Represents a sphere primitive for inertia properties, collision detection, and visualization. More...
#include <SpherePrimitive.h>
Inheritance diagram for Moby::SpherePrimitive:
Public Member Functions | |
| SpherePrimitive () | |
| Creates a sphere with radius 1.0 and 100 points. | |
| SpherePrimitive (double radius) | |
| Creates a sphere with the specified radius and 100 points. | |
| SpherePrimitive (const Ravelin::Pose3d &T) | |
| SpherePrimitive (double radius, unsigned n) | |
| Creates a sphere with the specified radius and number of points. | |
| SpherePrimitive (double radius, const Ravelin::Pose3d &T) | |
| SpherePrimitive (double radius, unsigned n, const Ravelin::Pose3d &T) | |
| void | set_radius (double radius) |
| Sets the radius for this sphere (forces redetermination of the mesh) | |
| void | set_num_points (unsigned n) |
| Sets the number of points used in this sphere. More... | |
| virtual bool | is_convex () const |
| Determines whether this 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 void | set_pose (const Ravelin::Pose3d &T) |
| Transforms the primitive. | |
| virtual void | get_vertices (boost::shared_ptr< const Ravelin::Pose3d > P, std::vector< Point3d > &vertices) const |
| Gets vertices for the primitive. | |
| virtual BVPtr | get_BVH_root (CollisionGeometryPtr geom) |
| Gets the root bounding volume. | |
| virtual double | calc_dist_and_normal (const Point3d &point, std::vector< Ravelin::Vector3d > &normals) const |
| Finds the signed distance betwen the sphere and a point. | |
| 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. | |
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virtual boost::shared_ptr < const IndexedTriArray > | get_mesh (boost::shared_ptr< const Ravelin::Pose3d > P) |
| Gets the mesh, computing it if necessary. | |
| 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 Point3d | get_supporting_point (const Ravelin::Vector3d &d) const |
| Gets the supporting point. | |
| virtual double | calc_signed_dist (const Point3d &p) const |
| Computes the signed distance of the given point from this primitive. | |
| virtual double | get_bounding_radius () const |
| double | get_radius () const |
| Gets the radius for this sphere. | |
| unsigned | get_num_points () const |
| Gets the number of points used to create the sphere for visualization / collision checking. | |
 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. | |
| 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::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 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. | |
Detailed Description
Represents a sphere primitive for inertia properties, collision detection, and visualization.
Member Function Documentation
| void SpherePrimitive::set_num_points | ( | unsigned | n | ) |
Sets the number of points used in this sphere.
- Parameters
-
n the number of points
- Note
- forces redetermination of the mesh
Referenced by load_from_xml().
The documentation for this class was generated from the following files:
- /home/drum/Moby/include/Moby/SpherePrimitive.h
- /home/drum/Moby/src/SpherePrimitive.cpp
