38 #ifndef HPP_FCL_SHAPE_CONVEX_HXX
39 #define HPP_FCL_SHAPE_CONVEX_HXX
49 template <
typename PolygonT>
51 PolygonT* polygons_,
int num_polygons_) :
ConvexBase(),
53 num_polygons (num_polygons_)
59 template <
typename PolygonT>
62 polygons (other.polygons),
63 num_polygons (other.num_polygons)
72 template <
typename PolygonT>
75 if (own_storage_)
delete [] polygons;
78 template <
typename PolygonT>
81 typedef typename PolygonT::size_type size_type;
82 typedef typename PolygonT::index_type index_type;
87 C_canonical << 1/60.0, 1/120.0, 1/120.0,
88 1/120.0, 1/60.0, 1/120.0,
89 1/120.0, 1/120.0, 1/60.0;
91 for(
int i = 0; i < num_polygons; ++i)
93 const PolygonT& polygon (polygons[i]);
96 Vec3f plane_center(0,0,0);
97 for(size_type j = 0; j < polygon.size(); ++j)
98 plane_center += points[polygon[j]];
99 plane_center /= polygon.size();
102 const Vec3f& v3 = plane_center;
103 for(size_type j = 0; j < polygon.size(); ++j)
105 index_type e_first = polygon[j];
106 index_type e_second = polygon[(j+1)%polygon.size()];
107 const Vec3f& v1 = points[e_first];
108 const Vec3f& v2 = points[e_second];
109 Matrix3f A; A << v1.transpose(), v2.transpose(), v3.transpose();
110 C += A.transpose() * C_canonical * A * (v1.cross(v2)).dot(v3);
114 return C.trace() * Matrix3f::Identity() - C;
117 template <
typename PolygonT>
120 typedef typename PolygonT::size_type size_type;
121 typedef typename PolygonT::index_type index_type;
125 for(
int i = 0; i < num_polygons; ++i)
127 const PolygonT& polygon (polygons[i]);
129 Vec3f plane_center(0,0,0);
130 for(size_type j = 0; j < polygon.size(); ++j)
131 plane_center += points[polygon[j]];
132 plane_center /= polygon.size();
135 const Vec3f& v3 = plane_center;
136 for(size_type j = 0; j < polygon.size(); ++j)
138 index_type e_first = polygon[j];
139 index_type e_second = polygon[(j+1)%polygon.size()];
140 const Vec3f& v1 = points[e_first];
141 const Vec3f& v2 = points[e_second];
142 FCL_REAL d_six_vol = (v1.cross(v2)).dot(v3);
144 com += (points[e_first] + points[e_second] + plane_center) * d_six_vol;
148 return com / (vol * 4);
151 template <
typename PolygonT>
154 typedef typename PolygonT::size_type size_type;
155 typedef typename PolygonT::index_type index_type;
158 for(
int i = 0; i < num_polygons; ++i)
160 const PolygonT& polygon (polygons[i]);
163 Vec3f plane_center(0,0,0);
164 for(size_type j = 0; j < polygon.size(); ++j)
165 plane_center += points[polygon[j]];
166 plane_center /= polygon.size();
169 const Vec3f& v3 = plane_center;
170 for(size_type j = 0; j < polygon.size(); ++j)
172 index_type e_first = polygon[j];
173 index_type e_second = polygon[(j+1)%polygon.size()];
174 const Vec3f& v1 = points[e_first];
175 const Vec3f& v2 = points[e_second];
176 FCL_REAL d_six_vol = (v1.cross(v2)).dot(v3);
184 template <
typename PolygonT>
189 typedef typename PolygonT::size_type size_type;
190 typedef typename PolygonT::index_type index_type;
191 std::vector<std::set<index_type> > nneighbors (num_points);
192 unsigned int c_nneighbors = 0;
194 for (
int l = 0; l < num_polygons; ++l)
196 const PolygonT& polygon (polygons[l]);
197 size_type n = polygon.size();
199 for(size_type j = 0; j < polygon.size(); ++j)
201 size_type i = (j==0 ) ? n-1 : j-1;
202 size_type k = (j==n-1) ? 0 : j+1;
203 index_type pi = polygon[i],
207 if (nneighbors[pj].count(pi) == 0) {
209 nneighbors[pj].insert(pi);
211 if (nneighbors[pj].count(pk) == 0) {
213 nneighbors[pj].insert(pk);
218 nneighbors_ =
new unsigned int[c_nneighbors];
219 unsigned int* p_nneighbors = nneighbors_;
220 for (
int i = 0; i < num_points; ++i) {
222 if (nneighbors[i].size() >= (std::numeric_limits<unsigned char>::max)())
223 throw std::logic_error (
"Too many neighbors.");
224 n.
count_ = (
unsigned char)nneighbors[i].size();
226 p_nneighbors = std::copy (nneighbors[i].begin(), nneighbors[i].end(), p_nneighbors);
228 assert (p_nneighbors == nneighbors_ + c_nneighbors);