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16 #ifndef SURGSIM_MATH_PARTICLESSHAPE_H
17 #define SURGSIM_MATH_PARTICLESSHAPE_H
30 namespace DataStructures
38 SURGSIM_STATIC_REGISTRATION(ParticlesShape);
68 const std::shared_ptr<const SurgSim::DataStructures::AabbTree>
getAabbTree()
const;
98 std::shared_ptr<SurgSim::DataStructures::AabbTree>
m_aabbTree;
118 #endif // SURGSIM_MATH_PARTICLESSHAPE_H
int getType() const override
Definition: ParticlesShape.cpp:46
bool doUpdate() override
Performs any updates that are required when the vertices are modified.
Definition: ParticlesShape.cpp:81
Definitions of small fixed-size vector types.
Vector3d m_center
Volumetric center of particles.
Definition: ParticlesShape.h:104
Particles Shape: A shape consisting of a group of particles of equal radius.
Definition: ParticlesShape.h:42
Base class for mesh structures, handling basic vertex functionality.
Definition: Vertices.h:52
bool isTransformable() const override
Definition: ParticlesShape.cpp:131
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
const Math::Aabbd & getBoundingBox() const override
Definition: ParticlesShape.cpp:136
SURGSIM_CLASSNAME(SurgSim::Math::ParticlesShape)
::SurgSim::Math::Matrix33d Matrix33d
Definition: Shape.h:69
Definitions of small fixed-size square matrix types.
std::shared_ptr< Shape > getTransformed(const RigidTransform3d &pose) const override
Get a copy of this shape with an applied rigid transform.
Definition: ParticlesShape.cpp:118
double m_radius
Particles' radius.
Definition: ParticlesShape.h:101
Definition: CompoundShapeToGraphics.cpp:30
double getRadius() const
Get the radius of the particles.
Definition: ParticlesShape.cpp:71
Vector3d getCenter() const override
Get the volumetric center of the shape.
Definition: ParticlesShape.cpp:56
double getVolume() const override
Get the volume of the shape.
Definition: ParticlesShape.cpp:51
Eigen::AlignedBox< double, 3 > Aabbd
Wrapper around the Eigen type.
Definition: Aabb.h:30
std::shared_ptr< SurgSim::DataStructures::AabbTree > m_aabbTree
The aabb tree of the ParticlesShape.
Definition: ParticlesShape.h:98
double m_volume
Total volume of particles.
Definition: ParticlesShape.h:107
ParticlesShape(double radius=0.0)
Constructor.
Definition: ParticlesShape.cpp:29
Matrix33d m_secondMomentOfVolume
Second moment of volume.
Definition: ParticlesShape.h:110
Matrix33d getSecondMomentOfVolume() const override
Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix.
Definition: ParticlesShape.cpp:61
const std::shared_ptr< const SurgSim::DataStructures::AabbTree > getAabbTree() const
Get the AabbTree.
Definition: ParticlesShape.cpp:126
Generic rigid shape class defining a shape.
Definition: Shape.h:66
::SurgSim::Math::Vector3d Vector3d
Definition: Shape.h:68
bool isValid() const override
Check if the shape is valid.
Definition: ParticlesShape.cpp:66
void setRadius(double radius)
Set the particles' radius.
Definition: ParticlesShape.cpp:76
ParticlesShape & operator=(const Vertices< V > &other)
Assignment when the template data is a different type.