Definition of a box. More...

#include <bodies.h>

Inheritance diagram for bodies::Box:

Public Member Functions
	Box (void)

	Box (const shapes::Shape *shape)

virtual void	computeBoundingSphere (BoundingSphere &sphere) const
	Compute the bounding radius for the body, in its current pose. Scaling and padding are accounted for. More...

virtual double	computeVolume (void) const
	Compute the volume of the body. This method includes changes induced by scaling and padding. More...

virtual bool	containsPoint (const tf::Vector3 &p, bool verbose=false) const
	Check is a point is inside the body. More...

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. More...

virtual	~Box (void)

Public Member Functions inherited from bodies::Body
	Body (void)

bool	containsPoint (double x, double y, double z) const
	Check is a point is inside the body. More...

double	getPadding (void) const
	Retrieve the current padding. More...

const tf::Transform &	getPose (void) const
	Retrieve the pose of the body. More...

double	getScale (void) const
	Retrieve the current scale. More...

shapes::ShapeType	getType (void) const
	Get the type of shape this body represents. More...

void	setDimensions (const shapes::Shape *shape)
	Set the dimensions of the body (from corresponding shape) More...

void	setPadding (double padd)
	If constant padding should be added to the body, this method sets the padding. Default is 0.0. More...

void	setPose (const tf::Transform &pose)
	Set the pose of the body. Default is identity. More...

void	setScale (double scale)
	If the dimension of the body should be scaled, this method sets the scale. Default is 1.0. More...

virtual	~Body (void)

Protected Member Functions
virtual void	updateInternalData (void)

virtual void	useDimensions (const shapes::Shape *shape)

Protected Attributes
tf::Vector3	m_center

tf::Vector3	m_corner1

tf::Vector3	m_corner2

double	m_height

double	m_height2

double	m_length

double	m_length2

tf::Vector3	m_normalH

tf::Vector3	m_normalL

tf::Vector3	m_normalW

double	m_radius2

double	m_radiusB

double	m_width

double	m_width2

Protected Attributes inherited from bodies::Body
double	m_padding

tf::Transform	m_pose

double	m_scale

shapes::ShapeType	m_type

Detailed Description

Definition of a box.

Definition at line 254 of file bodies.h.

Constructor & Destructor Documentation

bodies::Box::Box ( void )

inline

Definition at line 257 of file bodies.h.

bodies::Box::Box ( const shapes::Shape * shape )

inline

Definition at line 262 of file bodies.h.

virtual bodies::Box::~Box ( void )

inlinevirtual

Definition at line 268 of file bodies.h.

Member Function Documentation

void bodies::Box::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 439 of file bodies.cpp.

double bodies::Box::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 434 of file bodies.cpp.

bool bodies::Box::containsPoint	(	const tf::Vector3 &	p,
		bool	verbose = `false`
	)		const

virtual

Check is a point is inside the body.

Implements bodies::Body.

Definition at line 381 of file bodies.cpp.

bool bodies::Box::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 445 of file bodies.cpp.

void bodies::Box::updateInternalData ( void )

protectedvirtual

Implements bodies::Body.

Definition at line 412 of file bodies.cpp.

void bodies::Box::useDimensions ( const shapes::Shape * shape )

protectedvirtual

Implements bodies::Body.

Definition at line 404 of file bodies.cpp.

Member Data Documentation

tf::Vector3 bodies::Box::m_center

protected

Definition at line 282 of file bodies.h.

tf::Vector3 bodies::Box::m_corner1

protected

Definition at line 287 of file bodies.h.

tf::Vector3 bodies::Box::m_corner2

protected

Definition at line 288 of file bodies.h.

double bodies::Box::m_height

protected

Definition at line 292 of file bodies.h.

double bodies::Box::m_height2

protected

Definition at line 295 of file bodies.h.

double bodies::Box::m_length

protected

Definition at line 290 of file bodies.h.

double bodies::Box::m_length2

protected

Definition at line 293 of file bodies.h.

tf::Vector3 bodies::Box::m_normalH

protected

Definition at line 285 of file bodies.h.

tf::Vector3 bodies::Box::m_normalL

protected

Definition at line 283 of file bodies.h.

tf::Vector3 bodies::Box::m_normalW

protected

Definition at line 284 of file bodies.h.

double bodies::Box::m_radius2

protected

Definition at line 297 of file bodies.h.

double bodies::Box::m_radiusB

protected

Definition at line 296 of file bodies.h.

double bodies::Box::m_width

protected

Definition at line 291 of file bodies.h.

double bodies::Box::m_width2

protected

Definition at line 294 of file bodies.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation