A class representing a triangle in 3D space. More...

#include <shape_triangle.hpp>

Inheritance diagram for netdem::Triangle:

Public Member Functions
	Triangle ()
	Default constructor.

	Triangle (Vec3d const &a, Vec3d const &b, Vec3d const &c)
	Constructor with specified vertices.

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

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

void	SetVertices (Vec3d const &a, Vec3d const &b, Vec3d const &c)
	Set the vertices of the Triangle object.

void	Init ()
	Initialize the Triangle object.

void	Translate (Vec3d const &pos) override
	Translate the Triangle object.

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

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

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

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

std::tuple< Vec3d, Vec3d >	GetBoundAABB () const override
	Compute the axis-aligned bounding box of the Triangle object.

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

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

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

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

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

bool	CheckEnclose (Vec3d const &pos) const override
	Check if a point is enclosed by the Triangle 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 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	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	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.

Public Attributes
Mat3d	vertices
	The three vertices that define the triangle.

Vec3d	dir_n {0, 0, 1}
	The normal direction of the triangle.

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 triangle in 3D space.

This class provides methods for generating, initializing, and computing operations on a Triangle object. The object is defined by its three vertices, and provides methods for computing signed distance, surface point, and generating an STL model. It also provides various options for calculating the support points of the triangle.

Examples: blade_mixing_main.cpp, and landslide_main.cpp.

Constructor & Destructor Documentation

◆ Triangle() [1/2]

Triangle::Triangle ( )

Default constructor.

◆ Triangle() [2/2]

Triangle::Triangle	(	Vec3d const &	a,
		Vec3d const &	b,
		Vec3d const &	c )

Constructor with specified vertices.

Parameters

a	The first vertex of the triangle.
b	The second vertex of the triangle.
c	The third vertex of the triangle.

Member Function Documentation

◆ CheckEnclose()

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

overridevirtual

Check if a point is enclosed by the Triangle object.

This method checks whether a point is enclosed by the Triangle object (which is always false for a triangle).

Parameters

pos	The point to check.

Returns: false, indicating that the point is not enclosed by the Triangle object.

Reimplemented from netdem::Shape.

◆ Clone()

Shape * Triangle::Clone ( ) const

overridevirtual

Clone the Triangle object.

This method creates a copy of the Triangle object.

Returns: A pointer to the cloned Triangle object.

Reimplemented from netdem::Shape.

◆ GetBoundAABB() [1/2]

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

overridevirtual

Compute the axis-aligned bounding box of the Triangle object.

This method computes the axis-aligned bounding box (AABB) of the Triangle object, relative to a specified position and orientation.

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

Reimplemented from netdem::Shape.

◆ GetBoundAABB() [2/2]

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

overridevirtual

Compute the axis-aligned bounding box of the Triangle object.

This method computes the axis-aligned bounding box (AABB) of the Triangle object, relative to a specified position and orientation.

Parameters

pos	The position vector of the AABB center.
quat	The orientation quaternion of the AABB.

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

Reimplemented from netdem::Shape.

◆ GetSTLModel()

STLModel Triangle::GetSTLModel ( int num_nodes = 200 )

overridevirtual

Generate an STL model for the Triangle object.

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

Reimplemented from netdem::Shape.

◆ Init()

void Triangle::Init ( )

Initialize the Triangle object.

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

◆ InitFromJson()

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

overridevirtual

Initialize the Triangle object from a JSON structure.

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

Parameters

js	The JSON structure to load.

Reimplemented from netdem::Shape.

◆ PackJson()

nlohmann::json Triangle::PackJson ( )

overridevirtual

Pack the Triangle object into a JSON structure.

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

Returns: The packed JSON structure.

Reimplemented from netdem::Shape.

◆ SetVertices()

void Triangle::SetVertices	(	Vec3d const &	a,
		Vec3d const &	b,
		Vec3d const &	c )

Set the vertices of the Triangle object.

This method sets the vertices of the Triangle object to the specified vectors.

Parameters

a	The first vertex of the triangle.
b	The second vertex of the triangle.
c	The third vertex of the triangle.

◆ SignedDistance()

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

overridevirtual

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

This method computes the signed distance between a point and the Triangle object, which is positive if the point is outside the object 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 Triangle object.

Reimplemented from netdem::Shape.

◆ SupportPoint()

Vec3d Triangle::SupportPoint ( Vec3d const & dir )

overridevirtual

Calculate the support point of the Triangle object in a given direction.

This method calculates the support point of the Triangle object in a given direction, which is the vertex that is farthest in that direction.

Parameters

dir	The direction vector to compute the support point for.

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

Reimplemented from netdem::Shape.

◆ SupportPoints()

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

overridevirtual

Calculate the support points of the Triangle object in a given direction.

This method calculates the support points of the Triangle object in a given direction, which are the vertices that are farthest in that direction.

Parameters

dir	The direction vector to compute the support points for.

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

Reimplemented from netdem::Shape.

◆ SurfacePoint()

Vec3d Triangle::SurfacePoint ( Vec3d const & pos )

overridevirtual

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

This method computes the surface point of the Triangle object closest to a given point using barycentric coordinates.

Parameters

pos	The point to find the closest surface point to.

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

Reimplemented from netdem::Shape.

◆ Translate()

void Triangle::Translate ( Vec3d const & pos )

overridevirtual

Translate the Triangle object.

This method translates the Triangle object by the specified position vector.

Parameters

pos	The position vector to translate the Triangle object by.

Reimplemented from netdem::Shape.

◆ UpdateShapeProperties()

void Triangle::UpdateShapeProperties ( )

overridevirtual

Update the shape properties of the Triangle object.

This method updates the shape properties of the Triangle object, such as its surface area and volume (which are both zero for a triangle).

Reimplemented from netdem::Shape.

◆ UpdateSurfaceNodes()

void Triangle::UpdateSurfaceNodes ( )

overridevirtual

Update the surface nodes of the Triangle object.

This method updates the surface nodes of the Triangle object based on its current position and orientation.

Reimplemented from netdem::Shape.

Member Data Documentation

◆ dir_n

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

The normal direction of the triangle.

◆ vertices

Mat3d netdem::Triangle::vertices

The three vertices that define the triangle.

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

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

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Triangle() [1/2]

◆ Triangle() [2/2]

Member Function Documentation

◆ CheckEnclose()

◆ Clone()

◆ GetBoundAABB() [1/2]

◆ GetBoundAABB() [2/2]

◆ GetSTLModel()

◆ Init()

◆ InitFromJson()

◆ PackJson()

◆ SetVertices()

◆ SignedDistance()

◆ SupportPoint()

◆ SupportPoints()

◆ SurfacePoint()

◆ Translate()

◆ UpdateShapeProperties()

◆ UpdateSurfaceNodes()

Member Data Documentation

◆ dir_n

◆ vertices