Template Function hpp::fcl::generateBVHModel(BVHModel<BV>&, const Sphere&, const Transform3f&, unsigned int)

• Defined in File geometric_shape_to_BVH_model.h

Function Documentation

template<typename BV>
void hpp::fcl::generateBVHModel(BVHModel<BV> &model, const Sphere &shape, const Transform3f &pose, unsigned int n_faces_for_unit_sphere)

Generate BVH model from sphere The difference between generateBVHModel is that it gives the number of triangles faces N for a sphere with unit radius. For sphere of radius r, then the number of triangles is r * r * N so that the area represented by a single triangle is approximately the same.s.