Half Space: this is equivalent to the Plane in ODE. A Half space has a priviledged direction: the direction of the normal. The separation plane is defined as n * x = d; Points in the negative side of the separation plane (i.e. {x | n * x < d}) are inside the half space and points in the positive side of the separation plane (i.e. {x | n * x > d}) are outside the half space. Note: prefer using a Halfspace instead of a Plane if possible, it has better behavior w.r.t. collision detection algorithms. More...
#include <coal/shape/geometric_shapes.h>
Public Member Functions | |
| Halfspace (const Vec3s &n_, Scalar d_) | |
| Construct a half space with normal direction and offset. More... | |
| Halfspace (Scalar a, Scalar b, Scalar c, Scalar d_) | |
| Construct a plane with normal direction and offset. More... | |
| Halfspace () | |
| Halfspace (const Halfspace &other) | |
| Halfspace & | operator= (const Halfspace &other) |
| operator = More... | |
| virtual Halfspace * | clone () const |
| Clone *this into a new Halfspace. More... | |
| Scalar | signedDistance (const Vec3s &p) const |
| Scalar | distance (const Vec3s &p) const |
| void | computeLocalAABB () |
| Compute AABB. More... | |
| NODE_TYPE | getNodeType () const |
| Get node type: a half space. More... | |
| Scalar | minInflationValue () const |
| std::pair< Halfspace, Transform3s > | inflated (const Scalar value) const |
Inflate the halfspace by an amount given by value. This value can be positive or negative but must always >= minInflationValue(). More... | |
 Public Member Functions inherited from coal::ShapeBase | |
| ShapeBase () | |
| ShapeBase (const ShapeBase &other) | |
| More... | |
| ShapeBase & | operator= (const ShapeBase &other)=default |
| virtual | ~ShapeBase () |
| OBJECT_TYPE | getObjectType () const |
| Get object type: a geometric shape. More... | |
| void | setSweptSphereRadius (Scalar radius) |
| Set radius of sphere swept around the shape. Must be >= 0. More... | |
| Scalar | getSweptSphereRadius () const |
| Get radius of sphere swept around the shape. This radius is always >= 0. More... | |
| Public Member Functions inherited from coal::CollisionGeometry | |
| CollisionGeometry () | |
| CollisionGeometry (const CollisionGeometry &other)=default | |
| Copy constructor. More... | |
| virtual | ~CollisionGeometry () |
| bool | operator== (const CollisionGeometry &other) const |
| Equality operator. More... | |
| bool | operator!= (const CollisionGeometry &other) const |
| Difference operator. More... | |
| void * | getUserData () const |
| get user data in geometry More... | |
| void | setUserData (void *data) |
| set user data in geometry More... | |
| bool | isOccupied () const |
| whether the object is completely occupied More... | |
| bool | isFree () const |
| whether the object is completely free More... | |
| bool | isUncertain () const |
| whether the object has some uncertainty More... | |
| virtual Vec3s | computeCOM () const |
| compute center of mass More... | |
| virtual Matrix3s | computeMomentofInertia () const |
| compute the inertia matrix, related to the origin More... | |
| virtual Scalar | computeVolume () const |
| compute the volume More... | |
| virtual Matrix3s | computeMomentofInertiaRelatedToCOM () const |
| compute the inertia matrix, related to the com More... | |
Public Attributes | |
| Vec3s | n |
| Plane normal. More... | |
| Scalar | d |
| Plane offset. More... | |
| Public Attributes inherited from coal::CollisionGeometry | |
| Vec3s | aabb_center |
| AABB center in local coordinate. More... | |
| Scalar | aabb_radius |
| AABB radius. More... | |
| AABB | aabb_local |
| AABB in local coordinate, used for tight AABB when only translation transform. More... | |
| void * | user_data |
| pointer to user defined data specific to this object More... | |
| Scalar | cost_density |
| collision cost for unit volume More... | |
| Scalar | threshold_occupied |
| threshold for occupied ( >= is occupied) More... | |
| Scalar | threshold_free |
| threshold for free (<= is free) More... | |
Protected Member Functions | |
| void | unitNormalTest () |
| Turn non-unit normal into unit. More... | |
Additional Inherited Members | |
| Protected Attributes inherited from coal::ShapeBase | |
| Scalar | m_swept_sphere_radius {0} |
Radius of the sphere swept around the shape. Default value is 0. Note: this property differs from inflated method of certain derived classes (e.g. Box, Sphere, Ellipsoid, Capsule, Cone, Cylinder) in the sense that inflated returns a new shape which can be inflated but also deflated. Also, an inflated shape is not rounded. It simply has a different size. Sweeping a shape with a sphere is a different operation (a Minkowski sum), which rounds the sharp corners of a shape. The swept sphere radius is a property of the shape itself and can be manually updated between collision checks. More... | |
Detailed Description
Half Space: this is equivalent to the Plane in ODE. A Half space has a priviledged direction: the direction of the normal. The separation plane is defined as n * x = d; Points in the negative side of the separation plane (i.e. {x | n * x < d}) are inside the half space and points in the positive side of the separation plane (i.e. {x | n * x > d}) are outside the half space. Note: prefer using a Halfspace instead of a Plane if possible, it has better behavior w.r.t. collision detection algorithms.
The documentation for this class was generated from the following file:
- include/coal/shape/geometric_shapes.h
