Definition of a sphere. More...
#include <bodies.h>
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, | ||
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] |