39 #ifndef HPP_FCL_SHAPE_CONVEX_H
40 #define HPP_FCL_SHAPE_CONVEX_H
52 template <
typename PolygonT>
68 Vec3f* points_,
int num_points_,
69 PolygonT* polygons_,
int num_polygons_);
Base for convex polytope.
Definition: geometric_shapes.h:356
Convex polytope.
Definition: convex.h:54
Convex()
Construct an uninitialized convex object.
Definition: convex.h:57
int num_polygons
Definition: convex.h:81
~Convex()
Definition: convex.hxx:73
Vec3f computeCOM() const
compute center of mass
Definition: convex.hxx:118
PolygonT * polygons
An array of PolygonT object. PolygonT should contains a list of vertices for each polygon,...
Definition: convex.h:80
FCL_REAL computeVolume() const
compute the volume
Definition: convex.hxx:152
void fillNeighbors()
Definition: convex.hxx:185
Matrix3f computeMomentofInertia() const
based on http://number-none.com/blow/inertia/bb_inertia.doc
Definition: convex.hxx:79
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
double FCL_REAL
Definition: data_types.h:66
Main namespace.
Definition: AABB.h:44