bodies::Sphere Class Reference

Definition of a sphere. More...

`#include <bodies.h>`

Inheritance diagram for bodies::Sphere:

## 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. | |

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. | |

Sphere (void) | |

Sphere (const shapes::Shape *shape) | |

virtual | ~Sphere (void) |

## Protected Member Functions | |

virtual void | updateInternalData (void) |

virtual void | useDimensions (const shapes::Shape *shape) |

## Protected Attributes | |

tf::Vector3 | m_center |

double | m_radius |

double | m_radius2 |

double | m_radiusU |

bodies::Sphere::Sphere | ( | void | ) | ` [inline]` |

bodies::Sphere::Sphere | ( | const shapes::Shape * | shape | ) | ` [inline]` |

virtual bodies::Sphere::~Sphere | ( | void | ) | ` [inline, virtual]` |

void bodies::Sphere::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 190 of file bodies.cpp.

void bodies::Sphere::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 184 of file bodies.cpp.

double bodies::Sphere::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 179 of file bodies.cpp.

bool bodies::Sphere::containsPoint | ( | const tf::Vector3 & | p, |

bool | verbose = `false` |
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) | const` [virtual]` |

Check is a point is inside the body.

Implements bodies::Body.

Definition at line 162 of file bodies.cpp.

bool bodies::Sphere::intersectsRay | ( | const tf::Vector3 & | origin, |

const tf::Vector3 & | dir, |
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std::vector< tf::Vector3 > * | intersections = `NULL` , |
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unsigned int | count = `0` |
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) | 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 198 of file bodies.cpp.

void bodies::Sphere::updateInternalData | ( | void | ) | ` [protected, virtual]` |

Implements bodies::Body.

Definition at line 172 of file bodies.cpp.

void bodies::Sphere::useDimensions | ( | const shapes::Shape * | shape | ) | ` [protected, virtual]` |

Implements bodies::Body.

Definition at line 167 of file bodies.cpp.

tf::Vector3 bodies::Sphere::m_center` [protected]` |

double bodies::Sphere::m_radius` [protected]` |

double bodies::Sphere::m_radius2` [protected]` |

double bodies::Sphere::m_radiusU` [protected]` |

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