Detailed Description

pe body representing a ConvexPolyhedron.

#include <ConvexPolyhedron.h>

Inheritance diagram for walberla::mesh::pe::ConvexPolyhedron:

Public Member Functions
Constructors
	ConvexPolyhedron (id_t sid, id_t uid, const Vec3 &gpos, const Quat &q, const TriangleMesh &mesh, MaterialID material, const bool global, const bool communicating, const bool infiniteMass)
	Constructor for the ConvexPolyhedron class. More...

Destructor
virtual	~ConvexPolyhedron ()
	Destructor for the ConvexPolyhedron class. More...

void	init (const Vec3 &gpos, const Quat &q, const bool global, const bool communicating, const bool infiniteMass)

Get functions
virtual real_t	getVolume () const
	Calculation of the volume of the ConvexPolyhedron. More...

real_t	getSurfaceArea () const
	Calculation of the surface area of the ConvexPolyhedron. More...

const TriangleMesh &	getMesh () const

Output functions
virtual void	print (std::ostream &os, const char *tab) const
	Output of the current state of a ConvexPolyhedron. More...

Public Member Functions inherited from walberla::pe::GeomPrimitive
MaterialID	getMaterial () const
	Returns the material of the geometric primitive. More...

Public Member Functions inherited from walberla::pe::RigidBody
virtual	~RigidBody ()=0
	Destructor for the RigidBody class. More...

void	wake ()
	Waking the rigid body and ending the sleep mode. More...

void	calcMotion ()
	Calculating the current motion of a rigid body. More...

bool	hasManager () const
	Returns whether the rigid body currently has a supervising rigid body manager. More...

ManagerID	getManager ()
	Returns the supervising rigid body manager of the rigid body. More...

ConstManagerID	getManager () const

bool	hasSuperBody () const
	Returns whether the rigid body is contained in a superordinate body. More...

BodyID	getSuperBody ()
	Returns the superordinate body in which the rigid body is contained. More...

ConstBodyID	getSuperBody () const

BodyID	getTopSuperBody ()
	Returns the top level superordinate body in which the rigid body is contained. More...

ConstBodyID	getTopSuperBody () const

virtual bool	hasSubBodies () const

bool	isFinite () const
	Returns whether the rigid body is finite or not. More...

bool	isAwake () const
	Returns whether the rigid body is awake or not. More...

bool	isFixed () const
	Returns whether the rigid body's position is fixed or not. More...

bool	hasInfiniteMass () const
	Checks if a body is "mobile" e.g. More...

bool	isVisible () const
	Returns whether the rigid body is visible or not. More...

bool	isMarkedForDeletion () const

id_t	getSystemID () const
	Returns the unique system-specific ID of the rigid body. More...

id_t	getID () const
	Returns the user-specific ID of the rigid body. More...

const Vec3	getRelPosition () const
	Returns the relative position of the rigid body within the superordinate body. More...

const Vec3	getPosition () const
	Returns the global position of the center of mass of the rigid body. More...

const Vec3	getBodyLinearVel () const
	Returns the relative linear velocity of the rigid body. More...

const Vec3	getLinearVel () const
	Returns the global linear velocity of the rigid body. More...

const Vec3	getBodyAngularVel () const
	Returns the relative angular velocity. More...

const Vec3 &	getAngularVel () const
	Returns the global angular velocity. More...

const Quat	getRelQuaternion () const
	Returns the relative orientation of the rigid body to its superbody. More...

const Quat	getQuaternion () const
	Returns the orientation of the rigid body. More...

const Mat3	getRotation () const
	Returns the rotation of the rigid body. More...

real_t	getMass () const
	Returns the total mass of the rigid body. More...

real_t	getInvMass () const
	Returns the inverse total mass of the rigid body. More...

const Mat3 &	getBodyInertia () const
	Returns the moment of inertia in reference to the body frame of the rigid body. More...

const Mat3	getInertia () const
	Returns the moment of inertia in reference to the global world frame. More...

const Mat3 &	getInvBodyInertia () const
	Returns the inverse moment of inertia in reference to the body frame of the rigid body. More...

