A class for representing a plane with a center point and normal vector. More...

#include <shape_plane.hpp>

Inheritance diagram for netdem::Plane:

Public Member Functions
	Plane ()
	Default constructor.

	Plane (Vec3d const &c, Vec3d const &n)
	Constructor that sets the center and normal vector of the plane.

	Plane (double c_x, double c_y, double c_z, double n_x, double n_y, double n_z)
	Constructor that sets the center and normal vector of the plane using coordinates.

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

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

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

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

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

void	Init ()
	Initialize the Plane object.

void	SetExtent (double e)
	Set the extent of the Plane object.

void	SetCenter (double c_x, double c_y, double c_z)
	Set the center point of the Plane object.

void	SetNormal (double n_x, double n_y, double n_z)
	Set the normal vector of the Plane object.

std::tuple< Vec3d, Vec3d >	GetBoundAABB (Vec3d const &pos, Vec4d const &quat) const override
	Get the axis-aligned bounding box (AABB) of the Plane object.

STLModel	GetSTLModel (int num_nodes=400) override
	Generate an STL model of the Plane object.

Vec3d	SupportPoint (Vec3d const &dir) override
	Compute the support point of the Plane object in a given direction.

VecXT< Vec3d >	SupportPoints (Vec3d const &dir) override
	Compute the support points of the Plane object in a given direction.

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

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

void	Print () override
	Print information about the Plane 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 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	SetSize (double d)
	Sets the size of the shape instance.

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 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
Vec3d	center {0, 0, 0}

Vec3d	dir_n {0, 0, 1}

double	extent {5}

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 plane with a center point and normal vector.

This class provides methods for setting and updating the position and orientation of the plane, computing its surface properties, generating STL models for visualization, and calculating signed distances and surface points.

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

Examples: 00_hertz_contact.cpp, 1_membrane_case.cpp, 20_gen_dataset_ellipsoid_plane.cpp, 21_test_dataset_ellipsoid_plane.cpp, 26_test_ann_vs_geom_ellipsoid_plane.cpp, 81_golf_ball_impact.cpp, 92_angle_repose_trimesh.cpp, and 94_angle_repose_trimesh.cpp.

Constructor & Destructor Documentation

◆ Plane() [1/3]

Plane::Plane ( )

Default constructor.

◆ Plane() [2/3]

Plane::Plane	(	Vec3d const &	c,
		Vec3d const &	n )

Constructor that sets the center and normal vector of the plane.

Parameters

c	The center point of the plane.
n	The normal vector of the plane.

◆ Plane() [3/3]

Plane::Plane	(	double	c_x,
		double	c_y,
		double	c_z,
		double	n_x,
		double	n_y,
		double	n_z )

Constructor that sets the center and normal vector of the plane using coordinates.

Parameters

c_x	The x-coordinate of the center point of the plane.
c_y	The y-coordinate of the center point of the plane.
c_z	The z-coordinate of the center point of the plane.
n_x	The x-component of the normal vector of the plane.
n_y	The y-component of the normal vector of the plane.
n_z	The z-component of the normal vector of the plane.

Member Function Documentation

◆ Clone()

Shape * Plane::Clone ( ) const

overridevirtual

Clone the Plane object.

This method creates a copy of the Plane object.

Returns: A pointer to the cloned Plane object.

Reimplemented from netdem::Shape.

◆ GetBoundAABB()

tuple< Vec3d, Vec3d > Plane::GetBoundAABB	(	Vec3d const &	pos,
		Vec4d const &	quat ) const

overridevirtual

Get the axis-aligned bounding box (AABB) of the Plane object.

This method computes the AABB of the Plane object at a given position and orientation.

Parameters

pos	The position of the Plane object.
quat	The quaternion representing the orientation of the Plane object.

Returns: A tuple containing the minimum and maximum points of the AABB.

Reimplemented from netdem::Shape.

◆ GetSTLModel()

STLModel Plane::GetSTLModel ( int num_nodes = 400 )

overridevirtual

Generate an STL model of the Plane object.

This method generates an STL model of the Plane 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 Plane object.

Reimplemented from netdem::Shape.

◆ Init()

void Plane::Init ( )

Initialize the Plane object.

