Rockable - Definition of a shape

A "shape-file" is a library of shapes, which is in fact a file with a number of shapes defined between "brackets" (starting with < and ending with >). To run a simulation, we need that all required shapes are defined in a single shape-file. The keywords are given here after:

• name (string)shapeName
  set the name of the shape
• radius (double)MinskowskiRadius
  set the radius of the rounded edges (so-called Minskowski radius) of the shape
• preCompDone y/n
  If yes, the computation of mass properties will not be run at the beginning of a computation in Rockable or in the program shapeSurvey.
• OBBtreeLevel (int)number
  set the number of levels for building an OBB-tree
• nv (int)numberOfVertices
  REPEAT FOR EACH VERTICE [
  (double)x (double)y (double)z
  ]
• ne (int)numberOfEdges
  REPEAT FOR EACH EDGE [
  (int)from (int)to
  ]
• nf (int)numberOfFaces
  REPEAT FOR EACH FACE [
  (int)numberOfVertices [(int)V1 (int)V2 ...]
  ]
• obb.extent (double)extent1 (double)extent2 (double)extent3
  The 3 components of the extents in the 3 directions defined by e1, e2 and e3
• obb.e1 (vec3r)e1
  Extent unit vector in the first direction
• obb.e2 (vec3r)e2
  Extent unit vector in the second direction
• obb.e3 (vec3r)e3
  Extent unit vector in the third direction
• obb.center (vec3r)center
  Position of the OBB center relative to the mass center of the shape, given in the framework (principal direction of inertia) of the shape.
• volume (double)V
• I/m (double)I1/m (double)I2/m (double)I3/m
• position (vec3r)pos
• orientation (quat)Q

Example

<
name Cube_r0.1
radius 0.1
preCompDone y

nv 8
 0.4  0.4 -0.4
-0.4  0.4 -0.4
-0.4 -0.4 -0.4
 0.4 -0.4 -0.4
 0.4  0.4  0.4
-0.4  0.4  0.4
-0.4 -0.4  0.4
 0.4 -0.4  0.4

ne 12
0 1
1 2
2 3
3 0
4 5
5 6
6 7
7 4
0 4
1 5
2 6
3 7

nf 6
4 0 1 2 3
4 4 5 6 7
4 0 1 5 4
4 2 3 7 6
4 1 2 6 5
4 0 4 7 3

obb.extent 0.5 0.5 0.5
obb.e1 1 0 0
obb.e2 0 1 0
obb.e3 0 0 1
obb.center 0 0 0

volume 0.975587
I/m 0.166667 0.166667 0.166667
>

The program shapeSurvey

TO BE CONTINUED