raisim::CoacdOptions

struct · #include <raisim/configure.hpp>

CoACD convex decomposition parameters for mesh collision approximation. The fields are passed unchanged to coacd::CoACD() (third_party/coacd) in this order.

Public attributes

threshold

double threshold

Concavity threshold of a part, normalized to the mesh size (0-1), or in meters with realMetric. Smaller values give more, finer parts.

maxConvexHull

int maxConvexHull

Maximum number of convex hulls, enforced while merging; a value <= 0 means no limit.

preprocess

std::string preprocess

Manifold preprocessing: "auto", "on" or "off".

prepResolution

int prepResolution

Resolution of the manifold preprocessing, in [5, 1000].

sampleResolution

int sampleResolution

Sampling resolution used to evaluate concavity.

mctsNodes

int mctsNodes

Monte Carlo tree search: nodes per level.

mctsIteration

int mctsIteration

Monte Carlo tree search: iterations.

mctsMaxDepth

int mctsMaxDepth

Monte Carlo tree search: maximum depth.

pca

bool pca

Align the mesh with its principal axes (PCA) before decomposing.

merge

bool merge

Merge parts after decomposition.

decimate

bool decimate

Limit the vertices of each hull to maxConvexHullVertex.

maxConvexHullVertex

int maxConvexHullVertex

Maximum vertices per hull when decimate is set.

extrude

bool extrude

Extrude neighboring parts along their overlap plane by extrudeMargin.

extrudeMargin

double extrudeMargin

Extrusion margin used when extrude is set.

approximateMode

std::string approximateMode

Part approximation: "ch" (convex hull) or "box".

seed

unsigned int seed

Random seed.

realMetric

bool realMetric

Interpret threshold in meters instead of normalized units.