const Mat3	getInvInertia () const
	Returns the inverse moment of inertia in reference to the global world frame. More...

const AABB &	getAABB () const
	Returns the axis-aligned bounding box of the rigid body. More...

real_t	getAABBSize () const
	Returns the length of the longest side of the AABB of the rigid body. More...

real_t	getKineticEnergy () const
	Returns the kinetic energy of the rigid body. More...

real_t	getRotationalEnergy () const
	Returns the rotational energy of the rigid body. More...

real_t	getEnergy () const
	Returns the energy of the rigid body. More...

const Vec3	vectorFromBFtoWF (real_t vx, real_t vy, real_t vz) const
	Transformation from a relative to a global vector. More...

const Vec3	vectorFromBFtoWF (const Vec3 &v) const
	Transformation from a relative to a global vector. More...

const Vec3	pointFromBFtoWF (real_t px, real_t py, real_t pz) const
	Transformation from a relative to a global coordinate. More...

const Vec3	pointFromBFtoWF (const Vec3 &rpos) const
	Transformation from a relative to a global coordinate. More...

virtual Vec3	velFromBF (real_t px, real_t py, real_t pz) const
	Calculation of the global velocity of a relative point. More...

virtual Vec3	velFromBF (const Vec3 &rpos) const
	Calculation of the global velocity of a relative point. More...

const Vec3	vectorFromWFtoBF (real_t vx, real_t vy, real_t vz) const
	Transformation from a global to a relative vector. More...

const Vec3	vectorFromWFtoBF (const Vec3 &v) const
	Transformation from a global to a relative vector. More...

const Vec3	pointFromWFtoBF (real_t px, real_t py, real_t pz) const
	Transformation from a global to a relative coordinate. More...

const Vec3	pointFromWFtoBF (const Vec3 &gpos) const
	Transformation from a global to a relative coordinate. More...

virtual Vec3	velFromWF (real_t px, real_t py, real_t pz) const
	Calculation of the global velocity of a point in global coordinates. More...

virtual Vec3	velFromWF (const Vec3 &gpos) const
	Calculation of the global velocity of a point in global coordinates. More...

const Vec3	accFromWF (real_t px, real_t py, real_t pz) const
	Calculation of the global acceleration of a point in global coordinates. More...

const Vec3	accFromWF (const Vec3 &gpos) const
	Calculation of the global acceleration of a point in global coordinates. More...

id_t	getTypeID () const

void	translate (real_t dx, real_t dy, real_t dz)
	Translation of the center of mass of the rigid body by the displacement vector. More...

void	translate (const Vec3 &dp)
	Translation of the center of mass of the rigid body by the displacement vector dp. More...

void	rotate (real_t x, real_t y, real_t z, real_t angle)
	Rotation of the rigid body around the global rotation axis (x,y,z) by the rotation angle angle. More...

void	rotate (const Vec3 &axis, real_t angle)
	Rotation of the rigid body around the specified global rotation axis by the rotation. More...

void	rotate (real_t xangle, real_t yangle, real_t zangle)
	Rotation of the rigid body by the Euler angles xangle, yangle and zangle. More...

void	rotate (const Vec3 &euler)
	Rotation of the rigid body by the Euler angles euler. More...

void	rotate (const Quat &dq)
	Rotation of the rigid body by the quaternion dq. More...

void	rotateAroundOrigin (real_t x, real_t y, real_t z, real_t angle)
	Rotation of the rigid body around the origin of the global world frame. More...

void	rotateAroundOrigin (const Vec3 &axis, real_t angle)
	Rotation of the rigid body around the origin of the global world frame. More...

void	rotateAroundOrigin (real_t xangle, real_t yangle, real_t zangle)
	Rotation of the rigid body around the origin of the global world frame. More...

void	rotateAroundOrigin (const Vec3 &euler)
	Rotation of the rigid body around the origin of the global world frame. More...

void	rotateAroundOrigin (const Quat &dq)
	Rotation of the rigid body around the origin of the global world frame. More...

void	rotateAroundPoint (const Vec3 &point, const Vec3 &axis, real_t angle)
	Rotation of the rigid body around a specific global coordinate. More...

