A geometric description of a shape as a union of other shapes. More...

#include <CompositeShape.h>

Inheritance diagram for geo::CompositeShape:

Public Member Functions
void	addShape (const Shape &shape, const Pose3D &pose)
	add a shape to the composite More...

CompositeShape *	clone () const

	CompositeShape ()

bool	contains (const Vector3 &p) const
	Determines whether a point p lies within the shape. More...

Box	getBoundingBox () const
	Returns the smallest box which includes all mesh points. Box is not rotated, but matches the axis of the Shape. More...

double	getMaxRadius () const
	Calculate the maximum distance from the origin of the shape to any point of the shape. More...

const std::vector< std::pair< ShapePtr, Transform > > &	getShapes () const
	Get all the child shapes and their inverse pose relative to the "origin" of the CompositeShape. More...

bool	intersect (const Ray &r, float t0, float t1, double &distance) const
	intersect: currently always throws a logic error More...

bool	intersect (const Vector3 &p, const double radius) const
	Determines whether the shape intersects a sphere with center p. More...

void	setMesh (const Mesh &mesh)
	set the Mesh Any child classes should throw a std::logic_error in case the mesh should not be changed via setMesh. More...

virtual	~CompositeShape ()

Public Member Functions inherited from geo::Shape
virtual bool	empty () const
	empty Test whether the shape(mesh) is empty. More...

virtual const Mesh &	getMesh () const
	return the mesh defining the shape More...

	Shape ()

virtual bool	write (std::ostream &output) const
	write, serialise the shape More...

virtual	~Shape ()

Protected Attributes
Box	bb_

Vector3	max_

double	max_radius_

Vector3	min_

std::vector< std::pair< ShapePtr, Transform > >	shapes_

Protected Attributes inherited from geo::Shape
Mesh	mesh_
	Should not be read or written to directly in general. Use setMesh and getMesh to write respectively read the mesh. In a few exceptions, the mesh can be written direcly. Make sure that mesh keeps consistent with other member variables. More...

Additional Inherited Members
Static Public Member Functions inherited from geo::Shape
static ShapePtr	read (std::istream &input)
	read serialised data from an input stream and create a shape More...

Static Public Attributes inherited from geo::Shape
static const std::string	TYPE = "mesh"

Detailed Description

A geometric description of a shape as a union of other shapes.

Definition at line 16 of file CompositeShape.h.

Constructor & Destructor Documentation

◆ CompositeShape()

geo::CompositeShape::CompositeShape ( )

Definition at line 9 of file CompositeShape.cpp.

◆ ~CompositeShape()

geo::CompositeShape::~CompositeShape ( )

virtual

Definition at line 12 of file CompositeShape.cpp.

Member Function Documentation

◆ addShape()

void geo::CompositeShape::addShape	(	const Shape &	shape,
		const Pose3D &	pose
	)

add a shape to the composite

Parameters

shape	child shape to be added
pose	pose of the origin of the child shape relative to the origin of the composite shape

Definition at line 86 of file CompositeShape.cpp.

◆ clone()

CompositeShape * geo::CompositeShape::clone ( ) const

virtual

Reimplemented from geo::Shape.

Definition at line 15 of file CompositeShape.cpp.

◆ contains()

bool geo::CompositeShape::contains ( const Vector3 & p ) const

virtual

Determines whether a point p lies within the shape.

Parameters

p	point to test

Returns: True means point p lies inside the shape

Let the line segment P connect points p and an arbitrary point p_out outside of the shape We count the number of intersections between P and the shape. A positive number means point p is inside the shape. We use plucker coordinates to determine whether or not a triangle intersects line segment P. more details https://members.loria.fr/SLazard/ARC-Visi3D/Pant-project/files/Line_Segment_Triangle.html

Reimplemented from geo::Shape.

Definition at line 64 of file CompositeShape.cpp.

◆ getBoundingBox()

Box geo::CompositeShape::getBoundingBox ( ) const

virtual

Returns the smallest box which includes all mesh points. Box is not rotated, but matches the axis of the Shape.

Returns: geo::Box of the bounding box.

Reimplemented from geo::Shape.

Definition at line 115 of file CompositeShape.cpp.

◆ getMaxRadius()

double geo::CompositeShape::getMaxRadius ( ) const

virtual

Calculate the maximum distance from the origin of the shape to any point of the shape.

Returns: Maximum radius found.

Reimplemented from geo::Shape.

Definition at line 82 of file CompositeShape.cpp.

◆ getShapes()

const std::vector< std::pair< ShapePtr, Transform > > & geo::CompositeShape::getShapes ( ) const

Get all the child shapes and their inverse pose relative to the "origin" of the CompositeShape.

Returns: reference to the vector of all ShapePtr and Transform

Definition at line 119 of file CompositeShape.cpp.

◆ intersect() [1/2]

bool geo::CompositeShape::intersect	(	const Ray &	r,
		float	t0,
		float	t1,
		double &	distance
	)		const

virtual

intersect: currently always throws a logic error

Parameters

r
t0
t1
distance

Returns: true when the ray intersects the shape

Reimplemented from geo::Shape.

Definition at line 19 of file CompositeShape.cpp.

◆ intersect() [2/2]

bool geo::CompositeShape::intersect	(	const Vector3 &	p,
		const double	radius
	)		const

virtual

Determines whether the shape intersects a sphere with center p.

Parameters

p	center of the sphere
radius	radius of the sphere

Returns: True means the sphere intersects the shape

Main logic: http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.49.9172&rep=rep1&type=pdf Projection in triangle logic: https://www.baeldung.com/cs/check-if-point-is-in-2d-triangle#1-mathematical-idea-2

Reimplemented from geo::Shape.

Definition at line 50 of file CompositeShape.cpp.

◆ setMesh()

void geo::CompositeShape::setMesh ( const Mesh & mesh )

virtual

set the Mesh Any child classes should throw a std::logic_error in case the mesh should not be changed via setMesh.

Parameters

mesh	mesh to set

Reimplemented from geo::Shape.

Definition at line 123 of file CompositeShape.cpp.

Member Data Documentation

◆ bb_

Box geo::CompositeShape::bb_

protected

Definition at line 65 of file CompositeShape.h.

◆ max_

Vector3 geo::CompositeShape::max_

protected

Definition at line 63 of file CompositeShape.h.

◆ max_radius_

double geo::CompositeShape::max_radius_

protected

Definition at line 59 of file CompositeShape.h.

◆ min_

Vector3 geo::CompositeShape::min_

protected

Definition at line 61 of file CompositeShape.h.

◆ shapes_

std::vector<std::pair<ShapePtr, Transform> > geo::CompositeShape::shapes_

protected

Pairs of child shapes and the transform from the origin of the child shape to the origin of the composite shape

Definition at line 57 of file CompositeShape.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CompositeShape()

◆ ~CompositeShape()

Member Function Documentation

◆ addShape()

◆ clone()

◆ contains()

◆ getBoundingBox()

◆ getMaxRadius()

◆ getShapes()

◆ intersect() [1/2]

◆ intersect() [2/2]

◆ setMesh()

Member Data Documentation

◆ bb_

◆ max_

◆ max_radius_

◆ min_

◆ shapes_