triangle_p-inl.h
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35 
38 #ifndef FCL_SHAPE_TRIANGLE_P_INL_H
39 #define FCL_SHAPE_TRIANGLE_P_INL_H
40 
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 extern template
48 class FCL_EXPORT TriangleP<double>;
49 
50 //==============================================================================
51 template <typename S>
53  const Vector3<S>& a,
54  const Vector3<S>& b,
55  const Vector3<S>& c)
56  : ShapeBase<S>(), a(a), b(b), c(c)
57 {
58  // Do nothing
59 }
60 
61 //==============================================================================
62 template <typename S>
64 {
65  this->aabb_local = AABB<S>(a, b, c);
66 
67  this->aabb_center = this->aabb_local.center();
68  this->aabb_radius = (this->aabb_local.min_ - this->aabb_center).norm();
69 }
70 
71 //==============================================================================
72 template <typename S>
74 {
75  return GEOM_TRIANGLE;
76 }
77 
78 //==============================================================================
79 template <typename S>
80 std::vector<Vector3<S>> TriangleP<S>::getBoundVertices(
81  const Transform3<S>& tf) const
82 {
83  std::vector<Vector3<S>> result(3);
84  result[0] = tf * a;
85  result[1] = tf * b;
86  result[2] = tf * c;
87 
88  return result;
89 }
90 
91 } // namespace fcl
92 
93 #endif
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
triangle_p.h
fcl::TriangleP::S
S_ S
Definition: triangle_p.h:54
fcl::TriangleP::computeLocalAABB
void computeLocalAABB() override
virtual function of compute AABB in local coordinate
Definition: triangle_p-inl.h:63
fcl::ShapeBase
Base class for all basic geometric shapes.
Definition: shape_base.h:48
fcl::AABB< S >
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::GEOM_TRIANGLE
@ GEOM_TRIANGLE
Definition: collision_geometry.h:54
fcl::TriangleP::TriangleP
TriangleP(const Vector3< S > &a, const Vector3< S > &b, const Vector3< S > &c)
Definition: triangle_p-inl.h:52
fcl::TriangleP::getNodeType
NODE_TYPE getNodeType() const override
Definition: triangle_p-inl.h:73
fcl::NODE_TYPE
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
Definition: collision_geometry.h:53
fcl::TriangleP< double >
template class FCL_EXPORT TriangleP< double >
fcl::TriangleP::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: triangle_p-inl.h:80
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Fri Apr 2 2021 02:38:01