Public Member Functions | Protected Member Functions | Protected Attributes
bodies::ConvexMesh Class Reference

Definition of a convex mesh. Convex hull is computed for a given shape::Mesh. More...

#include <bodies.h>

Inheritance diagram for bodies::ConvexMesh:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void computeBoundingCylinder (BoundingCylinder &cylinder) const
 Compute the bounding cylinder for the body, in its current pose. Scaling and padding are accounted for.
virtual void computeBoundingSphere (BoundingSphere &sphere) const
 Compute the bounding radius for the body, in its current pose. Scaling and padding are accounted for.
virtual double computeVolume (void) const
 Compute the volume of the body. This method includes changes induced by scaling and padding.
virtual bool containsPoint (const tf::Vector3 &p, bool verbose=false) const
 Check is a point is inside the body.
 ConvexMesh (void)
 ConvexMesh (const shapes::Shape *shape)
const std::vector< tf::Vector3 > & getScaledVertices () const
const std::vector< unsigned int > & getTriangles () const
const std::vector< tf::Vector3 > & getVertices () const
virtual bool intersectsRay (const tf::Vector3 &origin, const tf::Vector3 &dir, std::vector< tf::Vector3 > *intersections=NULL, unsigned int count=0) const
 Check is a ray intersects the body, and find the set of intersections, in order, along the ray. A maximum number of intersections can be specified as well. If that number is 0, all intersections are returned.
virtual ~ConvexMesh (void)

Protected Member Functions

unsigned int countVerticesBehindPlane (const tf::tfVector4 &planeNormal) const
bool isPointInsidePlanes (const tf::Vector3 &point) const
virtual void updateInternalData (void)
virtual void useDimensions (const shapes::Shape *shape)

Protected Attributes

Box m_boundingBox
BoundingCylinder m_boundingCylinder
tf::Vector3 m_boxOffset
tf::Vector3 m_center
tf::Transform m_iPose
tf::Vector3 m_meshCenter
double m_meshRadiusB
std::vector< tf::tfVector4m_planes
double m_radiusB
double m_radiusBSqr
std::vector< tf::Vector3 > m_scaledVertices
std::vector< unsigned int > m_triangles
std::vector< tf::Vector3 > m_vertices

Detailed Description

Definition of a convex mesh. Convex hull is computed for a given shape::Mesh.

Definition at line 367 of file bodies.h.


Constructor & Destructor Documentation

bodies::ConvexMesh::ConvexMesh ( void  ) [inline]

Definition at line 371 of file bodies.h.

bodies::ConvexMesh::ConvexMesh ( const shapes::Shape shape) [inline]

Definition at line 376 of file bodies.h.

virtual bodies::ConvexMesh::~ConvexMesh ( void  ) [inline, virtual]

Definition at line 382 of file bodies.h.


Member Function Documentation

void bodies::ConvexMesh::computeBoundingCylinder ( BoundingCylinder cylinder) const [virtual]

Compute the bounding cylinder for the body, in its current pose. Scaling and padding are accounted for.

Implements bodies::Body.

Definition at line 1049 of file bodies.cpp.

void bodies::ConvexMesh::computeBoundingSphere ( BoundingSphere sphere) const [virtual]

Compute the bounding radius for the body, in its current pose. Scaling and padding are accounted for.

Implements bodies::Body.

Definition at line 1043 of file bodies.cpp.

double bodies::ConvexMesh::computeVolume ( void  ) const [virtual]

Compute the volume of the body. This method includes changes induced by scaling and padding.

Implements bodies::Body.

Definition at line 1085 of file bodies.cpp.

bool bodies::ConvexMesh::containsPoint ( const tf::Vector3 &  p,
bool  verbose = false 
) const [virtual]

Check is a point is inside the body.

Implements bodies::Body.

Definition at line 772 of file bodies.cpp.

unsigned int bodies::ConvexMesh::countVerticesBehindPlane ( const tf::tfVector4 planeNormal) const [protected]

Definition at line 1072 of file bodies.cpp.

const std::vector<tf::Vector3>& bodies::ConvexMesh::getScaledVertices ( ) const [inline]

Definition at line 401 of file bodies.h.

const std::vector<unsigned int>& bodies::ConvexMesh::getTriangles ( ) const [inline]

Definition at line 393 of file bodies.h.

const std::vector<tf::Vector3>& bodies::ConvexMesh::getVertices ( ) const [inline]

Definition at line 397 of file bodies.h.

bool bodies::ConvexMesh::intersectsRay ( const tf::Vector3 &  origin,
const tf::Vector3 &  dir,
std::vector< tf::Vector3 > *  intersections = NULL,
unsigned int  count = 0 
) const [virtual]

Check is a ray intersects the body, and find the set of intersections, in order, along the ray. A maximum number of intersections can be specified as well. If that number is 0, all intersections are returned.

Implements bodies::Body.

Definition at line 1098 of file bodies.cpp.

bool bodies::ConvexMesh::isPointInsidePlanes ( const tf::Vector3 &  point) const [protected]

Definition at line 1059 of file bodies.cpp.

void bodies::ConvexMesh::updateInternalData ( void  ) [protected, virtual]

Implements bodies::Body.

Definition at line 1021 of file bodies.cpp.

void bodies::ConvexMesh::useDimensions ( const shapes::Shape shape) [protected, virtual]

Implements bodies::Body.

Definition at line 784 of file bodies.cpp.


Member Data Documentation

Definition at line 426 of file bodies.h.

Definition at line 427 of file bodies.h.

tf::Vector3 bodies::ConvexMesh::m_boxOffset [protected]

Definition at line 425 of file bodies.h.

tf::Vector3 bodies::ConvexMesh::m_center [protected]

Definition at line 419 of file bodies.h.

Definition at line 417 of file bodies.h.

tf::Vector3 bodies::ConvexMesh::m_meshCenter [protected]

Definition at line 420 of file bodies.h.

Definition at line 423 of file bodies.h.

Definition at line 413 of file bodies.h.

double bodies::ConvexMesh::m_radiusB [protected]

Definition at line 421 of file bodies.h.

Definition at line 422 of file bodies.h.

Definition at line 415 of file bodies.h.

std::vector<unsigned int> bodies::ConvexMesh::m_triangles [protected]

Definition at line 416 of file bodies.h.

std::vector<tf::Vector3> bodies::ConvexMesh::m_vertices [protected]

Definition at line 414 of file bodies.h.


The documentation for this class was generated from the following files:


geometric_shapes
Author(s): Ioan Sucan
autogenerated on Thu Dec 12 2013 11:08:56