/usr/include/SurgSim/Math/OctreeShape.h is in libopensurgsim-dev 0.7.0-6ubuntu1.
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 99 100 101 | // 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_OCTREESHAPE_H
#define SURGSIM_MATH_OCTREESHAPE_H
#include "SurgSim/DataStructures/EmptyData.h"
#include "SurgSim/DataStructures/OctreeNode.h"
#include "SurgSim/Framework/Asset.h"
#include "SurgSim/Framework/ObjectFactory.h"
#include "SurgSim/Math/Shape.h"
namespace SurgSim
{
namespace Math
{
SURGSIM_STATIC_REGISTRATION(OctreeShape);
/// Octree Shape
/// A defined by an octree data structure
class OctreeShape : public Shape
{
public:
typedef SurgSim::DataStructures::OctreeNode<SurgSim::DataStructures::EmptyData> NodeType;
/// Constructor
OctreeShape();
SURGSIM_CLASSNAME(SurgSim::Math::OctreeShape);
/// Construct an OctreeShape by copying data from an OctreeNode
/// NOTE: The Data stored in the octree node will not be copied into the
/// OctreeShape.
/// \tparam T octree node data structure to build Octree Shape from
/// \param node octree node data structure to build Octree Shape from
template<class T>
explicit OctreeShape(const SurgSim::DataStructures::OctreeNode<T>& node);
/// Destructor
virtual ~OctreeShape();
/// \return the type of shape
int getType() const override;
/// Get the volume of the shape
/// \return The volume of the shape (in m-3)
double getVolume() const override;
/// Get the volumetric center of the shape
/// \return The center of the shape
Vector3d getCenter() const override;
/// Get the second central moment of the volume, commonly used
/// to calculate the moment of inertia matrix
/// \return The 3x3 symmetric second moment matrix
Matrix33d getSecondMomentOfVolume() const override;
/// Get the root node
/// \return the octree root node of this shape
std::shared_ptr<NodeType> getOctree();
/// Set the root node
/// \param node the octree root node of this shape
void setOctree(std::shared_ptr<SurgSim::Framework::Asset> node);
/// \return True if the bounding box is bigger than or equal to 0; Otherwise, false.
bool isValid() const override;
void loadOctree(const std::string& filePath);
const Math::Aabbd& getBoundingBox() const override;
private:
/// \param node the OctreeNode to check
/// \return True if the bounding box is bigger than or equal to 0; Otherwise, false.
bool isValid(std::shared_ptr<NodeType> node) const;
/// Root node of the octree datastructure
std::shared_ptr<NodeType> m_rootNode;
};
}; // Math
}; // SurgSim
#include "SurgSim/Math/OctreeShape-inl.h"
#endif // SURGSIM_MATH_OCTREESHAPE_H
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