box-inl.h
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35 
38 #ifndef FCL_SHAPE_BOX_INL_H
39 #define FCL_SHAPE_BOX_INL_H
40 
41 #include "fcl/geometry/shape/box.h"
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 extern template
48 class FCL_EXPORT Box<double>;
49 
50 //==============================================================================
51 template <typename S>
52 Box<S>::Box(S x, S y, S z)
53  : ShapeBase<S>(), side(x, y, z)
54 {
55  // Do nothing
56 }
57 
58 //==============================================================================
59 template <typename S>
60 Box<S>::Box(const Vector3<S>& side_)
61  : ShapeBase<S>(), side(side_)
62 {
63  // Do nothing
64 }
65 
66 //==============================================================================
67 template <typename S>
69  : ShapeBase<S>(), side(Vector3<S>::Zero())
70 {
71  // Do nothing
72 }
73 
74 //==============================================================================
75 template <typename S>
77 {
78  const Vector3<S> v_delta = 0.5 * side;
79  this->aabb_local.max_ = v_delta;
80  this->aabb_local.min_ = -v_delta;
81 
82  this->aabb_center = this->aabb_local.center();
83  this->aabb_radius = (this->aabb_local.min_ - this->aabb_center).norm();
84 }
85 
86 //==============================================================================
87 template <typename S>
89 {
90  return GEOM_BOX;
91 }
92 
93 //==============================================================================
94 template <typename S>
96 {
97  return side.prod();
98 }
99 
100 //==============================================================================
101 template <typename S>
103 {
104  S V = computeVolume();
105 
106  S a2 = side[0] * side[0] * V;
107  S b2 = side[1] * side[1] * V;
108  S c2 = side[2] * side[2] * V;
109 
110  Vector3<S> I((b2 + c2) / 12, (a2 + c2) / 12, (a2 + b2) / 12);
111 
112  return I.asDiagonal();
113 }
114 
115 //==============================================================================
116 template <typename S>
117 std::vector<Vector3<S>> Box<S>::getBoundVertices(
118  const Transform3<S>& tf) const
119 {
120  std::vector<Vector3<S>> result(8);
121  auto a = side[0] / 2;
122  auto b = side[1] / 2;
123  auto c = side[2] / 2;
124  result[0] = tf * Vector3<S>(a, b, c);
125  result[1] = tf * Vector3<S>(a, b, -c);
126  result[2] = tf * Vector3<S>(a, -b, c);
127  result[3] = tf * Vector3<S>(a, -b, -c);
128  result[4] = tf * Vector3<S>(-a, b, c);
129  result[5] = tf * Vector3<S>(-a, b, -c);
130  result[6] = tf * Vector3<S>(-a, -b, c);
131  result[7] = tf * Vector3<S>(-a, -b, -c);
132 
133  return result;
134 }
135 
136 } // namespace fcl
137 
138 #endif
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
fcl::Box::getNodeType
NODE_TYPE getNodeType() const override
Get node type: a box.
Definition: box-inl.h:88
fcl::Box::Box
Box()
Constructor.
Definition: box-inl.h:68
fcl::Box::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: box-inl.h:117
fcl::Box::S
S_ S
Definition: box.h:54
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
box.h
fcl::Matrix3
Eigen::Matrix< S, 3, 3 > Matrix3
Definition: types.h:85
fcl::Box::computeVolume
S computeVolume() const override
Definition: box-inl.h:95
fcl::Box::computeLocalAABB
void computeLocalAABB() override
Compute AABB.
Definition: box-inl.h:76
fcl::Box::computeMomentofInertia
Matrix3< S > computeMomentofInertia() const override
Definition: box-inl.h:102
fcl::GEOM_BOX
@ GEOM_BOX
Definition: collision_geometry.h:54
fcl::NODE_TYPE
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
Definition: collision_geometry.h:53
fcl::Box< double >
template class FCL_EXPORT Box< double >
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Sat Sep 11 2021 02:37:40