fcl::Convex Class Reference

Convex polytope. More...

#include <geometric_shapes.h>

Inheritance diagram for fcl::Convex:

List of all members.

Classes
struct	Edge
Public Member Functions
void	computeLocalAABB ()
	Compute AABB.
	Convex (Vec3f *plane_normals_, FCL_REAL *plane_dis_, int num_planes_, Vec3f *points_, int num_points_, int *polygons_)
	Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information.
	Convex (const Convex &other)
	Copy constructor.
NODE_TYPE	getNodeType () const
	Get node type: a conex polytope.
	~Convex ()
Public Attributes
Vec3f	center
	center of the convex polytope, this is used for collision: center is guaranteed in the internal of the polytope (as it is convex)
Edge *	edges
int	num_edges
int	num_planes
int	num_points
FCL_REAL *	plane_dis
Vec3f *	plane_normals
Vec3f *	points
int *	polygons
	An array of indices to the points of each polygon, it should be the number of vertices followed by that amount of indices to "points" in counter clockwise order.
Protected Member Functions
void	fillEdges ()
	Get edge information.

---

Detailed Description

Convex polytope.

Definition at line 181 of file geometric_shapes.h.

---

Constructor & Destructor Documentation

fcl::Convex::Convex	(	Vec3f *	plane_normals_,
		FCL_REAL *	plane_dis_,
		int	num_planes_,
		Vec3f *	points_,
		int	num_points_,
		int *	polygons_
	)		[inline]

Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information.

Definition at line 185 of file geometric_shapes.h.

fcl::Convex::Convex

(

const Convex &

other

)

[inline]

Copy constructor.

Definition at line 211 of file geometric_shapes.h.

fcl::Convex::~Convex

(

)

[inline]

Definition at line 222 of file geometric_shapes.h.

---

Member Function Documentation

void fcl::Convex::computeLocalAABB

(

)

[virtual]

Compute AABB.

Implements fcl::CollisionGeometry.

Definition at line 168 of file geometric_shapes.cpp.

void fcl::Convex::fillEdges

(

)

[protected]

Get edge information.

Definition at line 44 of file geometric_shapes.cpp.

NODE_TYPE fcl::Convex::getNodeType

(

)

const [inline, virtual]

Get node type: a conex polytope.

Reimplemented from fcl::CollisionGeometry.

Definition at line 231 of file geometric_shapes.h.

---

Member Data Documentation

Vec3f fcl::Convex::center

center of the convex polytope, this is used for collision: center is guaranteed in the internal of the polytope (as it is convex)

Definition at line 254 of file geometric_shapes.h.

Edge* fcl::Convex::edges

Definition at line 251 of file geometric_shapes.h.

int fcl::Convex::num_edges

Definition at line 243 of file geometric_shapes.h.

int fcl::Convex::num_planes

Definition at line 244 of file geometric_shapes.h.

int fcl::Convex::num_points

Definition at line 242 of file geometric_shapes.h.

FCL_REAL* fcl::Convex::plane_dis

Definition at line 235 of file geometric_shapes.h.

Vec3f* fcl::Convex::plane_normals

Definition at line 234 of file geometric_shapes.h.

Vec3f* fcl::Convex::points

Definition at line 241 of file geometric_shapes.h.

int* fcl::Convex::polygons

An array of indices to the points of each polygon, it should be the number of vertices followed by that amount of indices to "points" in counter clockwise order.

Definition at line 239 of file geometric_shapes.h.

---

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

• geometric_shapes.h
• geometric_shapes.cpp