FCL  0.6.0
Flexible Collision Library
triangle_p-inl.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2016, Open Source Robotics Foundation
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
35 
38 #ifndef FCL_SHAPE_TRIANGLE_P_INL_H
39 #define FCL_SHAPE_TRIANGLE_P_INL_H
40 
41 #include "fcl/geometry/shape/triangle_p.h"
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 extern template
48 class TriangleP<double>;
49 
50 //==============================================================================
51 template <typename S>
52 TriangleP<S>::TriangleP(
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
Vector3< S_ > aabb_center
AABB center in local coordinate.
Definition: collision_geometry.h:91
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18, kDOP24), basic shape (box, sphere, ellipsoid, capsule, cone, cylinder, convex, plane, halfspace, triangle), and octree
Definition: collision_geometry.h:54
NODE_TYPE getNodeType() const override
get the node type
Definition: triangle_p-inl.h:73
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
S_ aabb_radius
AABB radius.
Definition: collision_geometry.h:94
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
AABB< S_ > aabb_local
AABB in local coordinate, used for tight AABB when only translation transform.
Definition: collision_geometry.h:97
void computeLocalAABB() override
virtual function of compute AABB<S> in local coordinate
Definition: triangle_p-inl.h:63