This class represents different types of shapes and performs various calculations on them. More...

#include <shape.hpp>

Inheritance diagram for netdem::Shape:

Public Types
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...

Public Member Functions
virtual nlohmann::json	PackJson ()
	Packs the data of the shape instance into a JSON object.

virtual void	InitFromJson (nlohmann::json const &js)
	Initializes the shape instance from a JSON object.

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	UpdateShapeProperties ()
	Initializes the shape properties of the shape instance.

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 Shape *	Clone () const
	Clones the shape instance.

virtual STLModel	GetSTLModel (int num_nodes=200)
	Gets the STL model of the shape instance.

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 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 void	Print ()
	Prints the properties of the shape instance.

virtual	~Shape ()
	Destructor for the Shape class.

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

Public Attributes
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.

Protected Attributes
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

This class represents different types of shapes and performs various calculations on them.

Examples: 00_sdf_demo.cpp.

Member Enumeration Documentation

◆ Type

enum netdem::Shape::Type

Enumeration for different types of shapes.

Enumerator
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

Constructor & Destructor Documentation

◆ ~Shape()

Shape::~Shape ( )

virtual

Destructor for the Shape class.

Member Function Documentation

◆ CheckConvexity()

bool Shape::CheckConvexity ( )

Return the convexity of the shape.

◆ CheckEnclose()

bool Shape::CheckEnclose ( Vec3d const & pos ) const

virtual

Determines whether a given point is enclosed within the shape instance.

Parameters

pos	The point to test for enclosure.

Returns: True if the point is enclosed within the shape instance, false otherwise.

Reimplemented in netdem::Triangle.

◆ CheckPrincipal()

bool Shape::CheckPrincipal ( ) const

virtual

Determines whether the shape is in principal configuration.

Returns: True if the shape is in principal configuration, false otherwise.

◆ Clone()

Shape * Shape::Clone ( ) const

virtual

Clones the shape instance.

Returns: A new Shape object that is a copy of the current instance.

Reimplemented in netdem::CodedNetSDF, netdem::Cylinder, netdem::Ellipsoid, netdem::LevelSet, netdem::NetSDF, netdem::Plane, netdem::PointSphere, netdem::Polybezier, netdem::PolySuperEllipsoid, netdem::PolySuperQuadrics, netdem::Sphere, netdem::SphericalHarmonics, netdem::Triangle, and netdem::TriMesh.

◆ DisableSurfaceNodes()

void Shape::DisableSurfaceNodes ( )

virtual

Disable the use of surface nodes.

◆ EnableSurfaceNodes()

void Shape::EnableSurfaceNodes ( )

virtual

Enable the use of surface nodes.

Examples: 00_contact_test_sphere.cpp, 01_contact_test_trimesh.cpp, 03_friction_test_sphere.cpp, 04_friction_test_trimesh.cpp, 10_contact_test_sphere.cpp, and 11_contact_test_trimesh.cpp.

◆ GetBoundAABB() [1/2]

tuple< Vec3d, Vec3d > Shape::GetBoundAABB ( ) const

virtual

Gets the boundary AABB of the shape instance.

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

Reimplemented in netdem::Triangle.

Examples: 81_voronoi_packing.cpp.

◆ GetBoundAABB() [2/2]

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

virtual

Gets the boundary AABB of the shape instance.

Parameters

pos	Position of the shape instance.
quat	Quaternion orientation of the shape instance.

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

Reimplemented in netdem::Plane, and netdem::Triangle.

◆ GetBoundSphereRadius()

double Shape::GetBoundSphereRadius ( ) const

virtual

Return the inertia of the shape.

Examples: 00_gen_dataset.cpp, 00_gen_dataset_trimesh_plane.cpp, 06_test_ann_vs_geom_trimesh_plane.cpp, 10_gen_dataset_trimesh.cpp, 16_test_ann_vs_geom_trimesh.cpp, 20_gen_dataset_ellipsoid_plane.cpp, 26_test_ann_vs_geom_ellipsoid_plane.cpp, 30_gen_dataset_ellipsoid.cpp, 36_test_ann_vs_geom_ellipsoid.cpp, and 37_test_ann_vs_geom_ellipsoid.cpp.

