FCL  0.6.0
Flexible Collision Library
cone-inl.h
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35 
38 #ifndef FCL_SHAPE_CONE_INL_H
39 #define FCL_SHAPE_CONE_INL_H
40 
41 #include "fcl/geometry/shape/cone.h"
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 extern template
48 class Cone<double>;
49 
50 //==============================================================================
51 template <typename S>
52 Cone<S>::Cone(S radius, S lz)
53  : ShapeBase<S>(), radius(radius), lz(lz)
54 {
55  // Do nothing
56 }
57 
58 //==============================================================================
59 template <typename S>
61 {
62  const Vector3<S> v_delta(radius, radius, 0.5 * lz);
63  this->aabb_local.max_ = v_delta;
64  this->aabb_local.min_ = -v_delta;
65 
66  this->aabb_center = this->aabb_local.center();
67  this->aabb_radius = (this->aabb_local.min_ - this->aabb_center).norm();
68 }
69 
70 //==============================================================================
71 template <typename S>
73 {
74  return GEOM_CONE;
75 }
76 
77 //==============================================================================
78 template <typename S>
80 {
81  return constants<S>::pi() * radius * radius * lz / 3;
82 }
83 
84 //==============================================================================
85 template <typename S>
87 {
88  S V = computeVolume();
89  S ix = V * (0.1 * lz * lz + 3 * radius * radius / 20);
90  S iz = 0.3 * V * radius * radius;
91 
92  return Vector3<S>(ix, ix, iz).asDiagonal();
93 }
94 
95 //==============================================================================
96 template <typename S>
97 Vector3<S> Cone<S>::computeCOM() const
98 {
99  return Vector3<S>(0, 0, -0.25 * lz);
100 }
101 
102 //==============================================================================
103 template <typename S>
104 std::vector<Vector3<S>> Cone<S>::getBoundVertices(
105  const Transform3<S>& tf) const
106 {
107  std::vector<Vector3<S>> result(7);
108 
109  auto hl = lz * 0.5;
110  auto r2 = radius * 2 / std::sqrt(3.0);
111  auto a = 0.5 * r2;
112  auto b = radius;
113 
114  result[0] = tf * Vector3<S>(r2, 0, -hl);
115  result[1] = tf * Vector3<S>(a, b, -hl);
116  result[2] = tf * Vector3<S>(-a, b, -hl);
117  result[3] = tf * Vector3<S>(-r2, 0, -hl);
118  result[4] = tf * Vector3<S>(-a, -b, -hl);
119  result[5] = tf * Vector3<S>(a, -b, -hl);
120 
121  result[6] = tf * Vector3<S>(0, 0, hl);
122 
123  return result;
124 }
125 
126 } // namespace fcl
127 
128 #endif
Vector3< S_ > aabb_center
AABB center in local coordinate.
Definition: collision_geometry.h:91
S computeVolume() const override
compute the volume
Definition: cone-inl.h:79
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
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
S lz
Length along z axis.
Definition: capsule.h:61
S computeVolume() const override
compute the volume
Definition: capsule-inl.h:79
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: cone-inl.h:104
Vector3< S > computeCOM() const override
compute center of mass
Definition: cone-inl.h:97
static constexpr S pi()
The mathematical constant pi.
Definition: constants.h:49
AABB< S_ > aabb_local
AABB in local coordinate, used for tight AABB when only translation transform.
Definition: collision_geometry.h:97
void computeLocalAABB() override
Compute AABB.
Definition: cone-inl.h:60
Matrix3< S > computeMomentofInertia() const override
compute the inertia matrix, related to the origin
Definition: cone-inl.h:86
NODE_TYPE getNodeType() const override
Get node type: a cone.
Definition: cone-inl.h:72
S radius
Radius of capsule.
Definition: capsule.h:58