A class for representing a shape using a neural network-based signed distance function (SDF). More...

#include <shape_netsdf.hpp>

Inheritance diagram for netdem::NetSDF:

Public Member Functions
	NetSDF ()
	Default constructor.

void	InitFromModelFiles (std::string const &net_sdf_file, std::string const &net_spf_file)
	Initialize the NetSDF object from pre-trained neural network models.

void	Init ()
	Initialize the NetSDF object.

nlohmann::json	PackJson () override
	Pack the NetSDF object into a JSON structure.

void	InitFromJson (nlohmann::json const &js) override
	Initialize the NetSDF object from a JSON structure.

void	UpdateSurfaceNodes () override
	Update the surface nodes of the NetSDF object.

void	UpdateShapeProperties () override
	Update the shape properties of the NetSDF object.

void	SetSize (double d) override
	Set the size of the NetSDF object.

Shape *	Clone () const override
	Clone the NetSDF object.

STLModel	GetSTLModel (int num_nodes=200) override
	Generate an STL model of the NetSDF object.

double	SignedDistance (Vec3d const &pos) const override
	Compute the signed distance from a given position to the surface of the NetSDF object.

Vec3d	SurfacePoint (Vec3d const &pos) override
	Compute the surface point closest to a given position on the NetSDF object.

	~NetSDF ()
	Destructor.

void	Print () override
	Print information about the NetSDF object.

Public Member Functions inherited from netdem::Shape
virtual void	InitFromJsonFile (std::string const &js_file)
	Initializes the shape instance from a JSON file.

virtual double	GetSize () const
	Return shape size, which is defined as the diameter of equal-volume sphere.

virtual double	GetVolume () const
	Return the volume of the shape.

virtual Mat3d const &	GetInertia () const
	Return the inertia of the shape.

Vec3d	GetInertiaPrincipal () const
	Return the principal inertia of the shape.

virtual double	GetBoundSphereRadius () const
	Return the inertia of the shape.

virtual std::tuple< Vec3d, Vec3d >	GetBoundAABB () const
	Gets the boundary AABB of the shape instance.

virtual std::tuple< Vec3d, Vec3d >	GetBoundAABB (Vec3d const &pos, Vec4d const &quat) const
	Gets the boundary AABB of the shape instance.

virtual double	GetSkin () const
	Return skin size of the shape.

virtual double	GetSkinFactor () const
	Return skin factor of the shape.

virtual double	GetSurfaceNodeNum () const
	Return number of surface nodes of the shape.

virtual VecXT< Vec3d > const &	GetSurfaceNodes () const
	Return surface nodes of the shape.

virtual VecXT< double > const &	GetSurfaceNodeAreas () const
	Return surface area associated with each surface node.

virtual double	GetSurfaceNodeSpacing () const
	Return spacing of surface nodes.

const STLModel &	GetRenderMesh () const
	Return the surface mesh for rendering.

bool	CheckConvexity ()
	Return the convexity of the shape.

virtual void	Translate (Vec3d const &pos)
	Translates the shape instance to a new position.

virtual void	UpdateRenderMesh (int num_nodes=200)
	Initializes the surface mesh for rendering.

virtual void	SetSkin (double sk)
	Set skin size of the shape.

virtual void	SetSkinFactor (double sk_factor)
	Set skin size factor (skin = size by skin size factor) of the shape.

virtual void	EnableSurfaceNodes ()
	Enable the use of surface nodes.

virtual void	DisableSurfaceNodes ()
	Disable the use of surface nodes.

virtual bool	IsSurfaceNodesEnabled ()
	Check if the use of surface nodes is enabled.

virtual void	SetSurfaceNodeNum (int num)
	Set number of surface nodes of the shape.

virtual void	SetSurfaceNodes (VecXT< Vec3d > const &nodes)
	Set the surface nodes of the shape.

virtual void	SetSurfaceNodes (STLModel const &surf_stl)
	Set the surface nodes of the shape.

virtual void	SaveAsVTK (std::string const &filename)
	Saves the shape instance as a VTK file.

virtual void	SaveAsSTL (std::string const &filename)
	Saves the shape instance as an STL file.

virtual Vec3d	SupportPoint (Vec3d const &dir)
	Gets the support point in a given direction for the shape instance.

virtual VecXT< Vec3d >	SupportPoints (Vec3d const &dir)
	Gets the set of support points in a given direction for the shape instance.

virtual bool	CheckEnclose (Vec3d const &pos) const
	Determines whether a given point is enclosed within the shape instance.

virtual bool	CheckPrincipal () const
	Determines whether the shape is in principal configuration.

virtual	~Shape ()
	Destructor for the Shape class.

