An abstract bounding volume. More...
#include <DummyBV.h>
Inheritance diagram for Moby::DummyBV:
Public Member Functions | |
| std::ostream & | to_vrml (std::ostream &out, const Ravelin::Pose3d &T) const |
| Nothing will be output. | |
|
virtual boost::shared_ptr < const Ravelin::Pose3d > | get_relative_pose () const |
| Gets the associated pose for this bounding volume. | |
| 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. | |
| virtual BVPtr | calc_swept_BV (CollisionGeometryPtr g, const Ravelin::SVelocityd &v) const |
| Virtual function that calculates a velocity-expanded BV. More... | |
| virtual double | calc_volume () const |
| Volume will be zero. | |
| virtual Point3d | get_lower_bounds () const |
| Gets the lower bounds. | |
| virtual Point3d | get_upper_bounds () const |
| Gets the upper bounds. | |
| virtual void | transform (const Ravelin::Transform3d &T, BV *result) const |
| Transforms the dummy BV (does nothing) | |
 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... | |
Additional Inherited Members | |
| 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 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
An abstract bounding volume.
- Note
- the BV is generally constructed such that its frame is aligned with that of the underlying rigid body (or collision geometry). Therefore, the center of the BV is computed relative to the center-of-mass of the body (or the center of the geometry). The orientation of the BV will always be identical to the orientation of the rigid body (or collision geometry).
Member Function Documentation
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inlinevirtual |
The documentation for this class was generated from the following file:
- /home/drum/Moby/include/Moby/DummyBV.h
