A class representing a polybezier with variable orders and patches. More...

#include <shape_polybezier.hpp>

Inheritance diagram for netdem::Polybezier:

Public Member Functions
	Polybezier ()
	Default constructor.

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

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

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

void	InitByRandom ()
	Initialize the Polybezier object randomly.

void	InitFromKernelSTL (std::string const &file)
	Initialize the Polybezier object from a kernel STL model read from file.

void	InitFromKernelSTL (STLModel const &stl_model)
	Initialize the Polybezier object from a kernel STL model.

void	Init ()
	Initialize the Polybezier object.

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

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

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

STLModel	GetSTLModel_v2 (int num_nodes=200)
	Generate an alternate version of the STL model for the Polybezier object.

void	SaveNormalPatchesSpherical (std::string const &file)
	Save normal patches as a spherical mesh.

void	SaveNormalPatchesCubic (std::string const &file)
	Save normal patches as a cubic mesh.

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

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

void	Print () override
	Print information about the Polybezier 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	UpdateSurfaceNodes ()
	Initializes the surface nodes of the shape instance.

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 double	SignedDistance (Vec3d const &pos) const
	Calculates the signed distance between a point and the shape instance.

virtual Vec3d	SurfacePoint (Vec3d const &pos)
	Calculates the surface point corresponding to an intruding node.

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
int	num_patches {30}

int	order {2}

VecXT< VecXT< Vec3d > >	face_patch_knots_list

VecXT< VecXT< Vec3d > >	face_patch_normals_list

VecXT< VecXT< Vec3d > >	edge_patch_knots_list

VecXT< Vec3i >	linked_edges_list

VecXT< VecXT< int > >	linked_patches_list

int	num_cells {4}

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 representing a polybezier with variable orders and patches.

This class provides methods for initializing, updating, and generating the Polybezier object using various sources such as kernel STL models or random initialization. It also implements operations such as computing support points and surface properties. The polybezier is defined by its patches which are represented by knot vectors as well as edge patches and face patches.

Examples: 01_random_generation.cpp, 04_demo_normal_patches.cpp, 05_ave_num_linked_patches.cpp, and 81_voronoi_packing.cpp.

Constructor & Destructor Documentation

◆ Polybezier()

Polybezier::Polybezier ( )

Default constructor.

Member Function Documentation

◆ Clone()

Shape * Polybezier::Clone ( ) const

overridevirtual

Clone the Polybezier object.

This method creates a copy of the Polybezier object.

Returns: A pointer to the cloned Polybezier object.

Reimplemented from netdem::Shape.

◆ GetSTLModel()

STLModel Polybezier::GetSTLModel ( int num_nodes = 200 )

overridevirtual

Generate an STL model for the Polybezier object.

This method generates an STLModel object representing the Polybezier object with 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 Polybezier object.

Reimplemented from netdem::Shape.

Examples: 01_random_generation.cpp, 04_demo_normal_patches.cpp, 05_ave_num_linked_patches.cpp, and 81_voronoi_packing.cpp.

◆ GetSTLModel_v2()

STLModel Polybezier::GetSTLModel_v2 ( int num_nodes = 200 )

Generate an alternate version of the STL model for the Polybezier object.

This method generates an alternate version of the STLModel object representing the Polybezier object with the specified number of nodes for each surface triangle.

Parameters

num_nodes The number of nodes to use for each surface triangle (default: 400).

Returns: An STLModel object representing the alternate version of the Polybezier object.

◆ Init()

void Polybezier::Init ( )

Initialize the Polybezier object.

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

◆ InitByRandom()

void Polybezier::InitByRandom ( )

Initialize the Polybezier object randomly.

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

Examples: 01_random_generation.cpp.

◆ InitFromJson()

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

overridevirtual

Initialize the Polybezier object from a JSON structure.

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

Parameters

js	The JSON structure to load.

Reimplemented from netdem::Shape.

◆ InitFromKernelSTL() [1/2]

void netdem::Polybezier::InitFromKernelSTL ( std::string const & file )

Initialize the Polybezier object from a kernel STL model read from file.

This method initializes the Polybezier object from a kernel STL model read from file by updating its nodes and shape properties.

Parameters

file	The name of the kernel STL model file.