Public Attributes
RegressionNet	net_sdf_model

RegressionNet	net_spf_model

double	alpha {0.7}

Public Attributes inherited from netdem::Shape
int	id {0}
	ID of the shape instance.

std::string	label {"default"}
	Label of the shape instance.

Type	shape_type {Type::none}
	Type of the shape instance.

std::string	shape_name {"shape"}
	Name of the shape instance.

bool	use_customized_solver {false}
	Determines whether to use a customized contact solver or not.

STLModel	render_mesh
	Surface mesh for rendering.

Additional Inherited Members
Public Types inherited from netdem::Shape
enum	Type { none , point_sphere , sphere , spherical_harmonics , trimesh , trimesh_convex , ellipsoid , polybezier , triangle , plane , cylinder , poly_super_ellipsoid , poly_super_quadrics , level_set , netsdf , coded_netsdf , num_shapes }
	Enumeration for different types of shapes. More...

Static Public Member Functions inherited from netdem::Shape
static MatNd< 8, 3 >	VerticesOfAABB (Vec3d const &bmin, Vec3d const &bmax)
	Gets the vertices of the boundary AABB of the shape instance.

Protected Attributes inherited from netdem::Shape
double	size {1.0}
	Size and volume of the shape instance.

double	volume {0.5236}
	Volume of the shape instance.

Mat3d	inertia {{{0.05236, 0, 0}, {0, 0.05236, 0}, {0, 0, 0.05236}}}
	Inertia tensor of the shape instance.

double	bound_sphere_radius {0.5}
	Radius of the bounding sphere used for broad-phase contact detection.

double	skin {0.025}
	Skin thickness used for broad-phase contact detection.

double	skin_factor {0.05}
	Factor used to adjust the skin thickness.

Vec3d	bound_aabb_min {-0.5, -0.5, -0.5}
	Minimum bounds of the AABB used for broad-phase contact detection.

Vec3d	bound_aabb_max {0.5, 0.5, 0.5}
	Maximum bounds of the AABB used for broad-phase contact detection.

bool	is_convex {true}
	Determines whether the shape instance is convex or not.

bool	use_surface_nodes {false}
	Determines whether to use nodes for the contact solver.

int	surface_node_num {1000}
	Number of nodes used for the contact solver.

double	surface_node_spacing {std::sqrt(Math::PI / 1000.0)}
	Spacing between nodes used for the contact solver.

VecXT< Vec3d >	surface_nodes
	Surface nodes of the shape instance used for the contact solver.

VecXT< double >	surface_node_areas
	Area associated with each surface node.

Detailed Description

A class for representing a shape using a neural network-based signed distance function (SDF).

This class provides methods for initializing the SDF from pre-trained neural network models, computing signed distances and surface points using the SDF, and generating STL models for visualization.

Additionally, the NetSDF class is a subclass of the Shape class, which allows it to be used in combination with other shapes in compound objects.

Examples: 05_test_shape_netsdf.cpp.

Constructor & Destructor Documentation

◆ NetSDF()

NetSDF::NetSDF ( )

Default constructor.

◆ ~NetSDF()

NetSDF::~NetSDF ( )

Destructor.

Member Function Documentation

◆ Clone()

Shape * NetSDF::Clone ( ) const

overridevirtual

Clone the NetSDF object.

This method creates a copy of the NetSDF object.

Returns: A pointer to the cloned NetSDF object.

Reimplemented from netdem::Shape.

◆ GetSTLModel()

STLModel NetSDF::GetSTLModel ( int num_nodes = 200 )

overridevirtual

Generate an STL model of the NetSDF object.

This method generates an STL model of the NetSDF object using the specified number of nodes for each surface triangle.

Parameters

num_nodes The number of nodes to use for each surface triangle (default: 200).

Returns: An STLModel object representing the NetSDF object.

