Struct parry3d_f64::transformation::vhacd::VHACD

pub struct VHACD { /* private fields */ }

Approximate convex decomposition using the VHACD algorithm.

Implementations

impl VHACD

pub fn decompose( params: &VHACDParameters, points: &[Point<Real>], indices: &[[u32; 3]], keep_voxel_to_primitives_map: bool ) -> Self

Decompose the given polyline (in 2D) or triangle mesh (in 3D).

Parameters

• params - The parameters for the VHACD algorithm execution.
• points - The vertex buffer of the polyline (in 2D) or triangle mesh (in 3D).
• indices - The index buffer of the polyline (in 2D) or triangle mesh (in 3D).
• keep_voxel_to_primitives_map - If set to true then a map between the voxels computed during the decomposition, and the primitives (triangle or segment) they intersect will be computed. This is required in order to compute the convex-hulls using the original polyline/trimesh primitives afterwards (otherwise the convex hulls resulting from the convex decomposition will use the voxels vertices).

pub fn from_voxels(params: &VHACDParameters, voxels: VoxelSet) -> Self

Perform an approximate convex decomposition of a set of voxels.

pub fn voxel_parts(&self) -> &[VoxelSet]

The almost-convex voxelized parts computed by the VHACD algorithm.

pub fn compute_primitive_intersections( &self, points: &[Point<Real>], indices: &[[u32; 3]] ) -> Vec<Vec<Point<Real>>>

Compute the intersections between the voxelized convex part of this decomposition, and all the primitives from the original decomposed polyline/trimesh,

This will panic if keep_voxel_to_primitives_map was set to false when initializing self.

pub fn compute_exact_convex_hulls( &self, points: &[Point<Real>], indices: &[[u32; 3]] ) -> Vec<(Vec<Point<Real>>, Vec<[u32; 3]>)>

Compute the convex-hulls of the parts computed by this approximate convex-decomposition, taking into account the primitives from the original polyline/trimesh being decomposed.

This will panic if keep_voxel_to_primitives_map was set to false when initializing self.

pub fn compute_convex_hulls( &self, downsampling: u32 ) -> Vec<(Vec<Point<Real>>, Vec<[u32; 3]>)>

Compute the convex hulls of the voxelized approximately-convex parts computed by self on the voxelized model.

Use compute_exact_convex_hulls instead if the original polyline/trimesh geometry needs to be taken into account.