39#ifndef HPP_FCL_SHAPE_CONVEX_H
40#define HPP_FCL_SHAPE_CONVEX_H
52template <
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_);
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
void set(bool ownStorage, Vec3f *points_, unsigned int num_points_, PolygonT *polygons_, unsigned int num_polygons_)
Set the current Convex from a list of points and polygons.
Definition: convex.hxx:78
~Convex()
Definition: convex.hxx:72
unsigned int num_polygons
Definition: convex.h:81
Vec3f computeCOM() const
compute center of mass
Definition: convex.hxx:131
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:165
void fillNeighbors()
Definition: convex.hxx:198
Matrix3f computeMomentofInertia() const
based on http://number-none.com/blow/inertia/bb_inertia.doc
Definition: convex.hxx:92
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:69
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