|
Robotics Library
0.6.2
|
Go to the documentation of this file.
27 #ifndef _RL_SG_PQP_SHAPE_H_
28 #define _RL_SG_PQP_SHAPE_H_
32 #include <Inventor/actions/SoCallbackAction.h>
33 #include <Inventor/fields/SoMFInt32.h>
34 #include <Inventor/fields/SoMFVec3f.h>
47 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
70 typedef ::std::pair< PQP_Model*, ::std::size_t >
Model;
72 static void triangleCallback(
void* userData, SoCallbackAction* action,
const SoPrimitiveVertex* v1,
const SoPrimitiveVertex* v2,
const SoPrimitiveVertex* v3);
82 #endif // _RL_SG_PQP_SHAPE_H_
PQP_Model model
Definition: Shape.h:61
void setTransform(const ::rl::math::Transform &transform)
Definition: Shape.cpp:95
PQP_REAL rotation[3][3]
Definition: Shape.h:63
void transformToWorld(const ::rl::math::Vector3 &local, ::rl::math::Vector3 &world) const
Definition: Shape.cpp:103
::Eigen::Matrix< Real, 3, 1 > Vector3
Definition: Vector.h:45
void getTransform(::rl::math::Transform &transform)
Definition: Shape.cpp:89
::rl::math::Transform frame
Definition: Shape.h:74
Body * body
Definition: Shape.h:58
PQP_REAL translation[3]
Definition: Shape.h:65
Shape(SoVRMLShape *shape, Body *body)
Definition: Shape.cpp:46
virtual ~Shape()
Definition: Shape.cpp:83
::std::pair< PQP_Model *, ::std::size_t > Model
Definition: Shape.h:70
::Eigen::Transform< Real, 3, ::Eigen::Affine > Transform
Definition: Transform.h:42
::rl::math::Transform transform
Definition: Shape.h:76
static void triangleCallback(void *userData, SoCallbackAction *action, const SoPrimitiveVertex *v1, const SoPrimitiveVertex *v2, const SoPrimitiveVertex *v3)
Definition: Shape.cpp:109
void update()
Definition: Shape.cpp:125