|EquilateralTetrahedron (ccd_real_t bottom_center_x=0, ccd_real_t bottom_center_y=0, ccd_real_t bottom_center_z=0, ccd_real_t edge_length=1)|
|Public Member Functions inherited from fcl::detail::Tetrahedron|
|Tetrahedron (const std::array< fcl::Vector3< ccd_real_t >, 4 > &vertices)|
|Public Member Functions inherited from fcl::detail::Polytope|
|ccd_pt_edge_t &||e (int i)|
|const ccd_pt_edge_t &||e (int i) const|
|ccd_pt_face_t &||f (int i)|
|const ccd_pt_face_t &||f (int i) const|
|ccd_pt_t &||polytope ()|
|const ccd_pt_t &||polytope () const|
|ccd_pt_vertex_t &||v (int i)|
|const ccd_pt_vertex_t &||v (int i) const|
|Protected Member Functions inherited from fcl::detail::Polytope|
|std::vector< ccd_pt_edge_t * > &||e ()|
|std::vector< ccd_pt_face_t * > &||f ()|
|std::vector< ccd_pt_vertex_t * > &||v ()|
Simple equilateral tetrahedron.
Geometrically, its edge lengths are the given length (default to unit length). Its "bottom" face is parallel with the z = 0 plane. It's default configuration places the bottom face on the z = 0 plane with the origin contained in the bottom face.
In representation, the edge ordering is arbitrary (i.e., an edge can be defined as (vᵢ, vⱼ) or (vⱼ, vᵢ). However, given an arbitrary definition of edges, the faces* have been defined to have a specific winding which causes e₀ × e₁ to point inwards or outwards for that face. This allows us to explicitly fully exercise the functionality for computing an outward normal.
All property accessors are mutable.