Reimplemented from netdem::Shape.

◆ Init()

void NetSDF::Init ( )

Initialize the NetSDF object.

This method initializes the NetSDF object by updating its nodes and shape properties.

◆ InitFromJson()

void NetSDF::InitFromJson ( nlohmann::json const & js )

overridevirtual

Initialize the NetSDF object from a JSON structure.

This method initializes the NetSDF object from a JSON structure previously generated by PackJson().

Parameters

js	The JSON structure to load.

Reimplemented from netdem::Shape.

◆ InitFromModelFiles()

void NetSDF::InitFromModelFiles	(	std::string const &	net_sdf_file,
		std::string const &	net_spf_file )

Initialize the NetSDF object from pre-trained neural network models.

This method initializes the NetSDF object using pre-trained neural network models for the signed distance function and surface point function.

Parameters

net_sdf_file	The filename of the signed distance function model.
net_spf_file	The filename of the surface point function model.

Examples: 05_test_shape_netsdf.cpp.

◆ PackJson()

nlohmann::json NetSDF::PackJson ( )

overridevirtual

Pack the NetSDF object into a JSON structure.

This method packs the NetSDF object into a JSON structure for serialization and storage.

Returns: The packed JSON structure.

Reimplemented from netdem::Shape.

◆ Print()

void NetSDF::Print ( )

overridevirtual

Print information about the NetSDF object.

This method prints basic information about the NetSDF object, including its position, rotation, size, volume, and surface area.

Reimplemented from netdem::Shape.

◆ SetSize()

void NetSDF::SetSize ( double d )

overridevirtual

Set the size of the NetSDF object.

This method sets the size of the NetSDF object by scaling it uniformly in all dimensions.

Parameters

d	The new size of the NetSDF object.

Reimplemented from netdem::Shape.

◆ SignedDistance()

double NetSDF::SignedDistance ( Vec3d const & pos ) const

overridevirtual

Compute the signed distance from a given position to the surface of the NetSDF object.

This method computes the signed distance from a given position to the surface of the NetSDF object using its signed distance function.

Parameters

pos	The position for which to compute the signed distance.

Returns: The signed distance from the specified position to the surface of the NetSDF object.

Reimplemented from netdem::Shape.

◆ SurfacePoint()

Vec3d NetSDF::SurfacePoint ( Vec3d const & pos )

overridevirtual

Compute the surface point closest to a given position on the NetSDF object.

This method computes the surface point closest to a given position on the NetSDF object by finding the intersection of a line passing through the specified position and perpendicular to the surface with the surface.

Parameters

pos	The position for which to compute the closest surface point.

Returns: The surface point closest to the specified position on the NetSDF object.

Reimplemented from netdem::Shape.

◆ UpdateShapeProperties()

void NetSDF::UpdateShapeProperties ( )

overridevirtual

Update the shape properties of the NetSDF object.

This method updates the shape properties of the NetSDF object, such as its volume and surface area.

Reimplemented from netdem::Shape.

◆ UpdateSurfaceNodes()

void NetSDF::UpdateSurfaceNodes ( )

overridevirtual

Update the surface nodes of the NetSDF object.

This method updates the surface nodes of the NetSDF object based on its current position and rotation.

Reimplemented from netdem::Shape.

Member Data Documentation

◆ alpha

double netdem::NetSDF::alpha {0.7}

◆ net_sdf_model

RegressionNet netdem::NetSDF::net_sdf_model

◆ net_spf_model

RegressionNet netdem::NetSDF::net_spf_model

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

/Users/lzhshou/Documents/Research/myProjects/apaam/repo/netdem/src/shape/shape_netsdf.hpp
/Users/lzhshou/Documents/Research/myProjects/apaam/repo/netdem/src/shape/shape_netsdf.cpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ NetSDF()

◆ ~NetSDF()

Member Function Documentation

◆ Clone()

◆ GetSTLModel()

◆ Init()

◆ InitFromJson()

◆ InitFromModelFiles()

◆ PackJson()

◆ Print()

◆ SetSize()

◆ SignedDistance()

◆ SurfacePoint()

◆ UpdateShapeProperties()

◆ UpdateSurfaceNodes()

Member Data Documentation

◆ alpha

◆ net_sdf_model

◆ net_spf_model