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

◆ InitFromJson()

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

overridevirtual

Initialize the Plane object from a JSON structure.

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

Parameters

js	The JSON structure to load.

Reimplemented from netdem::Shape.

◆ PackJson()

nlohmann::json Plane::PackJson ( )

overridevirtual

Pack the Plane object into a JSON structure.

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

Returns: The packed JSON structure.

Reimplemented from netdem::Shape.

◆ Print()

void Plane::Print ( )

overridevirtual

Print information about the Plane object.

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

Reimplemented from netdem::Shape.

◆ SetCenter()

void Plane::SetCenter	(	double	c_x,
		double	c_y,
		double	c_z )

Set the center point of the Plane object.

This method sets the center point of the Plane object.

Parameters

c_x	The x-coordinate of the new center point.
c_y	The y-coordinate of the new center point.
c_z	The z-coordinate of the new center point.

◆ SetExtent()

void Plane::SetExtent ( double e )

Set the extent of the Plane object.

This method sets the extent of the Plane object, which determines its size.

Parameters

e	The new extent of the Plane object.

Examples: 92_angle_repose_trimesh.cpp, and 94_angle_repose_trimesh.cpp.

◆ SetNormal()

void Plane::SetNormal	(	double	n_x,
		double	n_y,
		double	n_z )

Set the normal vector of the Plane object.

This method sets the normal vector of the Plane object.

Parameters

n_x	The x-component of the new normal vector.
n_y	The y-component of the new normal vector.
n_z	The z-component of the new normal vector.

◆ SignedDistance()

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

overridevirtual

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

This method computes the signed distance from a given position to the surface of the Plane object using its center point and normal vector.

Parameters

pos	The position for which to compute the signed distance.

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

Reimplemented from netdem::Shape.

◆ SupportPoint()

Vec3d Plane::SupportPoint ( Vec3d const & dir )

overridevirtual

Compute the support point of the Plane object in a given direction.

This method computes the support point of the Plane object in a given direction, which is the point on the plane that is farthest in the specified direction.

Parameters

dir	The direction in which to compute the support point.

Returns: The support point of the Plane object in the specified direction.

Reimplemented from netdem::Shape.

◆ SupportPoints()

VecXT< Vec3d > Plane::SupportPoints ( Vec3d const & dir )

overridevirtual

Compute the support points of the Plane object in a given direction.

This method computes the support points of the Plane object in a given direction, which are the two points on the plane that are farthest in opposite directions along the specified direction.

Parameters

dir	The direction in which to compute the support points.

Returns: A vector containing the two support points of the Plane object in the specified direction.

Reimplemented from netdem::Shape.

◆ SurfacePoint()

Vec3d Plane::SurfacePoint ( Vec3d const & pos )

overridevirtual

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

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

Parameters

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

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

Reimplemented from netdem::Shape.

◆ UpdateShapeProperties()

void Plane::UpdateShapeProperties ( )

overridevirtual

Update the shape properties of the Plane object.

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

Reimplemented from netdem::Shape.

◆ UpdateSurfaceNodes()

void Plane::UpdateSurfaceNodes ( )

overridevirtual

Update the surface nodes of the Plane object.

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

Reimplemented from netdem::Shape.

Member Data Documentation

◆ center

Vec3d netdem::Plane::center {0, 0, 0}

◆ dir_n

Vec3d netdem::Plane::dir_n {0, 0, 1}

◆ extent

double netdem::Plane::extent {5}

the default extent is deemed large enough to cover the computing domain; otherwise, enlarge it. Note that the gjk algorithm would encounter precision issue for two elements with large size difference (e.g., >1e4 times of size difference)

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

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

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Plane() [1/3]

◆ Plane() [2/3]

◆ Plane() [3/3]

Member Function Documentation

◆ Clone()

◆ GetBoundAABB()

◆ GetSTLModel()

◆ Init()

◆ InitFromJson()

◆ PackJson()

◆ Print()

◆ SetCenter()

◆ SetExtent()

◆ SetNormal()

◆ SignedDistance()

◆ SupportPoint()

◆ SupportPoints()

◆ SurfacePoint()

◆ UpdateShapeProperties()

◆ UpdateSurfaceNodes()

Member Data Documentation

◆ center

◆ dir_n

◆ extent