38 #ifndef HPP_FCL_SHAPE_CONVEX_H 39 #define HPP_FCL_SHAPE_CONVEX_H 49 template <
typename PolygonT>
64 Convex(
bool ownStorage,
Vec3f* points_,
unsigned int num_points_,
65 PolygonT* polygons_,
unsigned int num_polygons_);
FCL_REAL computeVolume() const
compute the volume
Definition: convex.hxx:172
Main namespace.
Definition: broadphase_bruteforce.h:44
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
void fillNeighbors()
Definition: convex.hxx:204
Vec3f computeCOM() const
compute center of mass
Definition: convex.hxx:139
unsigned int num_polygons
Definition: convex.h:77
~Convex()
Definition: convex.hxx:67
PolygonT * polygons
An array of PolygonT object. PolygonT should contains a list of vertices for each polygon...
Definition: convex.h:76
unsigned int num_points
Definition: geometric_shapes.h:624
double FCL_REAL
Definition: data_types.h:65
Convex()
Construct an uninitialized convex object.
Definition: convex.h:53
Base for convex polytope.
Definition: geometric_shapes.h:581
Matrix3f computeMomentofInertia() const
based on http://number-none.com/blow/inertia/bb_inertia.doc
Definition: convex.hxx:100
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
Convex polytope.
Definition: convex.h:50
virtual Convex< PolygonT > * clone() const
.
Definition: convex.hxx:85
Vec3f * points
An array of the points of the polygon.
Definition: geometric_shapes.h:623