◆ GetInertia()

Mat3d const & Shape::GetInertia ( ) const

virtual

Return the inertia of the shape.

◆ GetInertiaPrincipal()

Vec3d Shape::GetInertiaPrincipal ( ) const

Return the principal inertia of the shape.

◆ GetRenderMesh()

STLModel const & Shape::GetRenderMesh ( ) const

Return the surface mesh for rendering.

◆ GetSize()

double Shape::GetSize ( ) const

virtual

Return shape size, which is defined as the diameter of equal-volume sphere.

Examples: 00_contact_test_sphere.cpp, 00_nut_in_bolt.cpp, 01_contact_test_trimesh.cpp, 03_friction_test_sphere.cpp, 04_friction_test_trimesh.cpp, 06_test_ann_vs_geom_trimesh_plane.cpp, 10_contact_test_sphere.cpp, 11_contact_test_trimesh.cpp, 26_test_ann_vs_geom_ellipsoid_plane.cpp, and 92_nut_in_bolt.cpp.

◆ GetSkin()

double Shape::GetSkin ( ) const

virtual

Return skin size of the shape.

◆ GetSkinFactor()

double Shape::GetSkinFactor ( ) const

virtual

Return skin factor of the shape.

◆ GetSTLModel()

STLModel Shape::GetSTLModel ( int num_nodes = 200 )

virtual

Gets the STL model of the shape instance.

Parameters

num_nodes Number of nodes to use for the STL model (default: 200).

Returns: An STLModel object representing the shape instance.

Reimplemented in netdem::CodedNetSDF, netdem::Cylinder, netdem::Ellipsoid, netdem::LevelSet, netdem::NetSDF, netdem::Plane, netdem::PointSphere, netdem::Polybezier, netdem::PolySuperEllipsoid, netdem::PolySuperQuadrics, netdem::Sphere, netdem::SphericalHarmonics, netdem::Triangle, and netdem::TriMesh.

◆ GetSurfaceNodeAreas()

VecXT< double > const & Shape::GetSurfaceNodeAreas ( ) const

virtual

Return surface area associated with each surface node.

◆ GetSurfaceNodeNum()

double Shape::GetSurfaceNodeNum ( ) const

virtual

Return number of surface nodes of the shape.

◆ GetSurfaceNodes()

VecXT< Vec3d > const & Shape::GetSurfaceNodes ( ) const

virtual

Return surface nodes of the shape.

Examples: 01_contact_test_trimesh.cpp, and 11_contact_test_trimesh.cpp.

◆ GetSurfaceNodeSpacing()

double Shape::GetSurfaceNodeSpacing ( ) const

virtual

Return spacing of surface nodes.

◆ GetVolume()

double Shape::GetVolume ( ) const

virtual

Return the volume of the shape.

◆ InitFromJson()

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

virtual

Initializes the shape instance from a JSON object.

Parameters

js	A JSON object containing the shape data.

Reimplemented in netdem::CodedNetSDF, netdem::Cylinder, netdem::Ellipsoid, netdem::LevelSet, netdem::NetSDF, netdem::Plane, netdem::PointSphere, netdem::Polybezier, netdem::PolySuperEllipsoid, netdem::PolySuperQuadrics, netdem::Sphere, netdem::SphericalHarmonics, netdem::Triangle, and netdem::TriMesh.

◆ InitFromJsonFile()

void Shape::InitFromJsonFile ( std::string const & js_file )

virtual

Initializes the shape instance from a JSON file.

Parameters

js_file Path to the JSON file containing the shape data.

◆ IsSurfaceNodesEnabled()

bool Shape::IsSurfaceNodesEnabled ( )

virtual

Check if the use of surface nodes is enabled.

Returns: A flag whether the surface nodes is enabled.

