geometric_shapes.h File Reference

#include <vector>
#include <memory>
#include <boost/math/constants/constants.hpp>
#include "coal/collision_object.h"
#include "coal/data_types.h"

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Classes
class	coal::ShapeBase
	Base class for all basic geometric shapes. More...
class	coal::TriangleP
	Triangle stores the points instead of only indices of points. More...
class	coal::Box
	Center at zero point, axis aligned box. More...
class	coal::Sphere
	Center at zero point sphere. More...
class	coal::Ellipsoid
	Ellipsoid centered at point zero. More...
class	coal::Capsule
	Capsule It is \( { x~\in~\mathbb{R}^3, d(x, AB) \leq radius } \) where \( d(x, AB) \) is the distance between the point x and the capsule segment AB, with \( A = (0,0,-halfLength), B = (0,0,halfLength) \). More...
class	coal::Cone
	Cone The base of the cone is at \( z = - halfLength \) and the top is at \( z = halfLength \). More...
class	coal::Cylinder
	Cylinder along Z axis. The cylinder is defined at its centroid. More...
class	coal::ConvexBase
	Base for convex polytope. More...
struct	coal::ConvexBase::Neighbors
struct	coal::ConvexBase::SupportWarmStartPolytope
	The support warm start polytope contains certain points of this which are support points in specific directions of space. This struct is used to warm start the support function computation for large meshes (num_points > 32). More...
class	coal::Halfspace
	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...
class	coal::Plane
	Infinite plane. A plane can be viewed as two half spaces; it has no priviledged direction. Note: prefer using a Halfspace instead of a Plane if possible, it has better behavior w.r.t. collision detection algorithms. More...

Namespaces
	coal
	Main namespace.