#include <hpp/fcl/shape/geometric_shapes.h>
Classes | |
struct | Edge |
Public Member Functions | |
Convex (Vec3f *plane_normals_, FCL_REAL *plane_dis_, int num_planes_, Vec3f *points_, int num_points_, int *polygons_) | |
Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information. | |
Convex (const Convex &other) | |
Copy constructor. | |
~Convex () | |
void | computeLocalAABB () |
Compute AABB. | |
NODE_TYPE | getNodeType () const |
Get node type: a conex polytope. | |
Matrix3f | computeMomentofInertia () const |
based on http://number-none.com/blow/inertia/bb_inertia.doc | |
Vec3f | computeCOM () const |
compute center of mass | |
FCL_REAL | computeVolume () const |
compute the volume | |
Public Attributes | |
Vec3f * | plane_normals |
FCL_REAL * | plane_dis |
int * | polygons |
An array of indices to the points of each polygon, it should be the number of vertices followed by that amount of indices to "points" in counter clockwise order. | |
Vec3f * | points |
int | num_points |
int | num_edges |
int | num_planes |
Edge * | edges |
Vec3f | center |
center of the convex polytope, this is used for collision: center is guaranteed in the internal of the polytope (as it is convex) | |
Protected Member Functions | |
void | fillEdges () |
Get edge information. |
Convex polytope.
fcl::Convex::Convex | ( | Vec3f * | plane_normals_, |
FCL_REAL * | plane_dis_, | ||
int | num_planes_, | ||
Vec3f * | points_, | ||
int | num_points_, | ||
int * | polygons_ | ||
) | [inline] |
Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information.
References center, edges, fillEdges(), num_planes, num_points, plane_dis, plane_normals, points, and polygons.
fcl::Convex::Convex | ( | const Convex & | other | ) | [inline] |
Copy constructor.
References edges, num_edges, num_planes, num_points, plane_dis, plane_normals, points, and polygons.
fcl::Convex::~Convex | ( | ) | [inline] |
References edges.
Vec3f fcl::Convex::computeCOM | ( | ) | const [inline, virtual] |
compute center of mass
Reimplemented from fcl::CollisionGeometry.
References num_planes, points, and polygons.
void fcl::Convex::computeLocalAABB | ( | ) | [virtual] |
Compute AABB.
Implements fcl::CollisionGeometry.
Matrix3f fcl::Convex::computeMomentofInertia | ( | ) | const [inline, virtual] |
based on http://number-none.com/blow/inertia/bb_inertia.doc
Reimplemented from fcl::CollisionGeometry.
References num_planes, points, and polygons.
FCL_REAL fcl::Convex::computeVolume | ( | ) | const [inline, virtual] |
compute the volume
Reimplemented from fcl::CollisionGeometry.
References num_planes, points, and polygons.
void fcl::Convex::fillEdges | ( | ) | [protected] |
Get edge information.
Referenced by Convex().
NODE_TYPE fcl::Convex::getNodeType | ( | ) | const [inline, virtual] |
Get node type: a conex polytope.
Reimplemented from fcl::CollisionGeometry.
References fcl::GEOM_CONVEX.
center of the convex polytope, this is used for collision: center is guaranteed in the internal of the polytope (as it is convex)
Referenced by Convex().
Referenced by Convex().
Referenced by computeCOM(), computeMomentofInertia(), computeVolume(), and Convex().
Referenced by Convex().
Referenced by Convex().
Referenced by Convex().
Referenced by computeCOM(), computeMomentofInertia(), computeVolume(), and Convex().
An array of indices to the points of each polygon, it should be the number of vertices followed by that amount of indices to "points" in counter clockwise order.
Referenced by computeCOM(), computeMomentofInertia(), computeVolume(), and Convex().