Definition of a convex mesh. Convex hull is computed for a given shape::Mesh. More...

#include <bodies.h>

Inheritance diagram for bodies::ConvexMesh:

Public Member Functions
virtual void	computeBoundingCylinder (BoundingCylinder &cylinder) const
	Compute the bounding cylinder for the body, in its current pose. Scaling and padding are accounted for.
virtual void	computeBoundingSphere (BoundingSphere &sphere) const
	Compute the bounding radius for the body, in its current pose. Scaling and padding are accounted for.
virtual double	computeVolume (void) const
	Compute the volume of the body. This method includes changes induced by scaling and padding.
virtual bool	containsPoint (const tf::Vector3 &p, bool verbose=false) const
	Check is a point is inside the body.
	ConvexMesh (void)
	ConvexMesh (const shapes::Shape *shape)
const std::vector< tf::Vector3 > &	getScaledVertices () const
const std::vector< unsigned int > &	getTriangles () const
const std::vector< tf::Vector3 > &	getVertices () const
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.
virtual	~ConvexMesh (void)
Protected Member Functions
unsigned int	countVerticesBehindPlane (const tf::tfVector4 &planeNormal) const
bool	isPointInsidePlanes (const tf::Vector3 &point) const
virtual void	updateInternalData (void)
virtual void	useDimensions (const shapes::Shape *shape)
Protected Attributes
Box	m_boundingBox
BoundingCylinder	m_boundingCylinder
tf::Vector3	m_boxOffset
tf::Vector3	m_center
tf::Transform	m_iPose
tf::Vector3	m_meshCenter
double	m_meshRadiusB
std::vector< tf::tfVector4 >	m_planes
double	m_radiusB
double	m_radiusBSqr
std::vector< tf::Vector3 >	m_scaledVertices
std::vector< unsigned int >	m_triangles
std::vector< tf::Vector3 >	m_vertices

Detailed Description

Definition of a convex mesh. Convex hull is computed for a given shape::Mesh.

Definition at line 367 of file bodies.h.

Constructor & Destructor Documentation

bodies::ConvexMesh::ConvexMesh ( void ) [inline]

Definition at line 371 of file bodies.h.

bodies::ConvexMesh::ConvexMesh ( const shapes::Shape * shape ) [inline]

Definition at line 376 of file bodies.h.

virtual bodies::ConvexMesh::~ConvexMesh ( void ) [inline, virtual]

Definition at line 382 of file bodies.h.

Member Function Documentation

void bodies::ConvexMesh::computeBoundingCylinder ( BoundingCylinder & cylinder ) const [virtual]

Compute the bounding cylinder for the body, in its current pose. Scaling and padding are accounted for.

Implements bodies::Body.

Definition at line 1049 of file bodies.cpp.

void bodies::ConvexMesh::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 1043 of file bodies.cpp.

double bodies::ConvexMesh::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 1085 of file bodies.cpp.

bool bodies::ConvexMesh::containsPoint	(	const tf::Vector3 &	p,
		bool	verbose = `false`
	)		const `[virtual]`

Check is a point is inside the body.

Implements bodies::Body.

Definition at line 772 of file bodies.cpp.

unsigned int bodies::ConvexMesh::countVerticesBehindPlane ( const tf::tfVector4 & planeNormal ) const [protected]

Definition at line 1072 of file bodies.cpp.

const std::vector<tf::Vector3>& bodies::ConvexMesh::getScaledVertices ( ) const [inline]

Definition at line 401 of file bodies.h.

const std::vector<unsigned int>& bodies::ConvexMesh::getTriangles ( ) const [inline]

Definition at line 393 of file bodies.h.

const std::vector<tf::Vector3>& bodies::ConvexMesh::getVertices ( ) const [inline]

Definition at line 397 of file bodies.h.

bool bodies::ConvexMesh::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 1098 of file bodies.cpp.

bool bodies::ConvexMesh::isPointInsidePlanes ( const tf::Vector3 & point ) const [protected]

Definition at line 1059 of file bodies.cpp.

void bodies::ConvexMesh::updateInternalData ( void ) [protected, virtual]

Implements bodies::Body.

Definition at line 1021 of file bodies.cpp.

void bodies::ConvexMesh::useDimensions ( const shapes::Shape * shape ) [protected, virtual]

Implements bodies::Body.

Definition at line 784 of file bodies.cpp.