/usr/include/SurgSim/Math/SegmentMeshShape.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 | // This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_MATH_SEGMENTMESHSHAPE_H
#define SURGSIM_MATH_SEGMENTMESHSHAPE_H
#include "SurgSim/DataStructures/AabbTree.h"
#include "SurgSim/DataStructures/SegmentMesh.h"
#include "SurgSim/Framework/ObjectFactory.h"
#include "SurgSim/Math/Geometry.h"
#include "SurgSim/Math/Shape.h"
namespace SurgSim
{
namespace Math
{
SURGSIM_STATIC_REGISTRATION(SegmentMeshShape);
/// SegmentMeshShape defines a shape based on a mesh, like MeshShape.
/// But, unlike MeshShape, the mesh does not have any triangle topology. It only consists of edges.
///
/// \sa MeshShape
class SegmentMeshShape : public Shape, public DataStructures::SegmentMeshPlain
{
public:
/// Constructor
SegmentMeshShape();
/// Copy constructor
/// \param other The SegmentMeshShape to be copied from
explicit SegmentMeshShape(const SegmentMeshShape& other);
/// Constructor
/// \param mesh The segment mesh to build the shape from
/// \param radius The radius associated to this surface mesh
/// \note The default radius is positive EPSILON to be relevant in collision detection calculations.
template <class VertexData, class EdgeData>
explicit SegmentMeshShape(const DataStructures::SegmentMesh<VertexData, EdgeData>& mesh,
double radius = Geometry::DistanceEpsilon);
SURGSIM_CLASSNAME(SurgSim::Math::SegmentMeshShape);
int getType() const override;
double getVolume() const override;
Vector3d getCenter() const override;
Matrix33d getSecondMomentOfVolume() const override;
bool isValid() const override;
/// \param radius The radius of the segments.
void setRadius(double radius);
/// \return The radius of the segments.
double getRadius() const;
/// \return The object's associated AabbTree
std::shared_ptr<const DataStructures::AabbTree> getAabbTree() const;
bool isTransformable() const override;
std::shared_ptr<Shape> getTransformed(const RigidTransform3d& pose) const override;
protected:
bool doUpdate() override;
bool doLoad(const std::string& fileName) override;
/// Update the AabbTree, which is an axis-aligned bounding box r-tree used to accelerate spatial searches
void updateAabbTree();
private:
/// Segment radius
double m_radius;
/// The aabb tree used to accelerate collision detection against the mesh
std::shared_ptr<DataStructures::AabbTree> m_aabbTree;
/// Half extent of the AABB of the sphere at one of the segment end.
Vector3d m_segmentEndBoundingBoxHalfExtent;
};
} // Math
} // SurgSim
#include "SurgSim/Math/SegmentMeshShape-inl.h"
#endif // SURGSIM_MATH_SEGMENTMESHSHAPE_H
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