mvsim::CollisionShapeCache Class Reference

#include <CollisionShapeCache.h>

Classes
struct	Entry

Public Member Functions
void	clear ()
Shape2p5	get (mrpt::opengl::CRenderizable &obj, float zMin, float zMax, const mrpt::poses::CPose3D &modelPose, const float modelScale, const std::optional< std::string > &modelFile=std::nullopt)

Static Public Member Functions
static CollisionShapeCache &	Instance ()

Private Member Functions
	CollisionShapeCache ()=default
Shape2p5	processCylinderLike (const size_t actualEdgeCount, double actualRadius, float zMin, float zMax, const mrpt::poses::CPose3D &modelPose, const float modelScale)
Shape2p5	processGenericGeometry (mrpt::opengl::CRenderizable &obj, float zMin, float zMax, const mrpt::poses::CPose3D &modelPose, const float modelScale)
std::optional< Shape2p5 >	processSimpleGeometries (const mrpt::opengl::CRenderizable &obj, float zMin, float zMax, const mrpt::poses::CPose3D &modelPose, const float modelScale)
	~CollisionShapeCache ()=default

Private Attributes
std::map< std::string, Entry >	cache

Detailed Description

Definition at line 19 of file CollisionShapeCache.h.

Constructor & Destructor Documentation

CollisionShapeCache()

mvsim::CollisionShapeCache::CollisionShapeCache ( )

privatedefault

~CollisionShapeCache()

mvsim::CollisionShapeCache::~CollisionShapeCache ( )

privatedefault

Member Function Documentation

clear()

void mvsim::CollisionShapeCache::clear ( )

inline

Definition at line 30 of file CollisionShapeCache.h.

get()

Shape2p5 CollisionShapeCache::get	(	mrpt::opengl::CRenderizable &	obj,
		float	zMin,
		float	zMax,
		const mrpt::poses::CPose3D &	modelPose,
		const float	modelScale,
		const std::optional< std::string > &	modelFile = std::nullopt
	)

Computes the convex hull of a given model, or gets it from the cache

Definition at line 26 of file CollisionShapeCache.cpp.

Instance()

CollisionShapeCache & CollisionShapeCache::Instance ( )

static

Definition at line 20 of file CollisionShapeCache.cpp.

processCylinderLike()

Shape2p5 CollisionShapeCache::processCylinderLike ( const size_t  actualEdgeCount, double  actualRadius, float  zMin, float  zMax, const mrpt::poses::CPose3D &  modelPose, const float  modelScale  )

private

Definition at line 294 of file CollisionShapeCache.cpp.

processGenericGeometry()

Shape2p5 CollisionShapeCache::processGenericGeometry ( mrpt::opengl::CRenderizable &  obj, float  zMin, float  zMax, const mrpt::poses::CPose3D &  modelPose, const float  modelScale  )

private

Definition at line 159 of file CollisionShapeCache.cpp.

processSimpleGeometries()

std::optional< Shape2p5 > CollisionShapeCache::processSimpleGeometries ( const mrpt::opengl::CRenderizable &  obj, float  zMin, float  zMax, const mrpt::poses::CPose3D &  modelPose, const float  modelScale  )

private

Returns a valid shape if the geometry is recognized and shape already filled in.

Definition at line 78 of file CollisionShapeCache.cpp.

Member Data Documentation

cache

std::map<std::string, Entry> mvsim::CollisionShapeCache::cache

private

Definition at line 41 of file CollisionShapeCache.h.

---

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

• CollisionShapeCache.h
• CollisionShapeCache.cpp