to vertices connectivity list.

An edge is defined by two vertices, which are given in this array as global indices.

◆ _facetsNormals

std::vector<double> PolyhedronCore::_facetsNormals

private

The normals of each facet in the polyhedron.

The facets normals can be used to check for intersections or for 3D (flat) rendering.

◆ _facetsVectors

std::vector<double> PolyhedronCore::_facetsVectors

private

The in-plane vectors of each facet in the polyhedron.

The facets vectors can be used to check for intersections.

◆ _facetToBaseFacet

std::vector<unsigned int> PolyhedronCore::_facetToBaseFacet

private

The relationship between a triangle facet to its base facet.

◆ _facetToEdge

std::vector<unsigned int> PolyhedronCore::_facetToEdge

private

The facet to edges connectivity list.

A facet has three edges, which are given in this array as global indices.

◆ _facetToFacet

std::vector<unsigned int> PolyhedronCore::_facetToFacet

private

The facet to facets connectivity list.

A facet may have up to three adjacent facets through its three edges, that are listed in this vector. If a facet has no adjacent facet through a given local edge, it is marked as NotInList.

◆ _facetToVertex

std::vector<unsigned int> PolyhedronCore::_facetToVertex

private

The relationship between triangle facets and vertices.

◆ _furthestVertex

unsigned int PolyhedronCore::_furthestVertex

mutableprivate

contains the furthest vertex found during a call to furthest_vertex_along_axis() method.

◆ _greatestSquaredDiagonal

double PolyhedronCore::_greatestSquaredDiagonal

private

Greatest squared diagonal used to normalize errors.

◆ _hitPoints

std::vector<double> PolyhedronCore::_hitPoints

mutableprivate

The list of points coordinates on primitives hit by a ray during raycast on the AABB tree, and set by the raycast_aabb_tree_callback() method.

◆ _hitPrimitives

std::vector<unsigned int> PolyhedronCore::_hitPrimitives

mutableprivate

The list primitives hit by a ray during a raycast on the AABB tree, set by the raycast_aabb_tree_callback() callback method.

◆ _iMatrix

double PolyhedronCore::_iMatrix[3][3]

private

The inertia matrix of the polyhedron.

◆ _initialCentroid

double PolyhedronCore::_initialCentroid[3]

private

The initial centroid of the polyhedron, before any transformation.

◆ _isConvex

bool PolyhedronCore::_isConvex

private

The convexity of the polyhedron.

◆ _isWatertight

bool PolyhedronCore::_isWatertight

private

A flag that say if the polyhedron is watertight or not.

A polyhedron is assumed watertight if it does not contain free edges (such as holes in the mesh), and non-manifold edges (edges connected to 3 or more facets).

◆ _maxCorner

double PolyhedronCore::_maxCorner[3]

private

The max corner of the polyhedron bounding box.

◆ _minCorner

double PolyhedronCore::_minCorner[3]

private

The min corner of the polyhedron bounding box.

◆ _nonManifoldEdges

std::vector<unsigned int> PolyhedronCore::_nonManifoldEdges

private

The list of the non-manifold edges.

An edge is considered as non-manifold when is adjacent two more than two facets.

◆ _primitivesHitByRayCount

unsigned int PolyhedronCore::_primitivesHitByRayCount

mutableprivate

The number of primitives hit by a ray during a intersections count query on the AABB tree, and set by the raycast_aabb_tree_callback() method.

◆ _vertices

std::vector<double> PolyhedronCore::_vertices

private

The list of vertices coordinates, given as [x0,y0,z0,...,xn,yn,zn].

◆ _verticesNormals

std::vector<double> PolyhedronCore::_verticesNormals

private

The normals of each vertex in the polyhedron.

The vertices normals can be used for 3D (smooth) rendering.

◆ _verticesPerBaseFacet

std::vector<unsigned int> PolyhedronCore::_verticesPerBaseFacet

private

The number of vertices that form a base facet.

◆ _volume

double PolyhedronCore::_volume

private

The volume of the tetrahedron.

