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box-inl.h
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box-inl.h
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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Open Source Robotics Foundation nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
/** @author Jia Pan */
#include "fcl/object/geometry/shape/box.h"
namespace fcl
{
//==============================================================================
template <typename S>
Box<S>::Box(S x, S y, S z)
: ShapeBase<S>(), side(x, y, z)
{
// Do nothing
}
//==============================================================================
template <typename S>
Box<S>::Box(const Vector3<S>& side_)
: ShapeBase<S>(), side(side_)
{
// Do nothing
}
//==============================================================================
template <typename S>
Box<S>::Box()
: ShapeBase<S>(), side(Vector3<S>::Zero())
{
// Do nothing
}
//==============================================================================
template <typename S>
void Box<S>::computeLocalAABB()
{
computeBV(*this, Transform3<S>::Identity(), this->aabb_local);
this->aabb_center = this->aabb_local.center();
this->aabb_radius = (this->aabb_local.min_ - this->aabb_center).norm();
}
//==============================================================================
template <typename S>
NODE_TYPE Box<S>::getNodeType() const
{
return GEOM_BOX;
}
//==============================================================================
template <typename S>
S Box<S>::computeVolume() const
{
return side.prod();
}
//==============================================================================
template <typename S>
Matrix3<S> Box<S>::computeMomentofInertia() const
{
S V = computeVolume();
S a2 = side[0] * side[0] * V;
S b2 = side[1] * side[1] * V;
S c2 = side[2] * side[2] * V;
Vector3<S> I((b2 + c2) / 12, (a2 + c2) / 12, (a2 + b2) / 12);
return I.asDiagonal();
}
//==============================================================================
template <typename S>
std::vector<Vector3<S>> Box<S>::getBoundVertices(
const Transform3<S>& tf) const
{
std::vector<Vector3<S>> result(8);
auto a = side[0] / 2;
auto b = side[1] / 2;
auto c = side[2] / 2;
result[0] = tf * Vector3<S>(a, b, c);
result[1] = tf * Vector3<S>(a, b, -c);
result[2] = tf * Vector3<S>(a, -b, c);
result[3] = tf * Vector3<S>(a, -b, -c);
result[4] = tf * Vector3<S>(-a, b, c);
result[5] = tf * Vector3<S>(-a, b, -c);
result[6] = tf * Vector3<S>(-a, -b, c);
result[7] = tf * Vector3<S>(-a, -b, -c);
return result;
}
} // namespace fcl
#include "fcl/object/geometry/shape/detail/bv_computer_box.h"