構成 | |
class | OpenRAVE::geometry::ray< T > |
A ray defined by an origin and a direction. [詳細] | |
class | OpenRAVE::geometry::aabb< T > |
An axis aligned bounding box. [詳細] | |
class | OpenRAVE::geometry::OrientedBox< T > |
An oriented bounding box. [詳細] | |
class | OpenRAVE::geometry::obb< T > |
An oriented bounding box. [詳細] | |
class | OpenRAVE::geometry::triangle< T > |
A triangle defined by 3 points. [詳細] | |
class | OpenRAVE::geometry::frustum< T > |
A pyramid with its vertex clipped. [詳細] | |
関数 | |
template<typename T > | |
int | OpenRAVE::geometry::insideQuadrilateral (const RaveVector< T > &v, const RaveVector< T > &verts) |
Tests a point inside a 3D quadrilateral. | |
template<typename T > | |
int | OpenRAVE::geometry::insideTriangle (const RaveVector< T > v, const triangle< T > &tri) |
Tests a point insdie a 3D triangle. | |
template<typename T > | |
bool | OpenRAVE::geometry::RayAABBTest (const ray< T > &r, const aabb< T > &ab) |
Test collision of a ray with an axis aligned bounding box. | |
template<typename T > | |
bool | OpenRAVE::geometry::RayOBBTest (const ray< T > &r, const obb< T > &o) |
Test collision of a ray and an oriented bounding box. | |
template<typename T > | |
bool | OpenRAVE::geometry::IsOBBinFrustum (const obb< T > &o, const frustum< T > &fr) |
Test collision of an oriented bounding box and a frustum. | |
template<typename T , typename U > | |
bool | OpenRAVE::geometry::IsOBBinConvexHull (const obb< T > &o, const U &vplanes) |
Tests if an oriented bounding box is inside a 3D convex hull. | |
template<typename T > | |
bool | OpenRAVE::geometry::TriTriCollision (const RaveVector< T > &u1, const RaveVector< T > &u2, const RaveVector< T > &u3, const RaveVector< T > &v1, const RaveVector< T > &v2, const RaveVector< T > &v3, RaveVector< T > &contactpos, RaveVector< T > &contactnorm) |
Test collision if two 3D triangles.Assuming triangle vertices are declared counter-clockwise!! | |
template<typename T > | |
obb< T > | OpenRAVE::geometry::OBBFromAABB (const aabb< T > &ab, const RaveTransformMatrix< T > &t) |
Transform an axis aligned bounding box to an oriented bounding box. | |
template<typename T > | |
obb< T > | OpenRAVE::geometry::OBBFromAABB (const aabb< T > &ab, const RaveTransform< T > &t) |
Transform an axis aligned bounding box to an oriented bounding box. | |
template<typename T > | |
obb< T > | OpenRAVE::geometry::TransformOBB (const RaveTransform< T > &t, const obb< T > &o) |
Transforms an oriented bounding box. | |
template<typename T > | |
obb< T > | OpenRAVE::geometry::TransformOBB (const RaveTransformMatrix< T > &t, const obb< T > &o) |
Transforms an oriented bounding box. | |
template<typename T > | |
bool | OpenRAVE::geometry::AABBCollision (const aabb< T > &ab1, const aabb< T > &ab2) |
projects an obb along the world axes | |
Distnace functions. | |
template<typename T > | |
T | OpenRAVE::geometry::DistVertexOBBSq (const RaveVector< T > &v, const obb< T > &o) |
The minimum distance form the vertex to the oriented bounding box. | |
A set of geometric primitives and functions offering collision detection and other distance measurement capabilities.
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inline |
projects an obb along the world axes
Test collision between two axis-aligned bounding boxes.
geometry.h の 1782 行で定義されています。
T OpenRAVE::geometry::DistVertexOBBSq | ( | const RaveVector< T > & | v, |
const obb< T > & | o | ||
) |
The minimum distance form the vertex to the oriented bounding box.
geometry.h の 2350 行で定義されています。
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inline |
Tests a point inside a 3D quadrilateral.
geometry.h の 1192 行で定義されています。
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inline |
Tests a point insdie a 3D triangle.
geometry.h の 1221 行で定義されています。
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inline |
Tests if an oriented bounding box is inside a 3D convex hull.
vplanes | the plane normals of the convex hull, normals should be facing inside. |
geometry.h の 1540 行で定義されています。
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inline |
Test collision of an oriented bounding box and a frustum.
geometry.h の 1468 行で定義されています。
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inline |
Transform an axis aligned bounding box to an oriented bounding box.
[in] | t | transformation used to set the coordinate system of ab. |
geometry.h の 1714 行で定義されています。
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inline |
Transform an axis aligned bounding box to an oriented bounding box.
[in] | t | transformation used to set the coordinate system of ab. |
geometry.h の 1730 行で定義されています。
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inline |
Test collision of a ray with an axis aligned bounding box.
geometry.h の 1251 行で定義されています。
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inline |
Test collision of a ray and an oriented bounding box.
geometry.h の 1273 行で定義されています。
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inline |
Transforms an oriented bounding box.
[in] | t | transformation used to set the coordinate system of o. |
geometry.h の 1740 行で定義されています。
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inline |
Transforms an oriented bounding box.
[in] | t | transformation used to set the coordinate system of o. |
geometry.h の 1756 行で定義されています。
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inline |
Test collision if two 3D triangles.Assuming triangle vertices are declared counter-clockwise!!
[out] | contactnorm | if triangles collide, then filled with the normal of the second triangle |
geometry.h の 1617 行で定義されています。