HUMIM Tracker: OpenTissue::geometry::Capsule< math_types_ > Class Template Reference

#include <geometry_capsule.h>

Inheritance diagram for OpenTissue::geometry::Capsule< math_types_ >:

List of all members.

Public Types
typedef math_types_	math_types
typedef math_types::value_traits	value_traits
typedef math_types::real_type	real_type
typedef math_types::vector3_type	vector3_type
typedef math_types::matrix3x3_type	matrix3x3_type
typedef math_types::quaternion_type	quaternion_type
Public Member Functions
size_t const	class_id () const
	Capsule ()
	Capsule (vector3_type const &point0, vector3_type const &point1, real_type const &radius)
virtual	~Capsule ()
void	set (vector3_type const &point0, vector3_type const &point1, real_type const &radius)
vector3_type &	point0 ()
vector3_type const &	point0 () const
vector3_type &	point1 ()
vector3_type const &	point1 () const
real_type &	radius ()
real_type const &	radius () const
vector3_type	get_support_point (vector3_type const &) const
real_type	volume () const
real_type	area () const
real_type	diameter () const
void	compute_surface_points (std::vector< vector3_type > &) const
vector3_type	center () const
real_type	evaluate (vector3_type const &x) const
vector3_type	gradient (vector3_type const &x) const
vector3_type	normal (vector3_type const &x) const
real_type	signed_distance (vector3_type const &x) const
vector3_type	closest_point_on_line_segment (vector3_type const &x) const
void	translate (vector3_type const &T)
void	rotate (matrix3x3_type const &R)
void	scale (real_type const &s)
void	compute_collision_aabb (vector3_type const &, matrix3x3_type const &, vector3_type &min_coord, vector3_type &max_coord) const
Protected Attributes
vector3_type	m_point0
	End Point 0.
vector3_type	m_point1
	End Point 1.
real_type	m_radius
	Radius.

Detailed Description

template<typename math_types_>
class OpenTissue::geometry::Capsule< math_types_ >

defined by 2 end points and a radius

Member Typedef Documentation

template<typename math_types_ >

typedef math_types_ OpenTissue::geometry::Capsule< math_types_ >::math_types

template<typename math_types_ >

typedef math_types::matrix3x3_type OpenTissue::geometry::Capsule< math_types_ >::matrix3x3_type

template<typename math_types_ >

typedef math_types::quaternion_type OpenTissue::geometry::Capsule< math_types_ >::quaternion_type

template<typename math_types_ >

typedef math_types::real_type OpenTissue::geometry::Capsule< math_types_ >::real_type

template<typename math_types_ >

typedef math_types::value_traits OpenTissue::geometry::Capsule< math_types_ >::value_traits

template<typename math_types_ >

typedef math_types::vector3_type OpenTissue::geometry::Capsule< math_types_ >::vector3_type

Constructor & Destructor Documentation

template<typename math_types_ >

OpenTissue::geometry::Capsule< math_types_ >::Capsule ( ) [inline]

template<typename math_types_ >

OpenTissue::geometry::Capsule< math_types_ >::Capsule	(	vector3_type const &	point0,
		vector3_type const &	point1,
		real_type const &	radius
	)			`[inline]`

template<typename math_types_ >

virtual OpenTissue::geometry::Capsule< math_types_ >::~Capsule ( ) [inline, virtual]

Member Function Documentation

template<typename math_types_ >

real_type OpenTissue::geometry::Capsule< math_types_ >::area ( ) const [inline]

template<typename math_types_ >

vector3_type OpenTissue::geometry::Capsule< math_types_ >::center ( ) const [inline]

template<typename math_types_ >

size_t const OpenTissue::geometry::Capsule< math_types_ >::class_id ( ) const [inline, virtual]

Query the class ID.

Returns:: The object's class ID

Reimplemented from OpenTissue::utility::ClassID< Capsule< math_types_ > >.

template<typename math_types_ >

vector3_type OpenTissue::geometry::Capsule< math_types_ >::closest_point_on_line_segment ( vector3_type const & x ) const [inline]

Returns the point on the line seqment (p1-p0) that results in the shortest distance to p

template<typename math_types_ >

void OpenTissue::geometry::Capsule< math_types_ >::compute_collision_aabb	(	vector3_type const &	,
		matrix3x3_type const &	,
		vector3_type &	min_coord,
		vector3_type &	max_coord
	)			const `[inline]`

Compute Bounding Box. This method computes an axis aligned bounding box (AABB) that encloses the geometry.

