Defines a triangle-mesh-based primitive type used for inertial property calculation and geometry provisions. More...

#include <Primitive.h>

Inheritance diagram for Moby::Primitive:

Public Member Functions
	Primitive ()
	Constructs a primitive under the identity transformation.

	Primitive (const Ravelin::Pose3d &T)

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.

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 void	set_pose (const Ravelin::Pose3d &T)
	Sets the transform for this primitive – transforms mesh and inertial properties (if calculated)

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

virtual double	calc_signed_dist (const Point3d &p) const
	Calculates the signed distance from this 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	get_bounding_radius () const =0

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 bool	is_convex () const
	Determines whether this primitive is convex.

virtual double	calc_dist_and_normal (const Point3d &p, std::vector< Ravelin::Vector3d > &normals) const =0
	Computes the distance between a point and this primitive.

virtual double	calc_signed_dist (boost::shared_ptr< const Primitive > p, Point3d &pthis, Point3d &pp) const =0
	Computes the signed distance between this and another primitive.

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

virtual osg::Node *	create_visualization ()=0

virtual BVPtr	get_BVH_root (CollisionGeometryPtr geom)=0
	Gets the root bounding volume for this primitive.

virtual void	get_vertices (boost::shared_ptr< const Ravelin::Pose3d > P, std::vector< Point3d > &vertices) const =0
	Get vertices corresponding to 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.

virtual boost::shared_ptr < const IndexedTriArray >	get_mesh (boost::shared_ptr< const Ravelin::Pose3d > P)=0
	Gets the underlying triangle mesh for 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)

Protected Member Functions
virtual void	calc_mass_properties ()=0

Protected Attributes
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.

Friends
class	CSG

Additional Inherited Members
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.

Detailed Description

Defines a triangle-mesh-based primitive type used for inertial property calculation and geometry provisions.

The center-of-mass of derived types may be at the origin of the world, or not. Additionally, Primitive can take a transformation matrix in its constructor, with which the primitive data (com, inertia matrix, and geometry) can be transformed.

Member Function Documentation

OutputIterator Primitive::get_vertices	(	boost::shared_ptr< const Ravelin::Pose3d >	P,
		std::vector< Point3d > &	vertices
	)		const

pure virtual

Get vertices corresponding to this primitive.

Gets the vertex indices from selected facets of an IndexedTriArray.

Parameters

tris	the triangle mesh
fselect_begin	iterator to a container of type unsigned (facet indices)
fselect_end	iterator to a container of type unsigned (facet indices)
output	beginning iterator to a container of type Point3d; unique vertices are copied here on return