Examples: 04_demo_normal_patches.cpp, 05_ave_num_linked_patches.cpp, and 81_voronoi_packing.cpp.

◆ InitFromKernelSTL() [2/2]

void Polybezier::InitFromKernelSTL ( STLModel const & stl_model )

Initialize the Polybezier object from a kernel STL model.

This method initializes the Polybezier object from a kernel STL model by updating its nodes and shape properties.

Parameters

stl_model The kernel STL model to use.

◆ PackJson()

nlohmann::json Polybezier::PackJson ( )

overridevirtual

Pack the Polybezier object into a JSON structure.

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

Returns: The packed JSON structure.

Reimplemented from netdem::Shape.

◆ Print()

void Polybezier::Print ( )

overridevirtual

Print information about the Polybezier object.

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

Reimplemented from netdem::Shape.

◆ SaveNormalPatchesCubic()

void Polybezier::SaveNormalPatchesCubic ( std::string const & file )

Save normal patches as a cubic mesh.

This method saves the normal patches of the Polybezier object as a cubic mesh in an OBJ file.

Parameters

file	The name of the output OBJ file.

Examples: 04_demo_normal_patches.cpp.

◆ SaveNormalPatchesSpherical()

void Polybezier::SaveNormalPatchesSpherical ( std::string const & file )

Save normal patches as a spherical mesh.

This method saves the normal patches of the Polybezier object as a spherical mesh in an OBJ file.

Parameters

file	The name of the output OBJ file.

◆ SetSize()

void Polybezier::SetSize ( double d )

overridevirtual

Set the size of the Polybezier object.

This method sets the size of the Polybezier object by updating its order and knot vectors. The new size is a scalar value that applies to all axes.

Parameters

d	The new size for the Polybezier object.

Reimplemented from netdem::Shape.

Examples: 81_voronoi_packing.cpp.

◆ SupportPoint()

Vec3d Polybezier::SupportPoint ( Vec3d const & dir )

overridevirtual

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

This method computes the support point of the Polybezier object in a given direction, which is the point on the surface farthest in the specified direction.

Parameters

dir	The direction in which to compute the support point.

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

Reimplemented from netdem::Shape.

◆ SupportPoints()

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

overridevirtual

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

This method computes the support points of the Polybezier object in a given direction, which are two opposite points on the surface farthest 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 Polybezier object in the specified direction.

Reimplemented from netdem::Shape.

◆ UpdateShapeProperties()

void Polybezier::UpdateShapeProperties ( )

overridevirtual

Update the shape properties of the Polybezier object.

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

Reimplemented from netdem::Shape.

Member Data Documentation

◆ edge_patch_knots_list

VecXT<VecXT<Vec3d> > netdem::Polybezier::edge_patch_knots_list

◆ face_patch_knots_list

VecXT<VecXT<Vec3d> > netdem::Polybezier::face_patch_knots_list

◆ face_patch_normals_list

VecXT<VecXT<Vec3d> > netdem::Polybezier::face_patch_normals_list

◆ linked_edges_list

VecXT<Vec3i> netdem::Polybezier::linked_edges_list

◆ linked_patches_list

VecXT<VecXT<int> > netdem::Polybezier::linked_patches_list

Examples: 05_ave_num_linked_patches.cpp.

◆ num_cells

int netdem::Polybezier::num_cells {4}

Examples: 05_ave_num_linked_patches.cpp.

◆ num_patches

int netdem::Polybezier::num_patches {30}

Examples: 01_random_generation.cpp.

◆ order

int netdem::Polybezier::order {2}

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

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

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Polybezier()

Member Function Documentation

◆ Clone()

◆ GetSTLModel()

◆ GetSTLModel_v2()

◆ Init()

◆ InitByRandom()

◆ InitFromJson()

◆ InitFromKernelSTL() [1/2]

◆ InitFromKernelSTL() [2/2]

◆ PackJson()

◆ Print()

◆ SaveNormalPatchesCubic()

◆ SaveNormalPatchesSpherical()

◆ SetSize()

◆ SupportPoint()

◆ SupportPoints()

◆ UpdateShapeProperties()

Member Data Documentation

◆ edge_patch_knots_list

◆ face_patch_knots_list

◆ face_patch_normals_list

◆ linked_edges_list

◆ linked_patches_list

◆ num_cells

◆ num_patches

◆ order