A class representing a sphere. More...

#include <shape_sphere.hpp>

Inheritance diagram for netdem::Sphere:

Public Member Functions
	Sphere ()
	Default constructor.

	Sphere (double d)
	Constructor with specified diameter.

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

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

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

void	Init ()
	Initialize the Sphere object.

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

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

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

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

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

double	SignedDistance (Vec3d const &pos) const override
	Compute the signed distance between a point and the Sphere object.

Vec3d	SurfacePoint (Vec3d const &pos) override
	Compute the surface point of the Sphere object closest to a given point.

void	Print () override
	Print information about the Sphere 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	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.

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.

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.

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 sphere.

This class provides methods for initializing, updating, and generating the Sphere object. It also implements operations such as computing support points, signed distance, and surface point. The sphere is defined by its radius and center position.

Examples: 0_geometric_solver.cpp, 0_plane_case.cpp, 1_membrane_case.cpp, 81_golf_ball_impact.cpp, 97_triaixal_comp_sphere_geom.cpp, angle_repose_main.cpp, blade_mixing_main.cpp, landslide_main.cpp, and odemetric_comp_main.cpp.

Constructor & Destructor Documentation

◆ Sphere() [1/2]

Sphere::Sphere ( )

Default constructor.

◆ Sphere() [2/2]

Sphere::Sphere ( double d )

Constructor with specified diameter.

Parameters

d	The diameter of the sphere.

Member Function Documentation

◆ Clone()

Shape * Sphere::Clone ( ) const

overridevirtual

Clone the Sphere object.

This method creates a copy of the Sphere object.

Returns: A pointer to the cloned Sphere object.

Reimplemented from netdem::Shape.

◆ GetSTLModel()

STLModel Sphere::GetSTLModel ( int num_nodes = 200 )

overridevirtual

Generate an STL model for the Sphere object.

This method generates an STLModel object representing the Sphere 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 Sphere object.

Reimplemented from netdem::Shape.

Examples: 81_golf_ball_impact.cpp.

◆ Init()

void Sphere::Init ( )

Initialize the Sphere object.

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

◆ InitFromJson()

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

overridevirtual

Initialize the Sphere object from a JSON structure.

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

Parameters

js	The JSON structure to load.

Reimplemented from netdem::Shape.

◆ PackJson()

nlohmann::json Sphere::PackJson ( )

overridevirtual

Pack the Sphere object into a JSON structure.

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

Returns: The packed JSON structure.

Reimplemented from netdem::Shape.

◆ Print()

void Sphere::Print ( )

overridevirtual

Print information about the Sphere object.

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

Reimplemented from netdem::Shape.

◆ SignedDistance()

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

overridevirtual

Compute the signed distance between a point and the Sphere object.

This method computes the signed distance between a point and the Sphere object, which is positive if the point is outside the sphere and negative if it is inside.

Parameters

pos	The point to compute the signed distance from.

Returns: The signed distance between the point and the Sphere object.

Reimplemented from netdem::Shape.

◆ SupportPoint()

Vec3d Sphere::SupportPoint ( Vec3d const & dir )

overridevirtual

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

This method computes the support point of the Sphere 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 Sphere object in the specified direction.

Reimplemented from netdem::Shape.

◆ SupportPoints()

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

overridevirtual

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

This method computes the support points of the Sphere 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 Sphere object in the specified direction.

Reimplemented from netdem::Shape.

◆ SurfacePoint()

Vec3d Sphere::SurfacePoint ( Vec3d const & pos )

overridevirtual

Compute the surface point of the Sphere object closest to a given point.

This method computes the surface point of the Sphere object closest to a given point using a binary search algorithm.

Parameters

pos	The point to find the closest surface point to.

Returns: The surface point of the Sphere object closest to the specified point.

Reimplemented from netdem::Shape.

◆ UpdateShapeProperties()

void Sphere::UpdateShapeProperties ( )

overridevirtual

Update the shape properties of the Sphere object.

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

Reimplemented from netdem::Shape.

◆ UpdateSurfaceNodes()

void Sphere::UpdateSurfaceNodes ( )

overridevirtual

Update the surface nodes of the Sphere object.

This method updates the surface nodes of the Sphere object based on its radius and center position.

Reimplemented from netdem::Shape.

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

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Sphere() [1/2]

◆ Sphere() [2/2]

Member Function Documentation

◆ Clone()

◆ GetSTLModel()

◆ Init()

◆ InitFromJson()

◆ PackJson()

◆ Print()

◆ SignedDistance()

◆ SupportPoint()

◆ SupportPoints()

◆ SurfacePoint()

◆ UpdateShapeProperties()

◆ UpdateSurfaceNodes()