39 #ifndef HPP_FCL_SHAPE_CONVEX_H 40 #define HPP_FCL_SHAPE_CONVEX_H 52 template <
typename PolygonT>
68 Vec3f* points_,
unsigned int num_points_,
69 PolygonT* polygons_,
unsigned int num_polygons_);
101 void set(
bool ownStorage,
102 Vec3f* points_,
unsigned int num_points_,
103 PolygonT* polygons_,
unsigned int num_polygons_);
FCL_REAL computeVolume() const
compute the volume
Definition: convex.hxx:165
Main namespace.
Definition: AABB.h:43
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:69
void fillNeighbors()
Definition: convex.hxx:198
Vec3f computeCOM() const
compute center of mass
Definition: convex.hxx:131
unsigned int num_polygons
Definition: convex.h:81
~Convex()
Definition: convex.hxx:72
PolygonT * polygons
An array of PolygonT object. PolygonT should contains a list of vertices for each polygon...
Definition: convex.h:80
double FCL_REAL
Definition: data_types.h:66
Convex()
Construct an uninitialized convex object.
Definition: convex.h:57
Base for convex polytope.
Definition: geometric_shapes.h:355
Matrix3f computeMomentofInertia() const
based on http://number-none.com/blow/inertia/bb_inertia.doc
Definition: convex.hxx:92
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
Convex polytope.
Definition: convex.h:53