sphere-inl.h
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35 
38 #ifndef FCL_SHAPE_SPHERE_INL_H
39 #define FCL_SHAPE_SPHERE_INL_H
40 
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 extern template
48 class FCL_EXPORT Sphere<double>;
49 
50 //==============================================================================
51 template <typename S>
52 Sphere<S>::Sphere(S radius) : ShapeBase<S>(), radius(radius)
53 {
54 }
55 
56 //==============================================================================
57 template <typename S>
59 {
60  this->aabb_local.max_.setConstant(radius);
61  this->aabb_local.min_.setConstant(-radius);
62 
63  this->aabb_center = this->aabb_local.center();
64  this->aabb_radius = radius;
65 }
66 
67 //==============================================================================
68 template <typename S>
70 {
71  return GEOM_SPHERE; }
72 
73 //==============================================================================
74 template <typename S>
76 {
77  S I = (S)0.4 * radius * radius * computeVolume();
78 
79  return Vector3<S>::Constant(I).asDiagonal();
80 }
81 
82 //==============================================================================
83 template <typename S>
85 {
86  return (S)4.0 * constants<S>::pi() * radius * radius * radius / (S)3.0;
87 }
88 
89 //==============================================================================
90 template <typename S>
91 std::vector<Vector3<S>> Sphere<S>::getBoundVertices(
92  const Transform3<S>& tf) const
93 {
94  // we use icosahedron to bound the sphere
95 
96  std::vector<Vector3<S>> result(12);
97  const auto m = (1 + std::sqrt(5.0)) / 2.0;
98  auto edge_size = radius * 6 / (std::sqrt(27.0) + std::sqrt(15.0));
99 
100  auto a = edge_size;
101  auto b = m * edge_size;
102  result[0] = tf * Vector3<S>(0, a, b);
103  result[1] = tf * Vector3<S>(0, -a, b);
104  result[2] = tf * Vector3<S>(0, a, -b);
105  result[3] = tf * Vector3<S>(0, -a, -b);
106  result[4] = tf * Vector3<S>(a, b, 0);
107  result[5] = tf * Vector3<S>(-a, b, 0);
108  result[6] = tf * Vector3<S>(a, -b, 0);
109  result[7] = tf * Vector3<S>(-a, -b, 0);
110  result[8] = tf * Vector3<S>(b, 0, a);
111  result[9] = tf * Vector3<S>(b, 0, -a);
112  result[10] = tf * Vector3<S>(-b, 0, a);
113  result[11] = tf * Vector3<S>(-b, 0, -a);
114 
115  return result;
116 }
117 
118 } // namespace fcl
119 
120 #endif
fcl::Sphere< double >
template class FCL_EXPORT Sphere< double >
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
fcl::Sphere::getNodeType
NODE_TYPE getNodeType() const override
Get node type: a sphere.
Definition: sphere-inl.h:69
sphere.h
fcl::Sphere::Sphere
Sphere(S radius)
Definition: sphere-inl.h:52
fcl::Sphere::computeVolume
S computeVolume() const override
Definition: sphere-inl.h:84
fcl::ShapeBase
Base class for all basic geometric shapes.
Definition: shape_base.h:48
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::Matrix3
Eigen::Matrix< S, 3, 3 > Matrix3
Definition: types.h:85
fcl::Sphere::computeLocalAABB
void computeLocalAABB() override
Compute AABB
Definition: sphere-inl.h:58
fcl::ShapeBase::S
S_ S
Definition: shape_base.h:52
fcl::Sphere::getBoundVertices
std::vector< Vector3< S > > getBoundVertices(const Transform3< S > &tf) const
get the vertices of some convex shape which can bound this shape in a specific configuration
Definition: sphere-inl.h:91
fcl::GEOM_SPHERE
@ GEOM_SPHERE
Definition: collision_geometry.h:54
fcl::Sphere::computeMomentofInertia
Matrix3< S > computeMomentofInertia() const override
Definition: sphere-inl.h:75
fcl::constants::pi
static constexpr S pi()
The mathematical constant pi.
Definition: constants.h:134
fcl::NODE_TYPE
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
Definition: collision_geometry.h:53
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Tue Jun 22 2021 07:27:52