Represents a solid box centered at the origin (by default) More...

#include <BoxPrimitive.h>

Inheritance diagram for Moby::BoxPrimitive:

Public Member Functions
	BoxPrimitive ()
	Constructs a unit cube centered at the origin.

	BoxPrimitive (double xlen, double ylen, double zlen)
	Constructs a box of the specified size.

	BoxPrimitive (double xlen, double ylen, double zlen, const Ravelin::Pose3d &T)

	BoxPrimitive (const Ravelin::Pose3d &T)

virtual void	set_polyhedron (const Polyhedron &p)
	Overrides the PolyhedronPrimitive::set_polyhedron(.)

void	set_size (double xlen, double ylen, double zlen)
	Sets the size of this box. More...

virtual unsigned	num_facets () const

virtual bool	is_convex () const
	Determines whether the primitive is convex.

virtual void	load_from_xml (boost::shared_ptr< const XMLTree > node, std::map< std::string, BasePtr > &id_map)
	Implements Base::load_from_xml() for serialization.

virtual void	save_to_xml (XMLTreePtr node, std::list< boost::shared_ptr< const Base > > &shared_objects) const
	Implements Base::save_to_xml() for serialization.

virtual BVPtr	get_BVH_root (CollisionGeometryPtr geom)
	Gets the bounding volume for this plane.

virtual double	calc_dist_and_normal (const Point3d &point, std::vector< Ravelin::Vector3d > &normals) const
	Tests whether a point is inside or on the box.

double	calc_closest_point (const Point3d &point, Point3d &closest) const
	Computes the closest point on the box to a point (and returns the distance)

virtual void	set_pose (const Ravelin::Pose3d &T)
	Transforms the primitive.

void	set_edge_sample_length (double len)
	Sets the edge sample length for this box.

virtual boost::shared_ptr < const IndexedTriArray >	get_mesh (boost::shared_ptr< const Ravelin::Pose3d > P)
	Gets the set of vertices for the BoxPrimitive (constructing, if necessary) More...

virtual osg::Node *	create_visualization ()
	Creates the visualization for this primitive.

double	calc_signed_dist (boost::shared_ptr< const SpherePrimitive > s, Point3d &pthis, Point3d &psph) const

virtual double	calc_signed_dist (boost::shared_ptr< const Primitive > p, Point3d &pthis, Point3d &pp) const
	Computes the signed distance between this and another primitive.

virtual void	get_vertices (boost::shared_ptr< const Ravelin::Pose3d > P, std::vector< Point3d > &p) const
	Gets the set of vertices for the BoxPrimitive.

virtual double	calc_signed_dist (const Point3d &p) const
	Computes the signed distance to a point.

double	calc_closest_points (boost::shared_ptr< const SpherePrimitive > s, Point3d &pbox, Point3d &psph) const
	Finds closest point between a box and a sphere; returns the closest point on/in the box to the center of the sphere.

virtual double	get_bounding_radius () const

double	get_x_len () const
	Get the x-length of this box.

double	get_y_len () const
	Get the y-length of this box.

double	get_z_len () const
	Ge the z-length of this box.

Public Member Functions inherited from Moby::PolyhedralPrimitive
	PolyhedralPrimitive (const Ravelin::Pose3d &T)

const Polyhedron &	get_polyhedron () const
	Gets the polyhedron corresponding to this primitive (in its transformed state)

template<class OutputIterator >
OutputIterator	get_halfspaces (const Polyhedron &poly, boost::shared_ptr< const Ravelin::Pose3d > pose, const Ravelin::Transform3d &wTpose, OutputIterator output_begin)

Public Member Functions inherited from Moby::Primitive
	Primitive ()
	Constructs a primitive under the identity transformation.

	Primitive (const Ravelin::Pose3d &T)

void	update_visualization ()
	Updates the visualization on the primitive.

void	set_mass (double mass)
	Sets the mass of this primitive. More...

void	set_density (double density)
	Sets the density of this primitive.

virtual Point3d	get_supporting_point (const Ravelin::Vector3d &d) const
	Gets a supporting point from a primitive.

void	add_collision_geometry (CollisionGeometryPtr cg)
	Adds a collision geometry.

void	remove_collision_geometry (CollisionGeometryPtr cg)
	Removes a collision geometry.

boost::shared_ptr< const Ravelin::Pose3d >	get_pose (CollisionGeometryPtr g) const
	Gets the pose of this primitive relative to a particular collision geometry.

virtual double	calc_max_dist (double lin_cont, double ang_cont, double dist, const Ravelin::Vector3d &d0, const Ravelin::Vector3d &w0, boost::shared_ptr< const Ravelin::Pose3d > P)
	Computes the maximum distance by a point on the geometry.

virtual osg::Node *	get_visualization ()
	Gets the visualization for this primitive. More...

boost::shared_ptr< const Ravelin::Pose3d >	get_inertial_pose () const
	Gets the inertial frame of this primitive.

boost::shared_ptr< const Ravelin::Pose3d >	get_pose () const
	Gets the pose of this primitive.

const Ravelin::SpatialRBInertiad &	get_inertia () const
	Gets the inertia for this primitive.

Public Member Functions inherited from Moby::Base
	Base (const Base *b)

Additional Inherited Members
Static Public Member Functions inherited from Moby::PolyhedralPrimitive
template<class OutputIterator >
static OutputIterator	get_halfspaces (const Polyhedron &poly, boost::shared_ptr< const Ravelin::Pose3d > pose, const Ravelin::Transform3d &wTpose, OutputIterator output_begin)

Static Public Member Functions inherited from Moby::Base
template<class T >
static boost::shared_ptr< T >	clone (boost::shared_ptr< T > x)
	Static method for cloning a shared pointer.

Public Attributes inherited from Moby::Base
boost::shared_ptr< void >	userdata
	Any relevant userdata.

std::string	id
	The unique ID for this object.

Protected Member Functions inherited from Moby::PolyhedralPrimitive
void	calc_mass_properties ()
	Calculates mass properties for the polyhedron.

double	calc_signed_dist (boost::shared_ptr< const PolyhedralPrimitive > p, Point3d &pthis, Point3d &pp) const

Protected Attributes inherited from Moby::PolyhedralPrimitive
Polyhedron	_poly

Protected Attributes inherited from Moby::Primitive
boost::shared_ptr < Ravelin::Pose3d >	_F
	The pose of this primitive (relative to the global frame)

boost::shared_ptr < Ravelin::Pose3d >	_jF
	The inertial pose of this primitive (relative to the global frame)

boost::shared_ptr< double >	_density
	The density of this primitive.

Ravelin::SpatialRBInertiad	_J
	The inertia of the primitive.

std::map< boost::weak_ptr < CollisionGeometry > , boost::shared_ptr < Ravelin::Pose3d > >	_cg_poses
	The poses of this primitive, relative to a collision geometry.

std::set< boost::shared_ptr < Ravelin::Pose3d > >	_poses
	The poses, relative to a particular collision geometry.