Class ConvexMesh
Defined in File bodies.h
Inheritance Relationships
Base Type
public bodies::Body(Class Body)
Class Documentation
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class ConvexMesh : public bodies::Body
Definition of a convex mesh. Convex hull is computed for a given shape::Mesh.
Public Functions
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inline ConvexMesh()
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~ConvexMesh() override = default
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virtual std::vector<double> getDimensions() const override
Returns an empty vector.
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virtual std::vector<double> getScaledDimensions() const override
Returns an empty vector.
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virtual bool containsPoint(const Eigen::Vector3d &p, bool verbose = false) const override
Check if a point is inside the body. Surface points are included.
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virtual double computeVolume() const override
Compute the volume of the body. This method includes changes induced by scaling and padding.
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virtual void computeBoundingSphere(BoundingSphere &sphere) const override
Compute the bounding radius for the body, in its current pose. Scaling and padding are accounted for.
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virtual void computeBoundingCylinder(BoundingCylinder &cylinder) const override
Compute the bounding cylinder for the body, in its current pose. Scaling and padding are accounted for.
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virtual void computeBoundingBox(AABB &bbox) const override
Compute the axis-aligned bounding box for the body, in its current pose. Scaling and padding are accounted for.
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virtual bool intersectsRay(const Eigen::Vector3d &origin, const Eigen::Vector3d &dir, EigenSTL::vector_Vector3d *intersections = nullptr, unsigned int count = 0) const override
Check if 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. Passing dir as a unit vector will result in faster computation.
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const std::vector<unsigned int> &getTriangles() const
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const EigenSTL::vector_Vector3d &getVertices() const
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const EigenSTL::vector_Vector3d &getScaledVertices() const
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const EigenSTL::vector_Vector4d &getPlanes() const
Get the planes that define the convex shape.
- Returns:
A list of Vector4d(nx, ny, nz, d).
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virtual BodyPtr cloneAt(const Eigen::Isometry3d &pose, double padding, double scale) const override
Get a clone of this body, but one that is located at the pose pose and has possibly different passing and scaling: padding and scaling. This function is useful to implement thread safety, when bodies need to be moved around.
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void computeScaledVerticesFromPlaneProjections()
Project the original vertex to the scaled and padded planes and average.
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void correctVertexOrderFromPlanes()
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virtual void updateInternalData() override
This function is called every time a change to the body is made, so that intermediate values stored for efficiency reasons are kept up to date.
Protected Functions
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virtual void useDimensions(const shapes::Shape *shape) override
Depending on the shape, this function copies the relevant data to the body.
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unsigned int countVerticesBehindPlane(const Eigen::Vector4f &planeNormal) const
(Used mainly for debugging) Count the number of vertices behind a plane
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bool isPointInsidePlanes(const Eigen::Vector3d &point) const
Check if the point is inside all halfspaces this mesh consists of (mesh_data_->planes_).
Note
The point is expected to have pose_ “cancelled” (have inverse pose of this mesh applied to it).
Note
Scale and padding of the mesh are taken into account.
Note
There is a 1e-9 margin “outside” the planes where points are still considered to be inside.
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inline ConvexMesh()