void	rotateAroundPoint (const Vec3 &point, const Vec3 &euler)
	Rotation of the rigid body around a specific global coordinate. More...

bool	containsRelPoint (real_t px, real_t py, real_t pz) const
	Checks, whether a point in body relative coordinates lies inside the rigid body. More...

bool	containsRelPoint (const Vec3 &rpos) const
	Checks, whether a point in body relative coordinates lies inside the rigid body. More...

bool	containsPoint (real_t px, real_t py, real_t pz) const
	Checks, whether a point in global coordinates lies inside the rigid body. More...

bool	containsPoint (const Vec3 &gpos) const
	Checks, whether a point in global coordinates lies inside the rigid body. More...

bool	isSurfaceRelPoint (real_t px, real_t py, real_t pz) const
	Checks, whether a point in relative coordinates lies on the surface of the rigid body. More...

bool	isSurfaceRelPoint (const Vec3 &rpos) const
	Checks, whether a point in body relative coordinates lies on the surface of the rigid body. More...

bool	isSurfacePoint (real_t px, real_t py, real_t pz) const
	Checks, whether a point in global coordinates lies on the surface of the rigid body. More...

bool	isSurfacePoint (const Vec3 &gpos) const
	Checks, whether a point in global coordinates lies on the surface of the rigid body. More...

bool	hasForce () const
	Returns whether the rigid body has non-zero acting forces or torques. More...

const Vec3 &	getForce () const
	Returns the current force acting on the body's center of mass. More...

const Vec3 &	getTorque () const
	Returns the current torque acting on the body's center of mass. More...

void	setForce (const Vec3 &f)
	Set the force acting at the body's center of mass. More...

void	setTorque (const Vec3 &tau)
	Set the torque acting at the body's center of mass. More...

void	addRelForce (real_t fx, real_t fy, real_t fz)
	Increases the total force acting in the body's center of mass. More...

void	addRelForce (const Vec3 &f)
	Increases the force acting in the body's center of mass. More...

void	addForce (real_t fx, real_t fy, real_t fz)
	Increases the force acting in the body's center of mass. More...

void	addForce (const Vec3 &f)
	Increases the force acting in the body's center of mass. More...

void	addRelForceAtRelPos (real_t fx, real_t fy, real_t fz, real_t px, real_t py, real_t pz)
	Increases the force acting in the body's center of mass. More...

void	addRelForceAtRelPos (const Vec3 &f, const Vec3 &rpos)
	Increases the force acting in the body's center of mass. More...

void	addRelForceAtPos (real_t fx, real_t fy, real_t fz, real_t px, real_t py, real_t pz)
	Increases the force acting in the body's center of mass. More...

void	addRelForceAtPos (const Vec3 &f, const Vec3 &gpos)
	Increases the force acting in the body's center of mass. More...

void	addForceAtRelPos (real_t fx, real_t fy, real_t fz, real_t px, real_t py, real_t pz)
	Increases the force acting in the body's center of mass. More...

void	addForceAtRelPos (const Vec3 &f, const Vec3 &rpos)
	Increases the force acting in the body's center of mass. More...

void	addForceAtPos (real_t fx, real_t fy, real_t fz, real_t px, real_t py, real_t pz)
	Increases the force acting in the body's center of mass. More...

void	addForceAtPos (const Vec3 &f, const Vec3 &gpos)
	Increases the force acting in the body's center of mass. More...

void	addTorque (real_t tx, real_t ty, real_t tz)
	Increasing the torque acting in the body's center of mass. More...

void	addTorque (const Vec3 &t)
	Increasing the torque acting in the body's center of mass. More...

virtual void	resetForceAndTorque ()
	Resetting all acting forces and torques from the rigid body. More...

void	addImpulse (real_t jx, real_t jy, real_t jz)
	Applying an impulse in the body's center of mass. More...

void	addImpulse (const Vec3 &j)
	Applying an impulse in the body's center of mass. More...

void	addImpulseAtPos (real_t jx, real_t jy, real_t jz, real_t px, real_t py, real_t pz)
	Applying an impulse at the given global coordinate. More...

void	addImpulseAtPos (const Vec3 &j, const Vec3 &p)
	Applying an impulse at the given global coordinate. More...

