Detailed Description

Class storing Information about a triangular facette (Triangle) of the EPA-Polytope.

see Collision detection in interactive 3D environments; Gino van den bergen page 155

#include <EPA.h>

Public Member Functions
Constructor
	EPA_Triangle (size_t a, size_t b, size_t c, const std::vector< Vec3 > &points)
	Construct a new EPA_Triangle. More...

Get functions
size_t	operator[] (size_t i) const
	Returns the index of the internal vertex i(=0,1,2) within the EPA scope. More...

const Vec3 &	getClosest () const
	Returns the point closest to the origin of the affine hull of the triangle, which is also the normal. More...

const Vec3 &	getNormal () const
	Returns the normal of the triangle. Normal is not normalized! More...

Vec3	getClosestPoint (const std::vector< Vec3 > &points) const
	Calculates the corresponding closest point from the given points, using barycentric coordinates. More...

real_t	getSqrDist () const
	Returns the squared distance to the closest to the origin of the affine hull of the triangle. More...

bool	isObsolete () const
	Returns true if the triangle is no longer part of the EPA polygon. More...

bool	isClosestInternal () const
	Returns true if the point closest to the origin of the affine hull of the triangle, lies inside the triangle. More...

Private Attributes
Member variables
size_t	indices_ [3]
	indices of the vertices of the triangle More...

bool	obsolete_
	flag to denote whether die triangle is visible from the new support point More...

Vec3	closest_
	the point closest to the origin of the affine hull of the triangle More...

Vec3	normal_
	normal pointing away from the origin More...

real_t	bar_ [3]
	the barycentric coordinate of closest_ More...

real_t	sqrDist_
	=key; square distance of closest_ to the origin More...

EPA_Triangle *	adjTriangle_ [3]
	pointer to the triangle adjacent to edge i(=0,1,2) More...

size_t	adjEdges_ [3]
	for each adjoining triangle adjTriangle_[i], the index of the adjoining edge More...

Utility functions
bool	link (size_t edge0, EPA_Triangle *tria, size_t edge1)
	Sets the link of this triangles edge0 neighbor to tria and vice versa. More...

void	silhouette (const Vec3 &w, EPA_EdgeBuffer &edgeBuffer)
	Fills edgeBuffer with the CCW contour of triangles not seen from point w which is in normal direction of the triangle. More...

void	silhouette (size_t index, const Vec3 &w, EPA_EdgeBuffer &edgeBuffer)
	Recursive silhouette finding method. More...

Constructor & Destructor Documentation

◆ EPA_Triangle()

walberla::mesa_pd::collision_detection::EPA::EPA_Triangle::EPA_Triangle	(	size_t	a,
		size_t	b,
		size_t	c,
		const std::vector< Vec3 > &	points
	)

inlineexplicit

Construct a new EPA_Triangle.

Parameters

a	First point index
b	Second point index
c	Third point index
points	Vector with all points

Member Function Documentation

◆ getClosest()

const Vec3& walberla::mesa_pd::collision_detection::EPA::EPA_Triangle::getClosest ( ) const

inline

Returns the point closest to the origin of the affine hull of the triangle, which is also the normal.

◆ getClosestPoint()

Vec3 walberla::mesa_pd::collision_detection::EPA::EPA_Triangle::getClosestPoint ( const std::vector< Vec3 > & points ) const

inline

Calculates the corresponding closest point from the given points, using barycentric coordinates.

◆ getNormal()

const Vec3& walberla::mesa_pd::collision_detection::EPA::EPA_Triangle::getNormal ( ) const

inline

Returns the normal of the triangle. Normal is not normalized!

◆ getSqrDist()

real_t walberla::mesa_pd::collision_detection::EPA::EPA_Triangle::getSqrDist ( ) const

inline

Returns the squared distance to the closest to the origin of the affine hull of the triangle.

◆ isClosestInternal()

bool walberla::mesa_pd::collision_detection::EPA::EPA_Triangle::isClosestInternal ( ) const

inline

Returns true if the point closest to the origin of the affine hull of the triangle, lies inside the triangle.

◆ isObsolete()

bool walberla::mesa_pd::collision_detection::EPA::EPA_Triangle::isObsolete ( ) const

inline

Returns true if the triangle is no longer part of the EPA polygon.

◆ link()

bool walberla::mesa_pd::collision_detection::EPA::EPA_Triangle::link	(	size_t	edge0,
		EPA_Triangle *	tria,
		size_t	edge1
	)

inline

Sets the link of this triangles edge0 neighbor to tria and vice versa.

◆ operator[]()

size_t walberla::mesa_pd::collision_detection::EPA::EPA_Triangle::operator[] ( size_t i ) const

inline

Returns the index of the internal vertex i(=0,1,2) within the EPA scope.

◆ silhouette() [1/2]

void walberla::mesa_pd::collision_detection::EPA::EPA_Triangle::silhouette	(	const Vec3 &	w,
		EPA_EdgeBuffer &	edgeBuffer
	)

inline

Fills edgeBuffer with the CCW contour of triangles not seen from point w which is in normal direction of the triangle.

◆ silhouette() [2/2]

void walberla::mesa_pd::collision_detection::EPA::EPA_Triangle::silhouette	(	size_t	index,
		const Vec3 &	w,
		EPA_EdgeBuffer &	edgeBuffer
	)

private

Recursive silhouette finding method.

Member Data Documentation

◆ adjEdges_

size_t walberla::mesa_pd::collision_detection::EPA::EPA_Triangle::adjEdges_[3]

private

for each adjoining triangle adjTriangle_[i], the index of the adjoining edge

◆ adjTriangle_

EPA_Triangle* walberla::mesa_pd::collision_detection::EPA::EPA_Triangle::adjTriangle_[3]

private

pointer to the triangle adjacent to edge i(=0,1,2)

◆ bar_

real_t walberla::mesa_pd::collision_detection::EPA::EPA_Triangle::bar_[3]

private

the barycentric coordinate of closest_

◆ closest_

Vec3 walberla::mesa_pd::collision_detection::EPA::EPA_Triangle::closest_

private

the point closest to the origin of the affine hull of the triangle

◆ indices_

size_t walberla::mesa_pd::collision_detection::EPA::EPA_Triangle::indices_[3]

private

indices of the vertices of the triangle

◆ normal_

Vec3 walberla::mesa_pd::collision_detection::EPA::EPA_Triangle::normal_

private

normal pointing away from the origin

◆ obsolete_

bool walberla::mesa_pd::collision_detection::EPA::EPA_Triangle::obsolete_

private

flag to denote whether die triangle is visible from the new support point

◆ sqrDist_

real_t walberla::mesa_pd::collision_detection::EPA::EPA_Triangle::sqrDist_

private

=key; square distance of closest_ to the origin

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

/builds/administration/walberla-website/walberla/src/mesa_pd/collision_detection/EPA.h
/builds/administration/walberla-website/walberla/src/mesa_pd/collision_detection/EPA.cpp

Detailed Description

Public Member Functions

Private Attributes

Utility functions

Constructor & Destructor Documentation

◆ EPA_Triangle()

Member Function Documentation

◆ getClosest()

◆ getClosestPoint()

◆ getNormal()

◆ getSqrDist()

◆ isClosestInternal()

◆ isObsolete()

◆ link()

◆ operator[]()

◆ silhouette() [1/2]

◆ silhouette() [2/2]

Member Data Documentation

◆ adjEdges_

◆ adjTriangle_

◆ bar_

◆ closest_

◆ indices_

◆ normal_

◆ obsolete_

◆ sqrDist_