Add BVHModelBase::buildConvexHull

include/hpp/fcl/BVH/BVH_model.h

@@ -82,7 +82,7 @@ public:
 
   /// @brief Convex<Triangle> representation of this object
   boost::shared_ptr< ConvexBase > convex;
-  
+
   /// @brief Model type described by the instance
   BVHModelType getModelType() const
   {
@@ -173,11 +173,25 @@ public:
   /// @brief End BVH model update, will also refit or rebuild the bounding volume hierarchy
   int endUpdateModel(bool refit = true, bool bottomup = true);
 
-  /// @brief Build this Convex<Triangle> representation of this model.
+  /// @brief Build this \ref Convex "Convex<Triangle>" representation of this model.
+  /// The result is stored in attribute \ref convex.
   /// \note this only takes the points of this model. It does not check that the
   ///       object is convex. It does not compute a convex hull.
   void buildConvexRepresentation(bool share_memory);
 
+  /// @brief Build a convex hull
+  /// and store it in attribute \ref convex.
+  /// \param keepTriangle whether the convex should be triangulated.
+  /// \param qhullCommand see \ref ConvexBase::convexHull.
+  /// \return \c true if this object is convex, hence the convex hull represents
+  ///         the same object.
+  /// \sa ConvexBase::convexHull
+  /// \warning At the moment, the return value only checks whether there are as
+  ///          many points in the convex hull as in the original object. This is
+  ///          neither necessary (duplicated vertices get merged) nor sufficient
+  ///          (think of a U with 4 vertices and 3 edges).
+  bool buildConvexHull(bool keepTriangle, const char* qhullCommand = NULL);
+
   virtual int memUsage(int msg) const = 0;
 
   /// @brief This is a special acceleration: BVH_model default stores the BV's transform in world coordinate. However, we can also store each BV's transform related to its parent 

python/collision-geometries.cc

@@ -50,6 +50,7 @@
 #include <hpp/fcl/internal/BV_splitter.h>
 #include "doxygen_autodoc/hpp/fcl/BVH/BVH_model.h"
 #include "doxygen_autodoc/hpp/fcl/shape/geometric_shapes.h"
+#include "doxygen_autodoc/functions.h"
 #endif
 
 #include "../doc/python/doxygen.hh"
@@ -396,7 +397,8 @@ void exposeCollisionGeometries ()
 
     .def_readonly ("convex", &BVHModelBase::convex)
 
-    .def ("buildConvexRepresentation", &BVHModelBase::buildConvexRepresentation)
+    .DEF_CLASS_FUNC(BVHModelBase, buildConvexRepresentation)
+    .DEF_CLASS_FUNC(BVHModelBase, buildConvexHull)
 
     // Expose function to build a BVH
     .def(dv::member_func("beginModel", &BVHModelBase::beginModel))

src/BVH/BVH_model.cpp

@@ -100,6 +100,14 @@ void BVHModelBase::buildConvexRepresentation(bool share_memory)
   }
 }
 
+bool BVHModelBase::buildConvexHull(bool keepTriangle, const char* qhullCommand)
+{
+  convex.reset(
+      ConvexBase::convexHull(vertices, num_vertices, keepTriangle, qhullCommand)
+      );
+  return num_vertices == convex->num_points;
+}
+
 template<typename BV>
 BVHModel<BV>::BVHModel(const BVHModel<BV>& other) : BVHModelBase(other),
                                                     bv_splitter(other.bv_splitter),