◆ PackJson()

nlohmann::json Shape::PackJson ( )

virtual

Packs the data of the shape instance into a JSON object.

Returns: A JSON object containing the shape data.

Reimplemented in netdem::CodedNetSDF, netdem::Cylinder, netdem::Ellipsoid, netdem::LevelSet, netdem::NetSDF, netdem::Plane, netdem::PointSphere, netdem::Polybezier, netdem::PolySuperEllipsoid, netdem::PolySuperQuadrics, netdem::Sphere, netdem::SphericalHarmonics, netdem::Triangle, and netdem::TriMesh.

◆ Print()

void Shape::Print ( )

virtual

Prints the properties of the shape instance.

Reimplemented in netdem::CodedNetSDF, netdem::Cylinder, netdem::Ellipsoid, netdem::LevelSet, netdem::NetSDF, netdem::Plane, netdem::PointSphere, netdem::Polybezier, netdem::PolySuperEllipsoid, netdem::PolySuperQuadrics, netdem::Sphere, and netdem::TriMesh.

◆ SaveAsSTL()

void Shape::SaveAsSTL ( std::string const & filename )

virtual

Saves the shape instance as an STL file.

Parameters

filename Path to the STL file to save.

Examples: 00_gen_dataset.cpp, 02_energy_test.cpp, 04_demo_normal_patches.cpp, and 05_test_shape_netsdf.cpp.

◆ SaveAsVTK()

void Shape::SaveAsVTK ( std::string const & filename )

virtual

Saves the shape instance as a VTK file.

Parameters

filename Path to the VTK file to save.

◆ SetSize()

void Shape::SetSize ( double d )

virtual

Sets the size of the shape instance.

Parameters

d	The new size of the shape instance.

Reimplemented in netdem::CodedNetSDF, netdem::Cylinder, netdem::Ellipsoid, netdem::LevelSet, netdem::NetSDF, netdem::Polybezier, netdem::PolySuperEllipsoid, netdem::PolySuperQuadrics, netdem::SphericalHarmonics, and netdem::TriMesh.

◆ SetSkin()

void Shape::SetSkin ( double sk )

virtual

Set skin size of the shape.

◆ SetSkinFactor()

void Shape::SetSkinFactor ( double sk_factor )

virtual

Set skin size factor (skin = size by skin size factor) of the shape.

Examples: blade_mixing_main.cpp.

◆ SetSurfaceNodeNum()

void Shape::SetSurfaceNodeNum ( int num )

virtual

Set number of surface nodes of the shape.

Examples: 00_contact_test_sphere.cpp, and 10_contact_test_sphere.cpp.

◆ SetSurfaceNodes() [1/2]

void Shape::SetSurfaceNodes ( STLModel const & surf_stl )

virtual

Set the surface nodes of the shape.

◆ SetSurfaceNodes() [2/2]

void Shape::SetSurfaceNodes ( VecXT< Vec3d > const & nodes )

virtual

Set the surface nodes of the shape.

Examples: 01_contact_test_trimesh.cpp, and 11_contact_test_trimesh.cpp.

◆ SignedDistance()

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

virtual

Calculates the signed distance between a point and the shape instance.

Parameters

pos	The point to calculate the distance from.

Returns: The signed distance between the point and the shape instance.

Reimplemented in netdem::CodedNetSDF, netdem::Cylinder, netdem::Ellipsoid, netdem::LevelSet, netdem::NetSDF, netdem::Plane, netdem::PointSphere, netdem::PolySuperEllipsoid, netdem::PolySuperQuadrics, netdem::Sphere, netdem::SphericalHarmonics, netdem::Triangle, and netdem::TriMesh.

◆ SupportPoint()

Vec3d Shape::SupportPoint ( Vec3d const & dir )

virtual

Gets the support point in a given direction for the shape instance.

Parameters

dir	The direction in which to find the support point.

Returns: The support point of the shape instance in the given direction.

