Tcpolyhedron Struct Reference

A convex polyhedron. More...

#include <cpolyhedron.h>

Collaboration diagram for Tcpolyhedron:

[legend]

Data Fields
unsigned int	type
Tcolor	color
unsigned int	obj3d
unsigned int	nv
unsigned int	nf
unsigned int	ne
double **	v
unsigned int *	nvf
unsigned int **	fv
double	rad
double	center [3]
double	p1 [3]
double	p2 [3]
double	maxCoord

---

Detailed Description

Convex polyhedron implementation.

Note that we can have cylinders, spheres and general polyhedrons (geomview non-colored OFFs) However, the shapes are only used for display purposes since internally all objects are represented/approximated as polyhedrons (i.e., OFFs). This is specially relevant for collision detection since a polytope approximating the cylinder and the sphere is used. The granularity of this approximation adjusted in the .world files.

In principle, geomview OFFs can define non-convex objects. We will display these objects as non-convex, but in the obstacle detection system a convex hull of the objects is considered. This is why we call this type convex polyhedron (cpolyhedron), because, functionally, they are treated as convex.

See also:

cpolyhedron.h, cpolyhedron.c.

Definition at line 102 of file cpolyhedron.h.

---

Field Documentation

unsigned int Tcpolyhedron::type

Type of convex body: CYLINDER, SPHERE, OFF.

Definition at line 103 of file cpolyhedron.h.

Referenced by CopyCPolyhedron(), GenerateCylinderOFF(), GenerateSphereOFF(), GetCPolyhedronDefiningPoint(), GetCpolyhedronRadius(), GetCPolyhedronType(), NewCylinder(), NewSphere(), PlotCPolyhedron(), ReadCylinder(), ReadOFF(), ReadSphere(), and SaveCPolyhedron().

Tcolor Tcpolyhedron::color

The color of the convex body.

Definition at line 105 of file cpolyhedron.h.

Referenced by CopyCPolyhedron(), GetCPolyhedronColor(), InitCPolyhedronFromFile(), NewCylinder(), NewSphere(), PlotCPolyhedron(), and SetCPolyhedronColor().

unsigned int Tcpolyhedron::obj3d

Identifier of the body. Used when plotting (see Tplot3d).

Definition at line 107 of file cpolyhedron.h.

Referenced by CopyCPolyhedron(), InitCPolyhedronFromFile(), MoveCPolyhedron(), NewCylinder(), NewSphere(), and PlotCPolyhedron().

unsigned int Tcpolyhedron::nv

Number of vertices.

Definition at line 109 of file cpolyhedron.h.

Referenced by CopyCPolyhedron(), DeleteCPolyhedron(), GenerateCylinderOFF(), GenerateSphereOFF(), GetCPolyhedronNVertex(), GetCPolyhedronVertex(), PlotCPolyhedron(), ReadOFF(), SaveCPolyhedron(), and TransformCPolyhedron().

unsigned int Tcpolyhedron::nf

Number of faces.

Definition at line 110 of file cpolyhedron.h.

Referenced by CopyCPolyhedron(), DeleteCPolyhedron(), GenerateCylinderOFF(), GenerateSphereOFF(), PlotCPolyhedron(), ReadOFF(), and SaveCPolyhedron().

unsigned int Tcpolyhedron::ne

Number of edges (not used).

Definition at line 111 of file cpolyhedron.h.

Referenced by CopyCPolyhedron(), PlotCPolyhedron(), and ReadOFF().

double** Tcpolyhedron::v

The vertices (3d points).

Definition at line 112 of file cpolyhedron.h.

Referenced by CopyCPolyhedron(), DeleteCPolyhedron(), GenerateCylinderOFF(), GenerateSphereOFF(), GetCPolyhedronVertex(), PlotCPolyhedron(), ReadOFF(), SaveCPolyhedron(), and TransformCPolyhedron().

unsigned int* Tcpolyhedron::nvf

Number of vertices per face.

Definition at line 113 of file cpolyhedron.h.

Referenced by CopyCPolyhedron(), DeleteCPolyhedron(), GenerateCylinderOFF(), GenerateSphereOFF(), PlotCPolyhedron(), ReadOFF(), and SaveCPolyhedron().

unsigned int** Tcpolyhedron::fv

Face vertices.

Definition at line 114 of file cpolyhedron.h.

Referenced by CopyCPolyhedron(), DeleteCPolyhedron(), GenerateCylinderOFF(), GenerateSphereOFF(), PlotCPolyhedron(), ReadOFF(), and SaveCPolyhedron().

double Tcpolyhedron::rad

Radius of the sphere/cylinder.

Definition at line 116 of file cpolyhedron.h.

Referenced by CopyCPolyhedron(), GenerateCylinderOFF(), GenerateSphereOFF(), GetCpolyhedronRadius(), NewCylinder(), NewSphere(), PlotCPolyhedron(), ReadCylinder(), ReadOFF(), ReadSphere(), and SaveCPolyhedron().

double Tcpolyhedron::center[3]

Center of the sphere.

Definition at line 118 of file cpolyhedron.h.

Referenced by CopyCPolyhedron(), GenerateSphereOFF(), GetCPolyhedronDefiningPoint(), NewCylinder(), NewSphere(), PlotCPolyhedron(), ReadCylinder(), ReadOFF(), ReadSphere(), SaveCPolyhedron(), and TransformCPolyhedron().

double Tcpolyhedron::p1[3]

Origin of the cylinder axes.

Definition at line 120 of file cpolyhedron.h.

Referenced by CopyCPolyhedron(), GenerateCylinderOFF(), GetCPolyhedronDefiningPoint(), NewCylinder(), NewSphere(), PlotCPolyhedron(), ReadCylinder(), ReadOFF(), ReadSphere(), SaveCPolyhedron(), and TransformCPolyhedron().

double Tcpolyhedron::p2[3]

End of the cylinder axes.

Definition at line 121 of file cpolyhedron.h.

Referenced by CopyCPolyhedron(), GenerateCylinderOFF(), GetCPolyhedronDefiningPoint(), NewCylinder(), NewSphere(), PlotCPolyhedron(), ReadCylinder(), ReadOFF(), ReadSphere(), SaveCPolyhedron(), and TransformCPolyhedron().

double Tcpolyhedron::maxCoord

Maximum of the X,Y,Z coordinates used to represent the convex polyhedron. This provides a conservative bounding box for this object.

Definition at line 123 of file cpolyhedron.h.

Referenced by CopyCPolyhedron(), GenerateCylinderOFF(), GenerateSphereOFF(), GetCPolyhedronMaxCoordinate(), ReadOFF(), and TransformCPolyhedron().

---

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

• src/CuikWorld/include/cpolyhedron.h