bool	isRemote () const
	Returns whether the rigid body is remote or not. More...

virtual void	setRemote (bool remote)
	Setting the remote flag of the rigid body. More...

bool	isGlobal () const
	Returns whether the rigid body is global or not. More...

void	setGlobal (const bool global)
	Setting the global flag of the rigid body. More...

bool	isCommunicating () const
	Returns whether the rigid body is local or not. More...

void	setCommunicating (const bool communicating)
	Setting the local flag of the rigid body. More...

virtual bool	checkInvariants ()
	Checks the validity of the state of the rigid body. More...

void	setSB (BodyID body)
	Sets the super body for the current body. More...

void	resetSB ()
	Resets the super body for the current body. More...

void	setFinite (const bool finite)

void	setVisible (bool visible)
	Setting the rigid body visible/invisible. More...

void	setPosition (real_t px, real_t py, real_t pz)
	Setting the global position of the rigid body. More...

void	setPosition (const Vec3 &gpos)
	Setting the global position of the rigid body. More...

void	setRelPosition (const Vec3 &gpos)
	Setting the global position of the rigid body. More...

void	setOrientation (real_t r, real_t i, real_t j, real_t k)
	Setting the global orientation of the rigid body. More...

void	setOrientation (const Quat &q)
	Setting the global orientation of the rigid body. More...

void	setRelOrientation (const Quat &q)
	Setting the relative position of the rigid body. More...

void	setMassAndInertiaToInfinity ()
	Setting the mass to infinity. This will also make the inertia tensor infinite. More...

void	setRelLinearVel (real_t vx, real_t vy, real_t vz)
	Setting the relative linear velocity of the rigid body. More...

void	setRelLinearVel (const Vec3 &lvel)

void	setLinearVel (real_t vx, real_t vy, real_t vz)
	Setting the global linear velocity of the rigid body. More...

void	setLinearVel (const Vec3 &lvel)
	/see setLinearVel( real_t vx, real_t vy, real_t vz ) More...

void	setRelAngularVel (real_t ax, real_t ay, real_t az)
	Setting the relative angular velocity of the rigid body. More...

void	setRelAngularVel (const Vec3 &avel)
	/see setRelAngularVel( real_t ax, real_t ay, real_t az ) More...

void	setAngularVel (real_t ax, real_t ay, real_t az)
	Setting the global angular velocity of the rigid body. More...

void	setAngularVel (const Vec3 &avel)
	/see setAngularVel( real_t ax, real_t ay, real_t az ) More...

void	markForDeletion ()
	Marks the rigid body for deletion during the next synchronization. More...

Public Member Functions inherited from walberla::pe::ccd::HashGridsBodyTrait
void *	getGrid () const
	Returns the grid the rigid body is currently assigned to. More...

size_t	getHash () const
	Returns the current hash value of the rigid body. More...

size_t	getCellId () const
	Returns the current body container index within the cell the body is currently assigned to. More...

void	setGrid (void *grid)
	Setting the grid the rigid body is associated with. More...

void	setHash (size_t hash)
	Setting the hash value of the rigid body. More...

void	setCellId (size_t cell)
	Setting the body container index within the cell the body is currently assigned to. More...

Utility functions
TriangleMesh	mesh_

real_t	boundingSphereRadius_

TriangleMesh::VertexHandle	octandVertices_ [8]

static id_t	staticTypeID_ = std::numeric_limits<id_t>::max()

template<class T , int N>
struct	walberla::pe::SetBodyTypeIDs
	needed to be able to set static type ids with setStaticTypeID More...

virtual Vec3	support (const Vec3 &d) const
	Estimates the point which is farthest in direction d. More...

virtual Vec3	supportContactThreshold (const Vec3 &d) const
	Estimates the point which is farthest in direction d. More...

static id_t	getStaticTypeID ()
	Returns unique type id of this type. More...

virtual bool	containsRelPointImpl (real_t px, real_t py, real_t pz) const
	Checks, whether a point in body relative coordinates lies inside the ConvexPolyhedron. More...

