A potentially-non-convex polyhedron of genus 0. More...

#include <Polyhedron.h>

Classes
struct	Edge
	The edge structure. More...

struct	Face
	The face structure. More...

struct	Feature
	A vertex, face, or edge in a polyhedron. More...

struct	Vertex
	The vertex structure. More...

class	VertexFaceIterator
	iterates over the vertices in a face More...

Public Types
enum	LocationType { eInside, eOutside, eOnVertex, eOnEdge, eOnFace }

enum	FeatureType { eVertex, eEdge, eFace }
	Gets the Voronoi plane from two input features. More...

Public Member Functions
	Polyhedron ()
	Creates a minimum polyhedron.

	Polyhedron (const Polyhedron &p)

boost::shared_ptr < Polyhedron::Feature >	find_closest_feature (const Ravelin::Origin3d &p, unsigned closest_facet) const
	Finds the closest feature of the polyhedron to the point, given the closest facet. More...

Polyhedron &	operator= (const Polyhedron &p)
	Assignment operator.

Polyhedron	shallow_copy () const
	Does a shallow copy of this polyhedron.

std::vector< boost::shared_ptr < Vertex > > &	get_vertices ()

const std::vector < boost::shared_ptr< Vertex > > &	get_vertices () const

const std::vector < boost::shared_ptr< Edge > > &	get_edges () const

const std::vector < boost::shared_ptr< Face > > &	get_faces () const

bool	inside (const Ravelin::Origin3d &point, double tol=NEAR_ZERO)

bool	inside_or_on (const Ravelin::Origin3d &point, double tol=NEAR_ZERO)

LocationType	location (const Ravelin::Origin3d &point, boost::shared_ptr< Polyhedron::Feature > &closest_feature, double tol=NEAR_ZERO) const

double	calc_volume () const

bool	degenerate () const

void	write_to_obj (const std::string &filename) const
	Writes the polyhedron to Wavefront OBJ format.

Polyhedron	transform (const Ravelin::Transform3d &T) const
	Transforms a polyhedron.

double	calc_signed_distance (const Ravelin::Origin3d &point, unsigned &closest_facet) const
	Gets the signed distance and closest facet to a point.

double	calc_signed_distance (const Ravelin::Origin3d &point) const
	Gets the signed distance from a point to the polyhedron.

std::pair< Ravelin::Origin3d, Ravelin::Origin3d >	get_bounding_box_corners () const
	Gets the corners of the axis-aligned bounding box of this polyhedron.

bool	is_convex ()
	Determines whether this polyhedron convex (to w/in floating point tolerance)

double	convexity ()
	Gets the convexity of this polyhedron. More...

template<class ForwardIterator >
Polyhedron	calc_convex_hull (ForwardIterator begin, ForwardIterator end)
	Computes the convex hull for a polyhedron.

Static Public Member Functions
static double	vclip (boost::shared_ptr< const PolyhedralPrimitive > pA, boost::shared_ptr< const PolyhedralPrimitive > pB, boost::shared_ptr< const Ravelin::Pose3d > poseA, boost::shared_ptr< const Ravelin::Pose3d > poseB, boost::shared_ptr< const Polyhedron::Feature > &closestA, boost::shared_ptr< const Polyhedron::Feature > &closestB)
	Executes the V-Clip algorithm on two polyhedra, determining closest features and signed distance.

static Polyhedron	calc_minkowski_diff (boost::shared_ptr< const PolyhedralPrimitive > pA, boost::shared_ptr< const PolyhedralPrimitive > pB, boost::shared_ptr< const Ravelin::Pose3d > poseA, boost::shared_ptr< const Ravelin::Pose3d > poseB)
	Computes the Minkowski difference of two polyhedral primitives. More...

static void	to_vrml (std::ostream &out, const Polyhedron &p, Ravelin::Origin3d diffuse_color=Ravelin::Origin3d(1, 1, 1), bool wireframe=false)
	Finds the feature(s) of this polyhedron closest to the point. More...

template<class ForwardIterator >
static Polyhedron	calc_convex_hull (ForwardIterator begin, ForwardIterator end)
	Computes the convex hull for a polyhedron.

static double	calc_dist (FeatureType fA, FeatureType fB, boost::shared_ptr< const Polyhedron::Feature > closestA, boost::shared_ptr< const Polyhedron::Feature > closestB, Ravelin::Transform3d &aTb)
	Computes the distance between two features.

Friends
class	TessellatedPolyhedron

Detailed Description

A potentially-non-convex polyhedron of genus 0.

Member Enumeration Documentation

enum Moby::Polyhedron::FeatureType

Gets the Voronoi plane from two input features.

The function takes the tyoes and the pointers of the two features and returns a plane If a point is a positive distance away from the plane, then the point is closer to the first feature If a point is a negative distance away from the plane, then the point is closer to the second feature

Member Function Documentation

Polyhedron Polyhedron::calc_minkowski_diff	(	boost::shared_ptr< const PolyhedralPrimitive >	pA,
		boost::shared_ptr< const PolyhedralPrimitive >	pB,
		boost::shared_ptr< const Ravelin::Pose3d >	poseA,
		boost::shared_ptr< const Ravelin::Pose3d >	poseB
	)

static

Computes the Minkowski difference of two polyhedral primitives.

Returns: a polyhedron- the 'data' field of each vertex is of type boost::shared_ptr<std::pair<int, int> >, where the first integer is the index of a vertex from the first polyhedron and the second integer is the index of a vertex from the second polyhedron.

double Moby::Polyhedron::convexity ( )

inline

Gets the convexity of this polyhedron.

Convexity values less than epsilon (where epsilon is some number near zero) indicate that the polyhedron is convex; greater values indicate that the polyhedron is non-convex.

Referenced by is_convex().

boost::shared_ptr< Polyhedron::Feature > Polyhedron::find_closest_feature	(	const Ravelin::Origin3d &	p,
		unsigned	closest_facet
	)		const

Finds the closest feature of the polyhedron to the point, given the closest facet.

Parameters

closest_facet the closest facet to the point on return

void Polyhedron::to_vrml	(	std::ostream &	out,
		const Polyhedron &	p,
		Ravelin::Origin3d	diffuse_color = `Ravelin::Origin3d(1,1,1)`,
		bool	wireframe = `false`
	)

static

Finds the feature(s) of this polyhedron closest to the point.

Parameters

p	the query point
closest_features	the closest features on return
inside	whether the point is inside or outside the polyhedron on return

Returns: the distanceSends this polyhedron to the specified stream using VRML

References Moby::Polyhedron::VertexFaceIterator::advance(), and Moby::Polyhedron::VertexFaceIterator::has_next().

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

/home/drum/Moby/include/Moby/Polyhedron.h
/home/drum/Moby/include/Moby/Polyhedron.inl
/home/drum/Moby/src/Polyhedron.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Member Enumeration Documentation

Member Function Documentation