Definition of a cylinder. More...

#include <bodies.h>

Inheritance diagram for bodies::Cylinder:

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...

	Cylinder (void)

	Cylinder (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	~Cylinder (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
virtual void	updateInternalData (void)

virtual void	useDimensions (const shapes::Shape *shape)

Protected Attributes
tf::Vector3	m_center

double	m_d1

double	m_d2

double	m_length

double	m_length2

tf::Vector3	m_normalB1

tf::Vector3	m_normalB2

tf::Vector3	m_normalH

double	m_radius

double	m_radius2

double	m_radiusB

double	m_radiusBSqr

double	m_radiusU

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 cylinder.

Definition at line 209 of file bodies.h.

Constructor & Destructor Documentation

bodies::Cylinder::Cylinder ( void )

inline

Definition at line 212 of file bodies.h.

bodies::Cylinder::Cylinder ( const shapes::Shape * shape )

inline

Definition at line 217 of file bodies.h.

virtual bodies::Cylinder::~Cylinder ( void )

inlinevirtual

Definition at line 223 of file bodies.h.

Member Function Documentation

void bodies::Cylinder::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 272 of file bodies.cpp.

double bodies::Cylinder::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 267 of file bodies.cpp.

bool bodies::Cylinder::containsPoint	(	const tf::Vector3 &	p,
		bool	verbose = `false`
	)		const

virtual

Check is a point is inside the body.

Implements bodies::Body.

Definition at line 222 of file bodies.cpp.

bool bodies::Cylinder::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 278 of file bodies.cpp.

void bodies::Cylinder::updateInternalData ( void )

protectedvirtual

Implements bodies::Body.

Definition at line 248 of file bodies.cpp.

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

protectedvirtual

Implements bodies::Body.

Definition at line 242 of file bodies.cpp.

Member Data Documentation

tf::Vector3 bodies::Cylinder::m_center

protected

Definition at line 237 of file bodies.h.

double bodies::Cylinder::m_d1

protected

Definition at line 249 of file bodies.h.

double bodies::Cylinder::m_d2

protected

Definition at line 250 of file bodies.h.

double bodies::Cylinder::m_length

protected

Definition at line 242 of file bodies.h.

double bodies::Cylinder::m_length2

protected

Definition at line 243 of file bodies.h.

tf::Vector3 bodies::Cylinder::m_normalB1

protected

Definition at line 239 of file bodies.h.

tf::Vector3 bodies::Cylinder::m_normalB2

protected

Definition at line 240 of file bodies.h.

tf::Vector3 bodies::Cylinder::m_normalH

protected

Definition at line 238 of file bodies.h.

double bodies::Cylinder::m_radius

protected

Definition at line 244 of file bodies.h.

double bodies::Cylinder::m_radius2

protected

Definition at line 248 of file bodies.h.

double bodies::Cylinder::m_radiusB

protected

Definition at line 246 of file bodies.h.

double bodies::Cylinder::m_radiusBSqr

protected

Definition at line 247 of file bodies.h.

double bodies::Cylinder::m_radiusU

protected

Definition at line 245 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