Reimplemented in netdem::Cylinder, netdem::Ellipsoid, netdem::Plane, netdem::PointSphere, netdem::Polybezier, netdem::PolySuperEllipsoid, netdem::PolySuperQuadrics, netdem::Sphere, netdem::Triangle, and netdem::TriMesh.

◆ SupportPoints()

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

virtual

Gets the set of support points in a given direction for the shape instance.

Parameters

dir	The direction in which to find the support points.

Returns: The set of support points of the shape instance in the given direction.

Reimplemented in netdem::Cylinder, netdem::Ellipsoid, netdem::Plane, netdem::PointSphere, netdem::Polybezier, netdem::PolySuperEllipsoid, netdem::PolySuperQuadrics, netdem::Sphere, netdem::Triangle, and netdem::TriMesh.

◆ SurfacePoint()

Vec3d Shape::SurfacePoint ( Vec3d const & pos )

virtual

Calculates the surface point corresponding to an intruding node.

This method will be used to compute the contact point.

Parameters

pos	The position of the intruding node.

Returns: The surface point corresponding to the intruding node.

calculate the surface point corrsponding to a intruding node. It will be used to compute the contact point

Reimplemented in netdem::CodedNetSDF, netdem::Cylinder, netdem::Ellipsoid, netdem::LevelSet, netdem::NetSDF, netdem::Plane, netdem::PointSphere, netdem::PolySuperEllipsoid, netdem::PolySuperQuadrics, netdem::Sphere, netdem::SphericalHarmonics, netdem::Triangle, and netdem::TriMesh.

◆ Translate()

void Shape::Translate ( Vec3d const & pos )

virtual

Translates the shape instance to a new position.

Parameters

pos	The new position of the shape instance.

Reimplemented in netdem::Triangle.

◆ UpdateRenderMesh()

void Shape::UpdateRenderMesh ( int num_nodes = 200 )

virtual

Initializes the surface mesh for rendering.

Parameters

num_nodes Number of nodes to use for the STL model (default: 200).

◆ UpdateShapeProperties()

void Shape::UpdateShapeProperties ( )

virtual

Initializes the shape properties of the shape instance.

Reimplemented in netdem::CodedNetSDF, netdem::Cylinder, netdem::Ellipsoid, netdem::LevelSet, netdem::NetSDF, netdem::Plane, netdem::PointSphere, netdem::Polybezier, netdem::PolySuperEllipsoid, netdem::PolySuperQuadrics, netdem::Sphere, netdem::SphericalHarmonics, netdem::Triangle, and netdem::TriMesh.

◆ UpdateSurfaceNodes()

void Shape::UpdateSurfaceNodes ( )

virtual

Initializes the surface nodes of the shape instance.

Reimplemented in netdem::CodedNetSDF, netdem::Cylinder, netdem::Ellipsoid, netdem::LevelSet, netdem::NetSDF, netdem::Plane, netdem::PointSphere, netdem::PolySuperEllipsoid, netdem::PolySuperQuadrics, netdem::Sphere, netdem::SphericalHarmonics, netdem::Triangle, and netdem::TriMesh.

◆ VerticesOfAABB()

MatNd< 8, 3 > Shape::VerticesOfAABB	(	Vec3d const &	bmin,
		Vec3d const &	bmax )

static

Gets the vertices of the boundary AABB of the shape instance.

Returns: A MatNd object containing the vertices of the boundary AABB.

Member Data Documentation

◆ bound_aabb_max

Vec3d netdem::Shape::bound_aabb_max {0.5, 0.5, 0.5}

protected

Maximum bounds of the AABB used for broad-phase contact detection.

◆ bound_aabb_min

Vec3d netdem::Shape::bound_aabb_min {-0.5, -0.5, -0.5}

protected

Minimum bounds of the AABB used for broad-phase contact detection.

◆ bound_sphere_radius

double netdem::Shape::bound_sphere_radius {0.5}

protected

Radius of the bounding sphere used for broad-phase contact detection.

◆ id

int netdem::Shape::id {0}

ID of the shape instance.

