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"
#include "coal/shape/geometric_shapes.hxx"

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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...
struct	coal::ConvexBaseTplNeighbors< _IndexType >
struct	coal::ConvexBaseTplSupportWarmStartPolytope< _IndexType >
class	coal::ConvexBaseTpl< _IndexType >
	Base for convex polytope. 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.

Typedefs
typedef ConvexBaseTpl< Triangle16::IndexType >	coal::ConvexBase16
typedef ConvexBaseTpl< Triangle32::IndexType >	coal::ConvexBase32