bodies Namespace Reference

Namespaces

namespace  detail

Classes

class  Body
 A body is a shape + its pose. Point inclusion, ray intersection can be tested, volumes and bounding spheres can be computed. More...
struct  BoundingCylinder
 Definition of a cylinder. More...
struct  BoundingSphere
 Definition of a sphere that bounds another object. More...
class  Box
 Definition of a box. More...
class  ConvexMesh
 Definition of a convex mesh. Convex hull is computed for a given shape::Mesh. More...
class  Cylinder
 Definition of a cylinder. More...
class  Sphere
 Definition of a sphere. More...

Functions

BodycreateBodyFromShape (const shapes::Shape *shape)
 Create a body from a given shape.
static double distanceSQR (const btVector3 &p, const btVector3 &origin, const btVector3 &dir)
 Compute the square of the distance between a ray and a point Note: this requires 'dir' to be normalized.
void mergeBoundingSpheres (const std::vector< BoundingSphere > &spheres, BoundingSphere &mergedSphere)
 Compute a bounding sphere to enclose a set of bounding spheres.

Variables

static const double ZERO = 1e-9

Detailed Description

Author:
Ioan Sucan This set of classes allows quickly detecting whether a given point is inside an object or not. Only basic (simple) types of objects are supported: spheres, cylinders, boxes. This capability is useful when removing points from inside the robot (when the robot sees its arms, for example).

Function Documentation

bodies::Body * bodies::createBodyFromShape ( const shapes::Shape shape  ) 

Create a body from a given shape.

Author:
Ioan Sucan

Definition at line 46 of file bodies.cpp.

static double bodies::distanceSQR ( const btVector3 &  p,
const btVector3 &  origin,
const btVector3 &  dir 
) [inline, static]

Compute the square of the distance between a ray and a point Note: this requires 'dir' to be normalized.

Definition at line 110 of file bodies.cpp.

void bodies::mergeBoundingSpheres ( const std::vector< BoundingSphere > &  spheres,
BoundingSphere &  mergedSphere 
)

Compute a bounding sphere to enclose a set of bounding spheres.

Definition at line 73 of file bodies.cpp.


Variable Documentation

const double bodies::ZERO = 1e-9 [static]

Definition at line 106 of file bodies.cpp.

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geometric_shapes
Author(s): Ioan Sucan
autogenerated on Fri Jan 11 09:51:08 2013