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

#include <bodies.h>

Inheritance diagram for bodies::ConvexMesh:

Public Member Functions
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)
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
tf::Vector3	m_boxOffset
tf::Vector3	m_center
tf::Transform	m_iPose
tf::Vector3	m_meshCenter
double	m_meshRadiusB
std::vector< tf::tfVector4 >	m_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 354 of file bodies.h.

Constructor & Destructor Documentation

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

Definition at line 358 of file bodies.h.

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

Definition at line 363 of file bodies.h.

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

Definition at line 369 of file bodies.h.

Member Function Documentation

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 863 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 895 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 706 of file bodies.cpp.

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

Definition at line 882 of file bodies.cpp.

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 908 of file bodies.cpp.

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

Definition at line 869 of file bodies.cpp.

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

Implements bodies::Body.

Definition at line 841 of file bodies.cpp.

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

Implements bodies::Body.

Definition at line 718 of file bodies.cpp.