virtual bool	isSurfaceRelPointImpl (real_t px, real_t py, real_t pz) const
	Checks, whether a point in body relative coordinates lies on the surface of the ConvexPolyhedron. More...

virtual void	calcBoundingBox ()
	Calculation of the bounding box of the ConvexPolyhedron. More...

virtual TriangleMesh::VertexHandle	supportVertex (const TriangleMesh::Normal &d, const TriangleMesh::VertexHandle startVertex) const
	Estimates the vertex which is farthest in direction d. More...

static void	setStaticTypeID (id_t typeID)

Additional Inherited Members
Public Attributes inherited from walberla::pe::RigidBody
MPIRigidBodyTrait	MPITrait

Public Attributes inherited from walberla::pe::cr::HCSITSBodyTrait
size_t	index_

Protected Member Functions inherited from walberla::pe::GeomPrimitive
	GeomPrimitive (id_t const typeID, id_t sid, id_t uid, MaterialID material)
	Constructor for the GeomPrimitive class. More...

	~GeomPrimitive () override=0
	Destructor for the Primitive class. More...

Protected Member Functions inherited from walberla::pe::RigidBody
virtual void	fix ()
	Setting the global position (the center of mass) of the rigid body fixed. More...

void	signalModification ()
	Signals an internal modification of a contained subordinate body. More...

void	signalTranslation ()
	Signals a position change of a contained subordinate body. More...

void	signalRotation ()
	Signals an orientation change of a contained subordinate body. More...

void	signalFixation ()
	Signals a fixation change of a contained subordinate body. More...

virtual void	handleModification ()
	Handling an internal modification of a contained subordinate body. More...

virtual void	handleTranslation ()
	Handling a position change of a contained subordinate body. More...

virtual void	handleRotation ()
	Handling an orientation change of a contained subordinate body. More...

virtual void	handleFixation ()
	Handling a fixation change of a contained subordinate body. More...

	RigidBody (id_t const typeID, id_t sid, id_t uid)
	Constructor for the RigidBody class. More...

virtual void	setPositionImpl (real_t px, real_t py, real_t pz)

virtual void	setOrientationImpl (real_t r, real_t i, real_t j, real_t k)
	Setting the global orientation of the rigid body. More...

virtual void	translateImpl (real_t dx, real_t dy, real_t dz)
	Translation of the center of mass of the rigid body by the displacement vector. More...

virtual void	rotateImpl (const Quat &dq)
	Implements the rotation of a rigid body. More...

virtual void	rotateAroundOriginImpl (const Quat &dq)
	Implements the rotation of a rigid body. More...

virtual void	rotateAroundPointImpl (const Vec3 &point, const Quat &dq)
	Rotation of the rigid body around a specific global coordinate. More...

void	setMassAndInertia (const real_t mass, const Mat3 &inertia)
	Sets mass and inertia of a rigid body. More...

Protected Member Functions inherited from walberla::pe::ccd::HashGridsBodyTrait
	HashGridsBodyTrait ()
	Constructor for the BodyTrait<HashGrids> specialization. More...

Protected Attributes inherited from walberla::pe::GeomPrimitive
MaterialID	material_
	The material of the geometric primitive. More...

Protected Attributes inherited from walberla::pe::RigidBody
bool	awake_
	Sleep mode flag. More...

real_t	mass_
	The total mass of the rigid body. More...

real_t	invMass_
	The inverse total mass of the rigid body. More...

real_t	motion_
	The current motion of the rigid body. More...

Vec3	v_
	The linear velocity of this rigid body. More...

Vec3	w_
	Angular velocity of this rigid body. More...

Vec3	force_
	Total force (external+contact) acting in the body's center of mass. More...

Vec3	torque_
	Total torque (external+contact) acting in the body's center of mass. More...

Mat3	I_
	The moment of inertia in reference to the body's own body frame. More...

Mat3	Iinv_
	The inverse moment of inertia within the body frame. More...

ManagerID	manager_
	The rigid body manager responsible for the rigid body. More...