◆ inertia

Mat3d netdem::Shape::inertia {{{0.05236, 0, 0}, {0, 0.05236, 0}, {0, 0, 0.05236}}}

protected

Inertia tensor of the shape instance.

◆ is_convex

bool netdem::Shape::is_convex {true}

protected

Determines whether the shape instance is convex or not.

◆ label

std::string netdem::Shape::label {"default"}

Label of the shape instance.

◆ render_mesh

STLModel netdem::Shape::render_mesh

Surface mesh for rendering.

◆ shape_name

std::string netdem::Shape::shape_name {"shape"}

Name of the shape instance.

◆ shape_type

Type netdem::Shape::shape_type {Type::none}

Type of the shape instance.

◆ size

double netdem::Shape::size {1.0}

protected

Size and volume of the shape instance.

◆ skin

double netdem::Shape::skin {0.025}

protected

Skin thickness used for broad-phase contact detection.

◆ skin_factor

double netdem::Shape::skin_factor {0.05}

protected

Factor used to adjust the skin thickness.

◆ surface_node_areas

VecXT<double> netdem::Shape::surface_node_areas

protected

Area associated with each surface node.

◆ surface_node_num

int netdem::Shape::surface_node_num {1000}

protected

Number of nodes used for the contact solver.

◆ surface_node_spacing

double netdem::Shape::surface_node_spacing {std::sqrt(Math::PI / 1000.0)}

protected

Spacing between nodes used for the contact solver.

◆ surface_nodes

VecXT<Vec3d> netdem::Shape::surface_nodes

protected

Surface nodes of the shape instance used for the contact solver.

◆ use_customized_solver

bool netdem::Shape::use_customized_solver {false}

Determines whether to use a customized contact solver or not.

◆ use_surface_nodes

bool netdem::Shape::use_surface_nodes {false}

protected

Determines whether to use nodes for the contact solver.

◆ volume

double netdem::Shape::volume {0.5236}

protected

Volume of the shape instance.

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

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ Type

Constructor & Destructor Documentation

◆ ~Shape()

Member Function Documentation

◆ CheckConvexity()

◆ CheckEnclose()

◆ CheckPrincipal()

◆ Clone()

◆ DisableSurfaceNodes()

◆ EnableSurfaceNodes()

◆ GetBoundAABB() [1/2]

◆ GetBoundAABB() [2/2]

◆ GetBoundSphereRadius()

◆ GetInertia()

◆ GetInertiaPrincipal()

◆ GetRenderMesh()

◆ GetSize()

◆ GetSkin()

◆ GetSkinFactor()

◆ GetSTLModel()

◆ GetSurfaceNodeAreas()

◆ GetSurfaceNodeNum()

◆ GetSurfaceNodes()

◆ GetSurfaceNodeSpacing()

◆ GetVolume()

◆ InitFromJson()

◆ InitFromJsonFile()

◆ IsSurfaceNodesEnabled()

◆ PackJson()

◆ Print()

◆ SaveAsSTL()

◆ SaveAsVTK()

◆ SetSize()

◆ SetSkin()

◆ SetSkinFactor()

◆ SetSurfaceNodeNum()

◆ SetSurfaceNodes() [1/2]

◆ SetSurfaceNodes() [2/2]

◆ SignedDistance()

◆ SupportPoint()

◆ SupportPoints()

◆ SurfacePoint()

◆ Translate()

◆ UpdateRenderMesh()

◆ UpdateShapeProperties()

◆ UpdateSurfaceNodes()

◆ VerticesOfAABB()

Member Data Documentation

◆ bound_aabb_max

◆ bound_aabb_min

◆ bound_sphere_radius

◆ id

◆ inertia

◆ is_convex

◆ label

◆ render_mesh

◆ shape_name

◆ shape_type

◆ size

◆ skin

◆ skin_factor

◆ surface_node_areas

◆ surface_node_num

◆ surface_node_spacing

◆ surface_nodes

◆ use_customized_solver

◆ use_surface_nodes

◆ volume