Shape
Shape
This class represents a shape.
Constructor
Shape()
Creates a new instance of the Shape class.
Attributes
id
An integer ID for the shape.
label
A string label for the shape.
shape_type
An enumeration representing the type of the shape.
shape_name
A string name for the shape.
size
A Vec3d vector representing the size of the shape.
volume
A double representing the volume of the shape.
inertia
A Vec3d vector representing the inertia tensor of the shape.
bound_sphere_radius
A double representing the radius of the bounding sphere of the shape.
skin
A bool indicating whether the shape has a skin.
skin_factor
A double representing the skin factor of the shape.
bound_aabb_min
A Vec3d vector representing the minimum corner of the axis-aligned bounding box of the shape.
bound_aabb_max
A Vec3d vector representing the maximum corner of the axis-aligned bounding box of the shape.
use_node
A bool indicating whether the shape uses a node.
node_num
An integer representing the number of nodes used by the shape.
node_spacing
A double representing the spacing between nodes of the shape.
nodes
A vector of Vec3d vectors representing the nodes of the shape.
is_convex
A bool indicating whether the shape is convex.
use_customized_solver
A bool indicating whether the shape uses a customized solver.
Methods
PackJson()
Pack the shape data into a JSON object.
InitFromJson(json_data)
Initialize the shape from a JSON object.
json_data(JSON object): A JSON object containing the data to initialize the shape.
InitFromJsonFile(json_file)
Initialize the shape from a JSON file.
json_file(string): The path of the JSON file to load.
UpdateNodes()
Update the nodes of the shape.
UpdateShapeProperties()
Update the properties of the shape.
SetSize(size)
Set the size of the shape.
size(Vec3d): The new size of the shape.
Clone()
Create a new instance of the shape that is a copy of the current shape.
GetSTLModel()
Get the STL model of the shape.
SaveAsVTK(filename)
Save the shape as a VTK file.
filename(string): The path of the file to save.
SaveAsSTL(filename)
Save the shape as an STL file.
filename(string): The path of the file to save.
GetBoundAABB()
Get the axis-aligned bounding box of the shape.
SignedDistance(point)
Compute the signed distance between a point and the surface of the shape.
point(Vec3d): The point to compute the signed distance from.
SurfacePoint(point)
Find the surface point of the shape closest to a given point.
point(Vec3d): The point to find the closest surface point to.
Enclose(shapes)
Create a new shape that encloses a set of shapes.
shapes(vector of Shape objects): The set of shapes to enclose.
Print()
Print the properties of the shape to the console.
Sphere
Represents a sphere.
Constructor
Sphere()
Creates a new instance of the Sphere class.
Sphere(radius: float)
Creates a new instance of the Sphere class with the given radius.
radius(float): The radius of the sphere.
PointSphere
Represents a point sphere.
Constructor
PointSphere()
Creates a new instance of the PointSphere class.
PointSphere(radius: float)
Creates a new instance of the PointSphere class with the given radius.
radius(float): The radius of the point sphere.
Plane
Represents a plane.
Constructor
Plane()
Creates a new instance of the Plane class.
Plane(center: Vec3d, dir_n: Vec3d, extent: float)
Creates a new instance of the Plane class with the given center, normal vector, and extent.
center(Vec3d): The center point of the plane.dir_n(Vec3d): The normal vector of the plane.extent(float): The extent of the plane.
Attributes
center
The center point of the plane.
dir_n
The normal vector of the plane.
extent
The extent of the plane.
Methods
SetExtent(extent: float)
Sets the extent of the plane.
extent(float): The extent to set for the plane.
SetCenter(center: Vec3d)
Sets the center point of the plane.
center(Vec3d): The center point to set for the plane.
SetNormal(dir_n: Vec3d)
Sets the normal vector of the plane.
dir_n(Vec3d): The normal vector to set for the plane.
Triangle
Represents a triangle.
Constructor
Triangle()
Creates a new instance of the Triangle class.
Triangle(v1: Vec3d, v2: Vec3d, v3: Vec3d)
Creates a new instance of the Triangle class with the given vertices.
v1(Vec3d): The first vertex of the triangle.v2(Vec3d): The second vertex of the triangle.v3(Vec3d): The third vertex of the triangle.
Attributes
vertices
The vertices of the triangle.
dir_n
The normal vector of the triangle.
Methods
SetVertices(v1: Vec3d, v2: Vec3d, v3: Vec3d)
Sets the vertices of the triangle.
v1(Vec3d): The first vertex of the triangle.v2(Vec3d): The second vertex of the triangle.v3(Vec3d): The third vertex of the triangle.
Cylinder
This class represents a cylinder.
Constructor
Cylinder()
Creates a new instance of the Cylinder class with default values.
Cylinder(radius, height)
Creates a new instance of the Cylinder class with the given radius and height values.
Attributes
radius
The radius of the cylinder.
height
The height of the cylinder.
Methods
Init()
Initializes the cylinder with default values.
Init(radius, height)
Initializes the cylinder with the given radius and height values.
Ellipsoid
This class represents an ellipsoid.
Constructor
Ellipsoid()
Creates a new instance of the Ellipsoid class with default values.
Ellipsoid(axis_a, axis_b, axis_c)
Creates a new instance of the Ellipsoid class with the given axis_a, axis_b, and axis_c values.
