45 unsigned int num_points_) {
53 unsigned int num_points_) {
55 initialize(own_storage_, points_, num_points_);
76 std::size_t c_nneighbors = 0;
void set(bool ownStorage, Vec3f *points_, unsigned int num_points_)
Set the points of the convex shape.
void computeLocalAABB()
virtual function of compute AABB in local coordinate
Vec3f min_
The min point in the AABB.
Vec3f center() const
Center of the AABB.
void computeLocalAABB()
Compute AABB.
ConvexBase()
Construct an uninitialized convex object Initialization is done with ConvexBase::initialize.
Base class for all basic geometric shapes.
void computeLocalAABB()
Compute AABB.
AABB aabb_local
AABB in local coordinate, used for tight AABB when only translation transform.
void computeLocalAABB()
Compute AABB.
FCL_REAL aabb_radius
AABB radius.
void initialize(bool ownStorage, Vec3f *points_, unsigned int num_points_)
Initialize the points of the convex shape This also initializes the ConvexBase::center.
void computeLocalAABB()
Compute AABB.
void computeLocalAABB()
Compute AABB.
Base for convex polytope.
void computeLocalAABB()
Compute AABB.
Vec3f aabb_center
AABB center in local coordinate.
void unitNormalTest()
Turn non-unit normal into unit.
ShapeBase & operator=(const ShapeBase &other)=default
void computeLocalAABB()
Compute AABB.
void unitNormalTest()
Turn non-unit normal into unit.
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
void computeLocalAABB()
Compute AABB.
void computeLocalAABB()
Compute AABB.
Vec3f center
center of the convex polytope, this is used for collision: center is guaranteed in the internal of th...
unsigned int * nneighbors_
Vec3f * points
An array of the points of the polygon.