Parameters:

	r	The position of the model frame (i.e the coordinate frame the geometry lives in).
	R	The orientation of the model frame (i.e the coordinate frame the geometry lives in).
	min_coord	Upon return holds the minimum corner of the box.
	max_coord	Upon return holds the maximum corner of the box.

template<typename math_types_ >

void OpenTissue::geometry::Capsule< math_types_ >::compute_surface_points ( std::vector< vector3_type > & ) const [inline]

template<typename math_types_ >

real_type OpenTissue::geometry::Capsule< math_types_ >::diameter ( ) const [inline]

template<typename math_types_ >

real_type OpenTissue::geometry::Capsule< math_types_ >::evaluate ( vector3_type const & x ) const [inline]

Implicit Capsule.

p0, p1 : end points r : radius

The idea is plain simple: 1) Construct a line l(t) := p0+t*(p1-p0) 2) Find the shortest distance from p to the line l(t) find t such that l(t)-p is perpendicular to p1-p0, e.g. (l(t)-p)*(p1-p0) = 0 3) Clamp t to [0;1], and determine x = l(t) this nice trick ensures we can handle both the cylinder and the hemispheres equally 4) Set F(p) := |x-p| - r F(p) < 0 <-- p inside capsule F(p) = 0 <-- p on capsule surface F(p) > 0 <-- p outside capsule

template<typename math_types_ >

vector3_type OpenTissue::geometry::Capsule< math_types_ >::get_support_point ( vector3_type const & ) const [inline]

template<typename math_types_ >

vector3_type OpenTissue::geometry::Capsule< math_types_ >::gradient ( vector3_type const & x ) const [inline]

template<typename math_types_ >

vector3_type OpenTissue::geometry::Capsule< math_types_ >::normal ( vector3_type const & x ) const [inline]

template<typename math_types_ >

vector3_type const& OpenTissue::geometry::Capsule< math_types_ >::point0 ( ) const [inline]

template<typename math_types_ >

vector3_type& OpenTissue::geometry::Capsule< math_types_ >::point0 ( ) [inline]

template<typename math_types_ >

vector3_type const& OpenTissue::geometry::Capsule< math_types_ >::point1 ( ) const [inline]

template<typename math_types_ >

vector3_type& OpenTissue::geometry::Capsule< math_types_ >::point1 ( ) [inline]

template<typename math_types_ >

real_type& OpenTissue::geometry::Capsule< math_types_ >::radius ( ) [inline]

template<typename math_types_ >

real_type const& OpenTissue::geometry::Capsule< math_types_ >::radius ( ) const [inline]

template<typename math_types_ >

void OpenTissue::geometry::Capsule< math_types_ >::rotate ( matrix3x3_type const & R ) [inline]

template<typename math_types_ >

void OpenTissue::geometry::Capsule< math_types_ >::scale ( real_type const & s ) [inline]

template<typename math_types_ >

void OpenTissue::geometry::Capsule< math_types_ >::set	(	vector3_type const &	point0,
		vector3_type const &	point1,
		real_type const &	radius
	)			`[inline]`

template<typename math_types_ >

real_type OpenTissue::geometry::Capsule< math_types_ >::signed_distance ( vector3_type const & x ) const [inline]

Returns the point on the line seqment (p1-p0) that results in the shortest distance to p

template<typename math_types_ >

void OpenTissue::geometry::Capsule< math_types_ >::translate ( vector3_type const & T ) [inline]

template<typename math_types_ >

real_type OpenTissue::geometry::Capsule< math_types_ >::volume ( ) const [inline]

Member Data Documentation

template<typename math_types_ >

vector3_type OpenTissue::geometry::Capsule< math_types_ >::m_point0 [protected]

End Point 0.

template<typename math_types_ >

vector3_type OpenTissue::geometry::Capsule< math_types_ >::m_point1 [protected]

End Point 1.

template<typename math_types_ >

real_type OpenTissue::geometry::Capsule< math_types_ >::m_radius [protected]

Radius.

The documentation for this class was generated from the following file:

/home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/core/geometry/geometry_capsule.h