#include <convex.h>

Inheritance diagram for fcl::Convex< S_ >:

Public Types
using	S = S_

Public Types inherited from fcl::ShapeBase< S_ >
using	S = S_

Public Member Functions
	Convex (Vector3< S > plane_normals, S plane_dis, int num_planes, Vector3< S > points, int num_points, int polygons)
	Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information.

	Convex (const Convex &other)
	Copy constructor.

void	computeLocalAABB () override
	Compute AABB<S>

NODE_TYPE	getNodeType () const override
	Get node type: a conex polytope.

Matrix3< S >	computeMomentofInertia () const override
	based on http://number-none.com/blow/inertia/bb_inertia.doc

Vector3< S >	computeCOM () const override
	compute center of mass

S	computeVolume () const override
	compute the volume

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

Public Member Functions inherited from fcl::ShapeBase< S_ >
OBJECT_TYPE	getObjectType () const
	Get object type: a geometric shape.

Public Member Functions inherited from fcl::CollisionGeometry< S_ >
void *	getUserData () const
	get user data in geometry

void	setUserData (void *data)
	set user data in geometry

bool	isOccupied () const
	whether the object is completely occupied

bool	isFree () const
	whether the object is completely free

bool	isUncertain () const
	whether the object has some uncertainty

virtual Matrix3< S_ >	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com

Public Attributes
Vector3< S > *	plane_normals

S *	plane_dis

int *	polygons
	An array of indices to the points of each polygon, it should be the number of vertices followed by that amount of indices to "points" in counter clockwise order.

Vector3< S > *	points

int	num_points

int	num_edges

int	num_planes

Edge *	edges

Vector3< S >	center
	center of the convex polytope, this is used for collision: center is guaranteed in the internal of the polytope (as it is convex)

Public Attributes inherited from fcl::CollisionGeometry< S_ >
Vector3< S_ >	aabb_center
	AABB center in local coordinate.

S_	aabb_radius
	AABB radius.

AABB< S_ >	aabb_local
	AABB in local coordinate, used for tight AABB when only translation transform.

void *	user_data
	pointer to user defined data specific to this object

S_	cost_density
	collision cost for unit volume

S_	threshold_occupied
	threshold for occupied ( >= is occupied)

S_	threshold_free
	threshold for free (<= is free)

Detailed Description

Convex polytope.

The documentation for this class was generated from the following files:

Classes