virtual bool containsPoint(const Eigen::Vector3d &p, bool verbose=false) const=0
virtual void computeBoundingSphere(BoundingSphere &sphere) const=0
void findInternalPointsConvex(const bodies::Body &body, double resolution, EigenSTL::vector_Vector3d &points)
Find all points on a regular grid that are internal to the body, assuming the body is a convex shape....