Robotics Library  0.7.0
Shape.h
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26 
27 #ifndef RL_SG_SOLID_SHAPE_H
28 #define RL_SG_SOLID_SHAPE_H
29 
30 #include <unordered_set>
31 #include <Inventor/fields/SoMFInt32.h>
32 #include <Inventor/fields/SoMFVec3f.h>
33 #include <SOLID/SOLID.h>
34 #include <SOLID/SOLID_broad.h>
35 
36 #include "../Shape.h"
37 
38 namespace rl
39 {
40  namespace sg
41  {
42  namespace solid
43  {
44  class Body;
45 
46  class Shape : public ::rl::sg::Shape
47  {
48  public:
49  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
50 
51  Shape(SoVRMLShape* shape, Body* body);
52 
53  virtual ~Shape();
54 
56 
57  void setMargin(const ::rl::math::Real& margin);
58 
60 
61  void update();
62 
63  bool complex;
64 
65  ::std::unordered_set<Shape*> encounters;
66 
67  DT_ObjectHandle object;
68 
69  BP_ProxyHandle proxy;
70 
71  protected:
72 
73  private:
74  DT_ShapeHandle create(SoVRMLShape* shape);
75 
76  DT_ShapeHandle create(const SoMFVec3f& point);
77 
78  DT_ShapeHandle create(const SoMFVec3f& point, const SoMFInt32& coordIndex);
79 
81 
82  DT_Vector3 max;
83 
84  DT_Vector3 min;
85 
86  DT_ShapeHandle shape;
87 
89  };
90  }
91  }
92 }
93 
94 #endif // RL_SG_SOLID_SHAPE_H
rl::sg::solid::Shape::shape
DT_ShapeHandle shape
Definition: Shape.h:86
rl::sg::solid::Shape::max
DT_Vector3 max
Definition: Shape.h:82
rl::math::Transform
::Eigen::Transform< Real, 3, ::Eigen::Affine > Transform
Rigid transformation in 3D.
Definition: Transform.h:46
rl::sg::solid::Shape::create
DT_ShapeHandle create(SoVRMLShape *shape)
Definition: Shape.cpp:95
rl::sg::Shape::body
Body * body
Definition: Shape.h:58
rl::sg::solid::Shape::update
void update()
Definition: Shape.cpp:236
rl::sg::solid::Shape::setTransform
void setTransform(const ::rl::math::Transform &transform)
Definition: Shape.cpp:228
rl::sg::solid::Shape::transform
::rl::math::Transform transform
Definition: Shape.h:88
rl::sg::solid::Shape::encounters
::std::unordered_set< Shape * > encounters
Definition: Shape.h:65
rl::sg::solid::Shape::complex
bool complex
Definition: Shape.h:63
rl::sg::solid::Shape::Shape
Shape(SoVRMLShape *shape, Body *body)
Definition: Shape.cpp:47
rl::sg::solid::Shape::min
DT_Vector3 min
Definition: Shape.h:84
rl::sg::solid::Shape::setMargin
void setMargin(const ::rl::math::Real &margin)
Definition: Shape.cpp:222
rl::sg::Shape
Definition: Shape.h:41
rl::sg::solid::Shape::object
DT_ObjectHandle object
Definition: Shape.h:67
rl::math::Real
double Real
Definition: Real.h:42
rl::sg::solid::Shape::getTransform
void getTransform(::rl::math::Transform &transform)
Definition: Shape.cpp:202
rl::sg::solid::Shape::~Shape
virtual ~Shape()
Definition: Shape.cpp:68
rl::sg::solid::Body
Definition: Body.h:15
rl::sg::solid::Shape
Definition: Shape.h:47
rl::sg::solid::Shape::proxy
BP_ProxyHandle proxy
Definition: Shape.h:69
rl::sg::solid::Shape::frame
::rl::math::Transform frame
Definition: Shape.h:80
rl
Robotics Library.
Definition: AnalogInput.cpp:30