rblock dilate command

Syntax

rblock dilate <keyword> f <keyword> <range>

Primary keywords:

keep-inertial    relative

Change the rigid block rounding by dilation. A rigid block is represented by a core shape that is composed of {linear facets in 2D; triangular facets in 3D}. The core shape is convex, closed and manifold. When rounding is nonzero, the core shape is expanded in all directions by a {circle in 2D; sphere in 3D} of a specified radius with center passing along all points on the exterior of the core shape. The value of the rounding corresponds to the radius of this expansion {circle in 2D; sphere in 3D}. Rounding can result in fewer contacts for highly packed models and in faster contact resolution.

Dilating a rigid block means that the core shape remains unchanged and rounding as added to the original core shape. In other words, {corners in 2D; edge and corners in 3D} are rounded and each facet plane is moved outward (i.e., away from the centroid) in the facet normal direction by the rounding distance. This results in a larger rigid block. By default the inertial properties are adjusted to those of a convex {polygon in 2D; polyhedra in 3D} whose faces have been translated outward in the facet normal direction by the rounding distance. If the rigid block is already rounded this rounding is added to the old value.

keep-inertial

Do not adjust the inertial properties as a result of dilation. This may be advantageous when the rounding distance is small.

relative

The degree of rounding is computed as the product of f and the radius of a {circle in 2D; sphere in 3D} with the same size as the rigid block.