From c6cf5b99b495c8bd98ffc57223893a1856711e66 Mon Sep 17 00:00:00 2001
From: Christoph Rettinger <christoph.rettinger@fau.de>
Date: Tue, 3 May 2022 16:49:45 +0200
Subject: [PATCH] Added missing calls to compute mesh face normals in mesa_pd
convex polyhedron
---
src/mesa_pd/common/Contains.h | 2 ++
src/mesa_pd/data/shape/ConvexPolyhedron.h | 3 +++
2 files changed, 5 insertions(+)
diff --git a/src/mesa_pd/common/Contains.h b/src/mesa_pd/common/Contains.h
index a9e583440..00e74bb39 100644
--- a/src/mesa_pd/common/Contains.h
+++ b/src/mesa_pd/common/Contains.h
@@ -79,6 +79,8 @@ bool isPointInsideCylindricalBoundary(const Vec3& point,
#ifdef WALBERLA_MESAPD_CONVEX_POLYHEDRON_AVAILABLE
bool isPointInsideConvexPolyhedronBF(const Vec3& point, const mesh::TriangleMesh& mesh)
{
+ WALBERLA_ASSERT(mesh.has_face_normals(), "Provided mesh has no face normals! E.g., call `mesh.request_face_normals(); mesh.update_face_normals();` to add them.")
+
return std::none_of(mesh.faces().begin(),
mesh.faces().end(),
[&](auto fh)
diff --git a/src/mesa_pd/data/shape/ConvexPolyhedron.h b/src/mesa_pd/data/shape/ConvexPolyhedron.h
index 8bb9ec0b5..d04e34756 100644
--- a/src/mesa_pd/data/shape/ConvexPolyhedron.h
+++ b/src/mesa_pd/data/shape/ConvexPolyhedron.h
@@ -130,6 +130,9 @@ inline void ConvexPolyhedron::updateMassAndInertia(const real_t density) {
inline void ConvexPolyhedron::updateMeshQuantities() {
WALBERLA_CHECK_GREATER(mesh_.n_vertices(), 0, "Cannot compute mesh quantities for an empty mesh!");
+ mesh_.request_face_normals();
+ mesh_.update_face_normals();
+
octandVertices_[0] = supportVertex(mesh::TriangleMesh::Normal(real_t(1), real_t(1), real_t(1)), *mesh_.vertices_begin());
octandVertices_[1] = supportVertex(mesh::TriangleMesh::Normal(real_t(1), real_t(1), real_t(-1)), *mesh_.vertices_begin());
octandVertices_[2] = supportVertex(mesh::TriangleMesh::Normal(real_t(1), real_t(-1), real_t(1)), *mesh_.vertices_begin());
--
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