Attributes
axis_a
The length of the semi-axis along the x-axis.
axis_b
The length of the semi-axis along the y-axis.
axis_c
The length of the semi-axis along the z-axis.
Methods
Init()
Initializes the ellipsoid with default values.
Init(axis_a, axis_b, axis_c)
Initializes the ellipsoid with the given axis_a, axis_b, and axis_c values.
SphericalHarmonics
This class represents a spherical harmonics shape.
Constructor
SphericalHarmonics()
Creates a new instance of the SphericalHarmonics class with default values.
SphericalHarmonics(degree)
Creates a new instance of the SphericalHarmonics class with the given degree value.
Attributes
degree
The degree of the spherical harmonics shape.
a_nm
The coefficients of the spherical harmonics shape.
Methods
Init()
Initializes the spherical harmonics shape with default values.
Init(degree)
Initializes the spherical harmonics shape with the given degree value.
InitFromSTL(file_path)
Initializes the spherical harmonics shape from an STL file located at file_path.
InitFromSTL(stl_model)
Initializes the spherical harmonics shape from an STLModel object stl_model.
PolySuperEllipsoid
This class represents a poly super ellipsoid shape.
Constructor
PolySuperEllipsoid()
Creates a new instance of the PolySuperEllipsoid class.
Attributes
axis_a
The axis a value of the poly super ellipsoid.
axis_b
The axis b value of the poly super ellipsoid.
axis_c
The axis c value of the poly super ellipsoid.
order_ab
The order ab value of the poly super ellipsoid.
order_c
The order c value of the poly super ellipsoid.
Methods
Init(axis_a, axis_b, axis_c, order_ab, order_c)
Initializes the poly super ellipsoid with the given parameters.
axis_a(float): The axis a value to set.axis_b(float): The axis b value to set.axis_c(float): The axis c value to set.order_ab(float): The order ab value to set.order_c(float): The order c value to set.
PolySuperQuadrics
This class represents a poly superquadric shape.
Constructor
PolySuperQuadrics
(axis_a=1, axis_b=1, axis_c=1, order_a=2, order_b=2, order_c=2, x=0, y=0, z=0, qx=0, qy=0, qz=0)
Creates a new instance of the PolySuperQuadrics class.
axis_a(float, optional): The scaling factor for the x axis. Default is 1.axis_b(float, optional): The scaling factor for the y axis. Default is 1.axis_c(float, optional): The scaling factor for the z axis. Default is 1.order_a(float, optional): The order of the polynomial for the x axis. Default is 2.order_b(float, optional): The order of the polynomial for the y axis. Default is 2.order_c(float, optional): The order of the polynomial for the z axis. Default is 2.x(float, optional): The x-coordinate of the position. Default is 0.y(float, optional): The y-coordinate of the position. Default is 0.z(float, optional): The z-coordinate of the position. Default is 0.qx(float, optional): The x-component of the rotation quaternion. Default is 0.qy(float, optional): The y-component of the rotation quaternion. Default is 0.qz(float, optional): The z-component of the rotation quaternion. Default is 0.
Attributes
axis_a
The scaling factor for the x axis.
axis_b
The scaling factor for the y axis.
axis_c
The scaling factor for the z axis.
order_a
The order of the polynomial for the x axis.
order_b
The order of the polynomial for the y axis.
order_c
The order of the polynomial for the z axis.
Methods
Init()
Initialize the poly superquadric shape.
InitFromJSON(json_data)
Initialize the poly superquadric shape from a JSON object.
json_data(JSON object): A JSON object containing the parameters to set.
Init(axis_a, axis_b, axis_c, order_a, order_b, order_c)
Initialize the poly superquadric shape.
axis_a(float): The scaling factor for the x axis.axis_b(float): The scaling factor for the y axis.axis_c(float): The scaling factor for the z axis.order_a(float): The order of the polynomial for the x axis.order_b(float): The order of the polynomial for the y axis.order_c(float): The order of the polynomial for the z axis.
LevelSet
This class represents a level set.
Constructor
LevelSet()
Creates a new instance of the LevelSet class.
Methods
InitFromSTL(stl_file, sign)
Initialize the level set from an STL file.
stl_file(string): The name of the STL file.sign(int): The sign of the level set.
InitFromSTL(stl_model, sign)
Initialize the level set from an STL model.
stl_model(STLModel): The STL model.sign(int): The sign of the level set.
InitFromDistanceMap(distance_map)
Initialize the level set from a distance map.
distance_map: The distance map.
SurfacePoint(point)
Get the surface point of the level set.
point(Vector3d): The point.
AlignAxes()
Align the axes of the level set.
TriMesh
This class represents a triangular mesh.
Constructor
TriMesh()
Creates a new instance of the TriMesh class.
Attributes
vertices
A list of vertices that make up the mesh.
facets
A list of facets that make up the mesh.
Methods
Init()
Initialize the triangular mesh.
InitFromSTL(file_name)
Initialize the triangular mesh from an STL file.
file_name(string): The name of the STL file.
InitFromOFF(file_name)
Initialize the triangular mesh from an OFF file.
file_name(string): The name of the OFF file.
Decimate(num_faces)
Decimate the mesh to reduce the number of faces.
num_faces(int): The target number of faces for the decimated mesh.
MakeConvex()
Make the mesh convex.
AlignAxes()
Align the axes of the mesh.
InitPyShapeModule
This function initializes a Python module with various shape classes and functions. The following functions are called to add their respective classes to the module: