A sphere used for bounding geometry. More...
#include <BoundingSphere.h>
Inheritance diagram for Moby::BoundingSphere:
Public Member Functions | |
| BoundingSphere (const BoundingSphere &bsphere) | |
| BoundingSphere (const Point3d ¢er, double radius) | |
| BoundingSphere & | operator= (const BoundingSphere &bsphere) |
| virtual void | transform (const Ravelin::Transform3d &T, BV *result) const |
| Transforms the BoundingSphere using the given transform. | |
| virtual std::ostream & | to_vrml (std::ostream &out, const Ravelin::Pose3d &T) const |
| Sends the bounding sphere to VRML. | |
| virtual BVPtr | calc_swept_BV (CollisionGeometryPtr g, const Ravelin::SVelocityd &v) const |
| Calculates the velocity expanded bounding volume for the bounding sphere (calculates an OBB) | |
| virtual bool | outside (const Point3d &point, double tol=NEAR_ZERO) const |
| Determines whether a point is outside the bounding volume. | |
| virtual bool | intersects (const LineSeg3 &seg, double &tmin, double tmax, Point3d &q) const |
| Determines whether a line segment intersects the bounding volume. | |
| template<class ForwardIterator > | |
| BoundingSphere (ForwardIterator begin, ForwardIterator end) | |
|
virtual boost::shared_ptr < const Ravelin::Pose3d > | get_relative_pose () const |
| Gets the pose for this BV. | |
| virtual Point3d | get_lower_bounds () const |
| Gets the lower bounds on the bounding sphere. | |
| virtual Point3d | get_upper_bounds () const |
| Gets the upper bounds on the bounding sphere. | |
| virtual double | calc_volume () const |
| Calculates the volume of this bounding volume. | |
| template<class ForwardIterator > | |
| BoundingSphere (ForwardIterator begin, ForwardIterator end) | |
 Public Member Functions inherited from Moby::BV | |
| BVPtr | get_this () |
| boost::shared_ptr< const BV > | get_this () const |
| bool | is_leaf () const |
| template<class OutputIterator > | |
| OutputIterator | get_all_BVs (OutputIterator begin) const |
| Gets all BV nodes. More... | |
| template<class OutputIterator > | |
| OutputIterator | get_all_leafs (OutputIterator begin) const |
| Gets all leaf nodes. | |
| template<class OutputIterator > | |
| OutputIterator | get_all_BVs (OutputIterator begin) const |
| Gets all BV nodes. More... | |
| template<class OutputIterator > | |
| OutputIterator | get_all_leafs (OutputIterator begin) const |
| Gets all leaf nodes. | |
| template<class OutputIterator > | |
| OutputIterator | intersect_BV_trees (BVPtr a, BVPtr b, const Ravelin::Transform3d &aTb, const Ravelin::Transform3d &bTa, OutputIterator output_begin) |
| Intersects two BV trees; returns list of all leaf-level intersecting BVs. More... | |
Static Public Member Functions | |
| static double | calc_dist (const BoundingSphere &s1, const BoundingSphere &s2) |
| Calculates the signed distance between two bounding spheres. | |
| static bool | intersects (const BoundingSphere &a, const BoundingSphere &b) |
| Determines whether two bounding spheres intersect. | |
| static bool | intersects (const BoundingSphere &a, const BoundingSphere &b, const Ravelin::Transform3d &aTb) |
| static bool | intersects (const BoundingSphere &a, const LineSeg3 &seg, double &tmin, double tmax, Point3d &q) |
| Determines whether there is an intersection between the primitive and a line segment. | |
| static bool | outside (const BoundingSphere &a, const Point3d &point, double tol=NEAR_ZERO) |
| Determines whether a point is outside of the bounding sphere. | |
| Static Public Member Functions inherited from Moby::BV | |
| static bool | intersects (BVPtr a, BVPtr b) |
| Convenience method. | |
| static bool | intersects (BVPtr a, BVPtr b, const Ravelin::Transform3d &T) |
| Convenience method. | |
| static double | calc_distance (BVPtr a, BVPtr b, Point3d &cp1, Point3d &cp2) |
| Convenience method. | |
| static double | calc_distance (BVPtr a, BVPtr b, const Ravelin::Transform3d &aTb, Point3d &cp1, Point3d &cp2) |
| Convenience method. | |
| static bool | intersects (const BV *a, const BV *b) |
| Computes whether two abstract bounding volumes intersect. | |
| static bool | intersects (const BV *a, const BV *b, const Ravelin::Transform3d &T) |
| static double | calc_distance (const BV *a, const BV *b, Point3d &cp1, Point3d &cp2) |
| Computes the distance between two abstract bounding volumes and stores the closest points. More... | |
| static double | calc_distance (const BV *a, const BV *b, const Ravelin::Transform3d &aTb, Point3d &cp1, Point3d &cp2) |
| template<class OutputIterator > | |
| static OutputIterator | intersect_BV_trees (BVPtr a, BVPtr b, const Ravelin::Transform3d &aTb, const Ravelin::Transform3d &bTa, OutputIterator output_begin) |
| Intersects two BV trees; returns list of all leaf-level intersecting BVs. More... | |
Public Attributes | |
| Point3d | center |
| Center of the bounding box. | |
| double | radius |
| The radius of the bounding sphere (we use a float b/c accuracy here not so important) | |
| Public Attributes inherited from Moby::BV | |
| boost::shared_ptr< void > | userdata |
| Userdata for the BV. | |
| CollisionGeometryPtr | geom |
| The collision geometry associated with this bounding volume. | |
| std::list< BVPtr > | children |
| The children of this BV. | |
Detailed Description
A sphere used for bounding geometry.
The documentation for this class was generated from the following files:
- /home/drum/Moby/include/Moby/BoundingSphere.h
- /home/drum/Moby/include/Moby/BoundingSphere.inl
- /home/drum/Moby/src/BoundingSphere.cpp