BodyID	sb_
	The superordinate rigid body. More...

bool	finite_
	Finiteness flag. More...

bool	visible_
	Visibility flag. More...

bool	remote_
	Remote flag. More...

bool	communicating_
	Communicating flag. More...

bool	global_
	Global flag. More...

bool	toBeDeleted_
	This flag marks the body for deletion during the next synchronization (only works on local bodies) More...

id_t	sid_
	The unique system-specific body ID. More...

id_t	uid_
	The user-specific body ID. More...

AABB	aabb_
	Axis-aligned bounding box for the rigid body. More...

Protected Attributes inherited from walberla::pe::ccd::HashGridsBodyTrait
void *	grid_
	Pointer to the hash grid this rigid body is currently assigned to. More...

size_t	hash_
	Current hash value of this rigid body. More...

size_t	cellId_
	The body's index in the body container of the grid cell this rigid body is currently assigned to. More...

Constructor & Destructor Documentation

◆ ConvexPolyhedron()

walberla::mesh::pe::ConvexPolyhedron::ConvexPolyhedron	(	id_t	sid,
		id_t	uid,
		const Vec3 &	gpos,
		const Quat &	q,
		const TriangleMesh &	mesh,
		MaterialID	material,
		const bool	global,
		const bool	communicating,
		const bool	infiniteMass
	)

Constructor for the ConvexPolyhedron class.

Parameters

sid	Unique system-specific ID for the ConvexPolyhedron.
uid	User-specific ID for the ConvexPolyhedron.
gpos	Global geometric center of the ConvexPolyhedron.
q	The orientation of the ConvexPolyhedron's body frame in the global world frame.
material	The material of the ConvexPolyhedron.
global	specifies if the ConvexPolyhedron should be created in the global storage
communicating	specifies if the ConvexPolyhedron should take part in synchronization (syncNextNeighbour, syncShadowOwner)
infiniteMass	specifies if the ConvexPolyhedron has infinite mass and will be treated as an obstacle

◆ ~ConvexPolyhedron()

walberla::mesh::pe::ConvexPolyhedron::~ConvexPolyhedron ( )

virtual

Destructor for the ConvexPolyhedron class.

Member Function Documentation

◆ calcBoundingBox()

void walberla::mesh::pe::ConvexPolyhedron::calcBoundingBox ( )

protectedvirtual

Calculation of the bounding box of the ConvexPolyhedron.

Returns: void

This function updates the axis-aligned bounding box of the ConvexPolyhedron primitive according to the current position and orientation of the ConvexPolyhedron. Note that the bounding box is increased in all dimensions by pe::contactThreshold to guarantee that rigid bodies in close proximity of the ConvexPolyhedron are also considered during the collision detection process.

Implements walberla::pe::RigidBody.

◆ containsRelPointImpl()

bool walberla::mesh::pe::ConvexPolyhedron::containsRelPointImpl	(	real_t	px,
		real_t	py,
		real_t	pz
	)		const

protectedvirtual

Checks, whether a point in body relative coordinates lies inside the ConvexPolyhedron.

Parameters

px	The x-component of the relative coordinate.
py	The y-component of the relative coordinate.
pz	The z-component of the relative coordinate.

Returns: true if the point lies inside the ConvexPolyhedron, false if not.

Reimplemented from walberla::pe::RigidBody.

◆ getMesh()

const TriangleMesh& walberla::mesh::pe::ConvexPolyhedron::getMesh ( ) const

inline

◆ getStaticTypeID()

id_t walberla::mesh::pe::ConvexPolyhedron::getStaticTypeID ( )

inlinestatic

Returns unique type id of this type.

Returns: geometry specific type id

◆ getSurfaceArea()

real_t walberla::mesh::pe::ConvexPolyhedron::getSurfaceArea ( ) const

Calculation of the surface area of the ConvexPolyhedron.

Returns: void

◆ getVolume()

real_t walberla::mesh::pe::ConvexPolyhedron::getVolume ( ) const

virtual

Calculation of the volume of the ConvexPolyhedron.

Returns: void

Reimplemented from walberla::pe::RigidBody.

