A sphere-swept rectangle (SSR) that optionally allows building an SSR tree. More...
#include <SSR.h>
Inheritance diagram for Moby::SSR:
Public Member Functions | |
| SSR () | |
| Initializes an empty SSR. | |
| SSR (const SSR &obb) | |
| SSR (const Point3d ¢er, const Ravelin::Matrix3d &R, const Ravelin::Vector2d &l, double radius) | |
| SSR (const SSR &s, const Ravelin::Vector3d &v) | |
| SSR & | operator= (const SSR &s) |
| Copies one SSR to another. | |
| virtual BVPtr | calc_swept_BV (CollisionGeometryPtr g, const Ravelin::SVelocityd &v) const |
| Calculates the velocity-expanded 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 bool | outside (const Point3d &point, double tol=NEAR_ZERO) const |
| Determines whether a point is outside the bounding volume. | |
| boost::shared_ptr< SSR > | get_this () |
| boost::shared_ptr< const SSR > | get_this () const |
| virtual std::ostream & | to_vrml (std::ostream &out, const Ravelin::Pose3d &T) const |
| Outputs the SSR to VRML (not yet implemented) | |
| unsigned | calc_size () const |
| Calculates the size (number of elements in) a SSR tree. | |
|
virtual boost::shared_ptr < const Ravelin::Pose3d > | get_relative_pose () const |
| Gets the associated pose for this bounding volume. | |
| virtual void | transform (const Ravelin::Transform3d &T, BV *result) const |
| Transforms the SSR using the given transform. | |
| virtual Point3d | get_lower_bounds () const |
| Gets the lower bounds of the SSR. | |
| virtual Point3d | get_upper_bounds () const |
| Gets the upper bounds of the SSR. | |
| void | get_rect_verts (Point3d rect_verts[4]) const |
| Gets the vertices of the rectangle. | |
| template<class ForwardIterator > | |
| void | expand_to_fit (ForwardIterator begin, ForwardIterator end) |
| template<class ForwardIterator > | |
| SSR (ForwardIterator begin, ForwardIterator end) | |
| Computes a SSR from a set of points. More... | |
| virtual double | calc_volume () const |
| Calculates (approximate?) volume of the SSR. | |
| template<class ForwardIterator > | |
| SSR (ForwardIterator begin, ForwardIterator end) | |
| Computes a SSR from a set of points. More... | |
| template<class ForwardIterator > | |
| void | calc_lengths_and_radius (ForwardIterator begin, ForwardIterator end) |
| Calculates the lengths and radius for a SSR. | |
| template<class ForwardIterator > | |
| void | align (ForwardIterator begin, ForwardIterator end, const Ravelin::Vector3d &d1, Ravelin::Vector3d &d2) |
| Aligns this SSR with the minimum area bounding rectangle projected along the first dimension of the SSR. | |
 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 SSR &a, const Point3d &p) |
| Calculates the distance of the sphere-swept rectangle from a point. | |
| static double | calc_dist (const SSR &a, const LineSeg3 &s) |
| Calculates the distance of the sphere-swept rectangle from a line segment. | |
| static double | calc_dist (const SSR &a, const SSR &b, Point3d &cpa, Point3d &cpb) |
| Calculates the distance between two sphere-swept rectangles and also calculates closest points. | |
| static double | calc_dist (const SSR &a, const SSR &b, const Ravelin::Transform3d &aTb, Point3d &cpa, Point3d &cpb) |
| static bool | intersects (const SSR &a, const SSR &b) |
| Determines whether two SSRs intersect. | |
| static bool | intersects (const SSR &a, const SSR &b, const Ravelin::Transform3d &T) |
| static bool | intersects (const SSR &a, const LineSeg3 &seg, double &tmin, double tmax, Point3d &q) |
| Determines whether (and when) a line segment intersects with the SSR. | |
| static bool | outside (const SSR &a, const Point3d &point, double tol=NEAR_ZERO) |
| Determines whether a point is outside the SSR. | |
| 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 volume. | |
| Ravelin::Vector2d | l |
| Lengths of the rectangle sides. | |
| Ravelin::Matrix3d | R |
| Orientation of this SSR. | |
| double | radius |
| Radius of the spherical addition. | |
| 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-swept rectangle (SSR) that optionally allows building an SSR tree.
- Note
- the SSR is generally constructed such that its frame is aligned with that of the underlying rigid body (or collision geometry). Therefore, the center of the SSR is computed relative to the center-of-mass of the body (or the center of the geometry). The orientation of the SSR will always be identical to the orientation of the rigid body (or collision geometry).
Constructor & Destructor Documentation
template<class ForwardIterator >
| Moby::SSR::SSR | ( | ForwardIterator | begin, |
| ForwardIterator | end | ||
| ) |
Computes a SSR from a set of points.
- Parameters
-
begin an iterator to type Point3d end an iterator to type Point3d Algorithm taken from [Ericson, 2005]
template<class ForwardIterator >
| Moby::SSR::SSR | ( | ForwardIterator | begin, |
| ForwardIterator | end | ||
| ) |
Computes a SSR from a set of points.
- Parameters
-
begin an iterator to type Point3d end an iterator to type Point3d Algorithm taken from [Ericson, 2005]
References Moby::IndexedTri::a, Moby::IndexedTri::b, and Moby::IndexedTri::c.
The documentation for this class was generated from the following files:
- /home/drum/Moby/include/Moby/SSR.h
- /home/drum/Moby/include/Moby/SSR.inl
- /home/drum/Moby/src/SSR.cpp
