geometric_shape_to_BVH_model.h File Reference

#include "fcl/shape/geometric_shapes.h"
#include "fcl/BVH/BVH_model.h"
#include <boost/math/constants/constants.hpp>

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Namespaces
namespace	fcl
	Main namespace.
Functions
template<typename BV >
void	fcl::generateBVHModel (BVHModel< BV > &model, const Box &shape, const Transform3f &pose)
	Generate BVH model from box.
template<typename BV >
void	fcl::generateBVHModel (BVHModel< BV > &model, const Sphere &shape, const Transform3f &pose, unsigned int seg, unsigned int ring)
	Generate BVH model from sphere, given the number of segments along longitude and number of rings along latitude.
template<typename BV >
void	fcl::generateBVHModel (BVHModel< BV > &model, const Sphere &shape, const Transform3f &pose, unsigned int n_faces_for_unit_sphere)
	Generate BVH model from sphere The difference between generateBVHModel is that it gives the number of triangles faces N for a sphere with unit radius. For sphere of radius r, then the number of triangles is r * r * N so that the area represented by a single triangle is approximately the same.s.
template<typename BV >
void	fcl::generateBVHModel (BVHModel< BV > &model, const Cylinder &shape, const Transform3f &pose, unsigned int tot, unsigned int h_num)
	Generate BVH model from cylinder, given the number of segments along circle and the number of segments along axis.
template<typename BV >
void	fcl::generateBVHModel (BVHModel< BV > &model, const Cylinder &shape, const Transform3f &pose, unsigned int tot_for_unit_cylinder)
	Generate BVH model from cylinder Difference from generateBVHModel: is that it gives the circle split number tot for a cylinder with unit radius. For cylinder with larger radius, the number of circle split number is r * tot.
template<typename BV >
void	fcl::generateBVHModel (BVHModel< BV > &model, const Cone &shape, const Transform3f &pose, unsigned int tot, unsigned int h_num)
	Generate BVH model from cone, given the number of segments along circle and the number of segments along axis.
template<typename BV >
void	fcl::generateBVHModel (BVHModel< BV > &model, const Cone &shape, const Transform3f &pose, unsigned int tot_for_unit_cone)
	Generate BVH model from cone Difference from generateBVHModel: is that it gives the circle split number tot for a cylinder with unit radius. For cone with larger radius, the number of circle split number is r * tot.