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

#include <bodies.h>

Inheritance diagram for bodies::ConvexMesh:

Classes
struct	MeshData
Public Member Functions
virtual BodyPtr	cloneAt (const Eigen::Affine3d &pose, double padding, double scale) const
	Get a clone of this body, but one that is located at the pose pose and has possibly different passing and scaling: padding and scaling. This function is useful to implement thread safety, when bodies need to be moved around.
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 () const
	Compute the volume of the body. This method includes changes induced by scaling and padding.
virtual bool	containsPoint (const Eigen::Vector3d &p, bool verbose=false) const
	Check if a point is inside the body.
	ConvexMesh ()
	ConvexMesh (const shapes::Shape *shape)
virtual std::vector< double >	getDimensions () const
	Returns an empty vector.
const EigenSTL::vector_Vector3d &	getScaledVertices () const
const std::vector< unsigned int > &	getTriangles () const
const EigenSTL::vector_Vector3d &	getVertices () const
virtual bool	intersectsRay (const Eigen::Vector3d &origin, const Eigen::Vector3d &dir, EigenSTL::vector_Vector3d *intersections=NULL, unsigned int count=0) const
	Check if 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 ()
Protected Member Functions
unsigned int	countVerticesBehindPlane (const Eigen::Vector4f &planeNormal) const
	(Used mainly for debugging) Count the number of vertices behind a plane
bool	isPointInsidePlanes (const Eigen::Vector3d &point) const
	Check if a point is inside a set of planes that make up a convex mesh.
virtual void	updateInternalData ()
	This function is called every time a change to the body is made, so that intermediate values stored for efficiency reasons are kept up to date.
virtual void	useDimensions (const shapes::Shape *shape)
	Depending on the shape, this function copies the relevant data to the body.
Protected Attributes
Box	bounding_box_
Eigen::Vector3d	center_
Eigen::Affine3d	i_pose_
boost::shared_ptr< MeshData >	mesh_data_
double	radiusB_
double	radiusBSqr_
EigenSTL::vector_Vector3d *	scaled_vertices_
Private Attributes
boost::scoped_ptr < EigenSTL::vector_Vector3d >	scaled_vertices_storage_

Detailed Description

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

Definition at line 390 of file bodies.h.

Constructor & Destructor Documentation

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

Definition at line 394 of file bodies.h.

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

Definition at line 400 of file bodies.h.

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

Definition at line 407 of file bodies.h.

Member Function Documentation

boost::shared_ptr< bodies::Body > bodies::ConvexMesh::cloneAt	(	const Eigen::Affine3d &	pose,
		double	padding,
		double	scaling
	)		const `[virtual]`

Get a clone of this body, but one that is located at the pose pose and has possibly different passing and scaling: padding and scaling. This function is useful to implement thread safety, when bodies need to be moved around.

Implements bodies::Body.

Definition at line 883 of file bodies.cpp.

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 900 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 894 of file bodies.cpp.

double bodies::ConvexMesh::computeVolume ( ) const [virtual]

Compute the volume of the body. This method includes changes induced by scaling and padding.

Implements bodies::Body.

Definition at line 938 of file bodies.cpp.

bool bodies::ConvexMesh::containsPoint	(	const Eigen::Vector3d &	p,
		bool	verbose = `false`
	)		const `[virtual]`

Check if a point is inside the body.

Implements bodies::Body.

Definition at line 657 of file bodies.cpp.

unsigned int bodies::ConvexMesh::countVerticesBehindPlane ( const Eigen::Vector4f & planeNormal ) const [protected]

(Used mainly for debugging) Count the number of vertices behind a plane

Definition at line 924 of file bodies.cpp.

std::vector< double > bodies::ConvexMesh::getDimensions ( ) const [virtual]

Returns an empty vector.

Implements bodies::Body.

Definition at line 826 of file bodies.cpp.

const EigenSTL::vector_Vector3d & bodies::ConvexMesh::getScaledVertices ( ) const

Definition at line 878 of file bodies.cpp.

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

Definition at line 866 of file bodies.cpp.

const EigenSTL::vector_Vector3d & bodies::ConvexMesh::getVertices ( ) const

Definition at line 872 of file bodies.cpp.

bool bodies::ConvexMesh::intersectsRay	(	const Eigen::Vector3d &	origin,
		const Eigen::Vector3d &	dir,
		EigenSTL::vector_Vector3d *	intersections = `NULL`,
		unsigned int	count = `0`
	)		const `[virtual]`

Check if 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 952 of file bodies.cpp.

bool bodies::ConvexMesh::isPointInsidePlanes ( const Eigen::Vector3d & point ) const [protected]

Check if a point is inside a set of planes that make up a convex mesh.

Definition at line 910 of file bodies.cpp.

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

This function is called every time a change to the body is made, so that intermediate values stored for efficiency reasons are kept up to date.

Implements bodies::Body.

Definition at line 831 of file bodies.cpp.

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

Depending on the shape, this function copies the relevant data to the body.

Implements bodies::Body.