◆ init()

void walberla::mesh::pe::ConvexPolyhedron::init	(	const Vec3 &	gpos,
		const Quat &	q,
		const bool	global,
		const bool	communicating,
		const bool	infiniteMass
	)

◆ isSurfaceRelPointImpl()

bool walberla::mesh::pe::ConvexPolyhedron::isSurfaceRelPointImpl	(	real_t	px,
		real_t	py,
		real_t	pz
	)		const

protectedvirtual

Checks, whether a point in body relative coordinates lies on the surface of the ConvexPolyhedron.

Parameters

px	The x-component of the relative coordinate.
py	The y-component of the relative coordinate.
pz	The z-component of the relative coordinate.

Returns: true if the point lies on the surface of the ConvexPolyhedron, false if not.

The tolerance level of the check is pe::surfaceThreshold.

Reimplemented from walberla::pe::RigidBody.

◆ print()

void walberla::mesh::pe::ConvexPolyhedron::print	(	std::ostream &	os,
		const char *	tab
	)		const

virtual

Output of the current state of a ConvexPolyhedron.

Parameters

os	Reference to the output stream.
tab	Indentation in front of every line of the ConvexPolyhedron output.

Returns: void

Implements walberla::pe::RigidBody.

◆ setStaticTypeID()

static void walberla::mesh::pe::ConvexPolyhedron::setStaticTypeID ( id_t typeID )

inlinestaticprivate

◆ support()

Vec3 walberla::mesh::pe::ConvexPolyhedron::support ( const Vec3 & d ) const

inlinevirtual

Estimates the point which is farthest in direction d.

Parameters

d	The normalized search direction in world-frame coordinates.

Returns: The support point in world-frame coordinates in direction d.

Reimplemented from walberla::pe::RigidBody.

◆ supportContactThreshold()

Vec3 walberla::mesh::pe::ConvexPolyhedron::supportContactThreshold ( const Vec3 & d ) const

inlinevirtual

Estimates the point which is farthest in direction d.

Parameters

d	The normalized search direction in world-frame coordinates

Returns: The support point in world-frame coordinates in direction d extended by a vector in direction d of length pe::contactThreshold.

Reimplemented from walberla::pe::RigidBody.

◆ supportVertex()

TriangleMesh::VertexHandle walberla::mesh::pe::ConvexPolyhedron::supportVertex	(	const TriangleMesh::Normal &	d,
		const TriangleMesh::VertexHandle	startVertex
	)		const

protectedvirtual

Estimates the vertex which is farthest in direction d.

Parameters

d	The normalized search direction in body-frame coordinates.

Returns: The support vertex in direction d.

Friends And Related Function Documentation

◆ walberla::pe::SetBodyTypeIDs

template<class T , int N>

friend struct walberla::pe::SetBodyTypeIDs

friend

needed to be able to set static type ids with setStaticTypeID

Member Data Documentation

◆ boundingSphereRadius_

real_t walberla::mesh::pe::ConvexPolyhedron::boundingSphereRadius_

protected

◆ mesh_

TriangleMesh walberla::mesh::pe::ConvexPolyhedron::mesh_

protected

◆ octandVertices_

TriangleMesh::VertexHandle walberla::mesh::pe::ConvexPolyhedron::octandVertices_[8]

protected

◆ staticTypeID_

id_t walberla::mesh::pe::ConvexPolyhedron::staticTypeID_ = std::numeric_limits<id_t>::max()

staticprivate

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

/builds/administration/walberla-website/walberla/src/mesh/pe/rigid_body/ConvexPolyhedron.h
/builds/administration/walberla-website/walberla/src/mesh/pe/rigid_body/ConvexPolyhedron.cpp

Detailed Description

Public Member Functions

Utility functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ ConvexPolyhedron()

◆ ~ConvexPolyhedron()

Member Function Documentation

◆ calcBoundingBox()

◆ containsRelPointImpl()

◆ getMesh()

◆ getStaticTypeID()

◆ getSurfaceArea()

◆ getVolume()

◆ init()

◆ isSurfaceRelPointImpl()

◆ print()

◆ setStaticTypeID()

◆ support()

◆ supportContactThreshold()

◆ supportVertex()

Friends And Related Function Documentation

◆ walberla::pe::SetBodyTypeIDs

Member Data Documentation

◆ boundingSphereRadius_

◆ mesh_

◆ octandVertices_

◆ staticTypeID_