38 #ifndef HPP_FCL_SHAPE_CONVEX_H 39 #define HPP_FCL_SHAPE_CONVEX_H 49 template <
typename PolygonT>
64 Convex(
bool ownStorage,
Vec3f* points_,
unsigned int num_points_,
65 PolygonT* polygons_,
unsigned int num_polygons_);
111 #include <hpp/fcl/shape/details/convex.hxx> FCL_REAL computeVolume() const
compute the volume
virtual Convex< PolygonT > * clone() const
.
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Vec3f computeCOM() const
compute center of mass
unsigned int num_polygons
PolygonT * polygons
An array of PolygonT object. PolygonT should contains a list of vertices for each polygon...
Convex()
Construct an uninitialized convex object.
Base for convex polytope.
Matrix3f computeMomentofInertia() const
based on http://number-none.com/blow/inertia/bb_inertia.doc
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Vec3f * points
An array of the points of the polygon.