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. More...

virtual double	computeVolume (void) const
	Compute the volume of the body. This method includes changes induced by scaling and padding. More...

virtual bool	containsPoint (const tf::Vector3 &p, bool verbose=false) const
	Check is a point is inside the body. More...

	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. More...

virtual	~ConvexMesh (void)

Public Member Functions inherited from bodies::Body
	Body (void)

bool	containsPoint (double x, double y, double z) const
	Check is a point is inside the body. More...

double	getPadding (void) const
	Retrieve the current padding. More...

const tf::Transform &	getPose (void) const
	Retrieve the pose of the body. More...

double	getScale (void) const
	Retrieve the current scale. More...

shapes::ShapeType	getType (void) const
	Get the type of shape this body represents. More...

void	setDimensions (const shapes::Shape *shape)
	Set the dimensions of the body (from corresponding shape) More...

void	setPadding (double padd)
	If constant padding should be added to the body, this method sets the padding. Default is 0.0. More...

void	setPose (const tf::Transform &pose)
	Set the pose of the body. Default is identity. More...

void	setScale (double scale)
	If the dimension of the body should be scaled, this method sets the scale. Default is 1.0. More...

virtual	~Body (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

Protected Attributes inherited from bodies::Body
double	m_padding

tf::Transform	m_pose

double	m_scale

shapes::ShapeType	m_type

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 )

inlinevirtual

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 )

protectedvirtual

Implements bodies::Body.

Definition at line 841 of file bodies.cpp.

void bodies::ConvexMesh::useDimensions ( const shapes::Shape * shape )

protectedvirtual

Implements bodies::Body.

Definition at line 718 of file bodies.cpp.

Member Data Documentation

Box bodies::ConvexMesh::m_boundingBox

protected

Definition at line 400 of file bodies.h.

tf::Vector3 bodies::ConvexMesh::m_boxOffset

protected

Definition at line 399 of file bodies.h.

tf::Vector3 bodies::ConvexMesh::m_center

protected

Definition at line 393 of file bodies.h.

tf::Transform bodies::ConvexMesh::m_iPose

protected

Definition at line 391 of file bodies.h.

tf::Vector3 bodies::ConvexMesh::m_meshCenter

protected

Definition at line 394 of file bodies.h.

double bodies::ConvexMesh::m_meshRadiusB

protected

Definition at line 397 of file bodies.h.

std::vector<tf::tfVector4> bodies::ConvexMesh::m_planes

protected

Definition at line 387 of file bodies.h.

double bodies::ConvexMesh::m_radiusB

protected

Definition at line 395 of file bodies.h.

double bodies::ConvexMesh::m_radiusBSqr

protected

Definition at line 396 of file bodies.h.

std::vector<tf::Vector3> bodies::ConvexMesh::m_scaledVertices

protected

Definition at line 389 of file bodies.h.

std::vector<unsigned int> bodies::ConvexMesh::m_triangles

protected

Definition at line 390 of file bodies.h.

std::vector<tf::Vector3> bodies::ConvexMesh::m_vertices

protected

Definition at line 388 of file bodies.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation