genPointsInPolygon.m

%{
 * Copyright (C) 2013-2025, The Regents of The University of Michigan.
 * All rights reserved.
 * This software was developed in the Biped Lab (https://www.biped.solutions/) 
 * under the direction of Jessy Grizzle, grizzle@umich.edu. This software may 
 * be available under alternative licensing terms; contact the address above.
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 1. Redistributions of source code must retain the above copyright notice, this
 *    list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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 * AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
 * WEBSITE: https://www.brucerobot.com/
%}

% clc, clear
clc
vertices.x = [0 0 0 0 0 0];
vertices.y = [0.4330 3.0616e-17 -0.4330 -0.4330 -5.3594e-16 0.4330];
vertices.z = [0.2500 0.5000 0.2500 -0.2500 -0.5000 -0.2500];
matrix = [vertices.x; vertices.y; vertices.z];
% points = t_genPointsInPolygon(matrix);
points = t_genPointsInPolygon(vertices);


% Works for structures or matrix
% However, points should be in 3D
function points = t_genPointsInPolygon(polygon_vertices, opts)
    points = [];
    if isstruct(polygon_vertices)
        poly_mat = convertXYZstructToXYZmatrix(polygon_vertices);
    else
        poly_mat = polygon_vertices;
    end
    centroid = mean(poly_mat')
    max_z = max(poly_mat(3, :))
    min_z = min(poly_mat(3, :))
%     vertices
end