◆ FacetEdgeDirection

unsigned char PolyhedronCore::FacetEdgeDirection

staticprivate

Initial value:

= {
 
  { 0,  0,  1},
  { 1,  0,  0},
  { 0,  1,  0}
}

contains flags that allow to know if an edge is oriented towards a facet. or its incident counterpart.

Given two local vertices index of a facet, this table gives 0 or 1 whether the edge formed by these two vertices is oriented towards the facet or the adjacent one. Invoking FacetEdgeDirection[0][1] gives 0 (towards the facet), while FacetEdgeDirection[1][0] gives 1 (towards the adjacent facet).

◆ FacetEdgeVertex

unsigned char PolyhedronCore::FacetEdgeVertex

staticprivate

Initial value:

= {
 
  {0, 1},
  {1, 2},
  {2, 0}
}

contains the local connectivity of a facet vertices by edge.

A facet is defined by three vertices labeled 0,1,2. It contains 3 edges (in 0,1,2), and an edge is defined by two vertices (in 0,1). Invoking FacetEdgeVertex[0][1] gives the second vertex of edge 0 in the facet, corresponding to the local facet vertex 1.

◆ NotInList

const unsigned int PolyhedronCore::NotInList = (unsigned int)(-1)

staticprivate

A flag to determine if an index is in a list.

◆ SquaredDistanceErrorThreshold

double PolyhedronCore::SquaredDistanceErrorThreshold = 1e-16

staticprivate

Small value used to detect squared distance mismatch between two points.

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

/home/granoo/granoo/Lib/GranOO3/Algo/PolyhedronCore.hpp
/home/granoo/granoo/Lib/GranOO3/Algo/PolyhedronCore.cpp

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Member Typedef Documentation

◆ VertexPrimitivePair

Constructor & Destructor Documentation

◆ PolyhedronCore() [1/3]

◆ PolyhedronCore() [2/3]

◆ PolyhedronCore() [3/3]

◆ ~PolyhedronCore()

Member Function Documentation

◆ apply_offset()

◆ apply_scale_factor()

◆ basefacet_area()

◆ basefacet_index_for_facet()

◆ basefacet_number()

◆ build_aabb_tree()

◆ build_data_structure()

◆ centroid_ptr()

◆ clear()

◆ clear_metric()

◆ closest_point()

◆ closest_point_callback()

◆ closest_point_in_facet()

◆ closest_point_to_edge()

◆ closest_vertex_and_primitive()

◆ closest_vertex_and_primitive_callback()

◆ closest_vertex_callback()

◆ closest_vertex_ptr()

◆ compute_metric()

◆ contain()

◆ edge_number()

◆ facet_area()

◆ facet_hit_by_ray()

◆ facet_number()

◆ facet_to_vertex() [1/2]

◆ facet_to_vertex() [2/2]

◆ find_local_edge_index_of_facet()

◆ furthest_vertex_along_axis()

◆ furthest_vertex_callback()

◆ get_hitPoint()

◆ inertia_tensor()

◆ initial_centroid_ptr()

◆ is_convex()

◆ is_facet_crossed_by_ray()

◆ is_watertight()

◆ max_corner_ptr()

◆ min_corner_ptr()

◆ normal_ptr_of_facet()

◆ normal_ptr_of_vertex()

◆ raycast_aabb_tree_callback()

◆ read_off_file() [1/2]

◆ read_off_file() [2/2]

◆ to_off_format()

◆ to_vtk_ugrid()

◆ translate_to_centroid()

◆ vertex_index_of_basefacet()

◆ vertex_index_of_facet()

◆ vertex_number()

◆ vertex_number_of_basefacet()

◆ vertex_ptr()

◆ vertex_ptr_of_facet()

◆ volume()

Member Data Documentation

◆ _aabbTree

◆ _basefacetToFacetOffset

◆ _basefacetToVertex

◆ _basefacetToVertexOffset

◆ _candidateFacets

◆ _centroid

◆ _closestPoint

◆ _closestVertexAndPrimitiveIndices

◆ _closestVertexIndex

◆ _edgeToFacet

◆ _edgeToVertex

◆ _facetsNormals

◆ _facetsVectors

◆ _facetToBaseFacet