DART
6.10.1
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ConeShape represents a three-dimensional geometric shape that tapers smoothly from a flat circular base to a point called the apex or vertex. More...
#include <ConeShape.hpp>
Public Types | |
enum | ShapeType { SPHERE , BOX , ELLIPSOID , CYLINDER , CAPSULE , CONE , PYRAMID , RECTANGULAR_PYRAMID , PLANE , MULTISPHERE , MESH , SOFT_MESH , LINE_SEGMENT , HEIGHTMAP , UNSUPPORTED } |
enum | DataVariance { STATIC = 0 , DYNAMIC_TRANSFORM = 1 << 1 , DYNAMIC_PRIMITIVE = 1 << 2 , DYNAMIC_COLOR = 1 << 3 , DYNAMIC_VERTICES = 1 << 4 , DYNAMIC_ELEMENTS = 1 << 5 , DYNAMIC = 0xFF } |
DataVariance can be used by renderers to determine whether it should expect data for this shape to change during each update. More... | |
using | VersionChangedSignal = common::Signal< void(Shape *shape, std::size_t version)> |
Public Member Functions | |
ConeShape (double radius, double height) | |
Constructor. More... | |
const std::string & | getType () const override |
Returns a string representing the shape type. More... | |
double | getRadius () const |
Get the radius of the circular base. More... | |
void | setRadius (double radius) |
Set the radius of the circular base. More... | |
double | getHeight () const |
Get the lateral height of the cone. More... | |
void | setHeight (double height) |
Set the lateral height of the cone. More... | |
Eigen::Matrix3d | computeInertia (double mass) const override |
Computes the inertia. More... | |
template<typename ShapeT > | |
bool | is () const |
Get true if the types of this Shape and the template parameter (a shape class) are identical. More... | |
const math::BoundingBox & | getBoundingBox () const |
Get the bounding box of the shape in its local coordinate frame. More... | |
Eigen::Matrix3d | computeInertiaFromDensity (double density) const |
Eigen::Matrix3d | computeInertiaFromMass (double mass) const |
double | getVolume () const |
Returns volume of this shape. More... | |
std::size_t | getID () const |
ShapeType | getShapeType () const |
void | setDataVariance (unsigned int _variance) |
Set the data variance of this shape. More... | |
void | addDataVariance (unsigned int _variance) |
Add a type of variance to this shape. More... | |
void | removeDataVariance (unsigned int _variance) |
Remove a type of variance from this shape. More... | |
unsigned int | getDataVariance () const |
Get the data variance of this shape. More... | |
bool | checkDataVariance (DataVariance type) const |
True iff this Shape has the specified type of DataVariance. More... | |
virtual void | refreshData () |
Instruct this shape to update its data. More... | |
virtual void | notifyAlphaUpdate (double alpha) |
Notify that the alpha of this shape has updated. More... | |
virtual void | notifyAlphaUpdated (double alpha) |
Notify that the alpha of this shape has updated. More... | |
virtual void | notifyColorUpdate (const Eigen::Vector4d &color) |
Notify that the color (rgba) of this shape has updated. More... | |
virtual void | notifyColorUpdated (const Eigen::Vector4d &color) |
Notify that the color (rgba) of this shape has updated. More... | |
std::size_t | incrementVersion () override final |
Increment the version of this Shape and notify its subscribers. More... | |
virtual std::size_t | getVersion () const |
Get the version number of this object. More... | |
Static Public Member Functions | |
static const std::string & | getStaticType () |
Get shape type string for this shape. More... | |
static double | computeVolume (double radius, double height) |
Compute volume from given properties. More... | |
static Eigen::Matrix3d | computeInertia (double radius, double height, double mass) |
Compute moments of inertia of a cone at the center of geometric center (half of the z-axis segment between the tip and the center of the base disk). More... | |
Public Attributes | |
common::SlotRegister< VersionChangedSignal > | onVersionChanged |
Use this to subscribe to version change signals. More... | |
Protected Member Functions | |
void | updateBoundingBox () const override |
Updates bounding box. More... | |
void | updateVolume () const override |
Updates volume. More... | |
void | sendDestructionNotification () const |
Send a destruction notification to all Observers. More... | |
void | addObserver (Observer *_observer) const |
Add an Observer to the list of Observers. More... | |
void | removeObserver (Observer *_observer) const |
Remove an Observer from the list of Observers. More... | |
void | setVersionDependentObject (VersionCounter *dependent) |
Protected Attributes | |
math::BoundingBox | mBoundingBox |
The bounding box (in the local coordinate frame) of the shape. More... | |
bool | mIsBoundingBoxDirty |
Whether bounding box needs update. More... | |
double | mVolume |
Volume enclosed by the geometry. More... | |
bool | mIsVolumeDirty |
Whether volume needs update. More... | |
const std::size_t | mID |
Unique id. More... | |
unsigned int | mVariance |
The DataVariance of this Shape. More... | |
ShapeType | mType |
std::set< Observer * > | mObservers |
List of current Observers. More... | |
std::size_t | mVersion |
Static Protected Attributes | |
static std::atomic_int | mCounter { 1000 } |
Private Attributes | |
double | mRadius |
Radius of the circular base. More... | |
double | mHeight |
Height of the cylindrical part. More... | |
VersionChangedSignal | mVersionChangedSignal |
Triggered by incrementVersion() More... | |
VersionCounter * | mDependent |
ConeShape represents a three-dimensional geometric shape that tapers smoothly from a flat circular base to a point called the apex or vertex.
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inherited |
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inherited |
DataVariance can be used by renderers to determine whether it should expect data for this shape to change during each update.
Enumerator | |
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STATIC | |
DYNAMIC_TRANSFORM | No data will ever change. |
DYNAMIC_PRIMITIVE | The relative transform of the Shape might change. |
DYNAMIC_COLOR | The primitive properties (such as x/y/z scaling) of the shape might change. |
DYNAMIC_VERTICES | The coloring or textures of the shape might change. |
DYNAMIC_ELEMENTS | Vertex positions of a mesh might change (this does not include adding or removing vertices) (this enum is not relevant for primitive shapes) |
DYNAMIC | The number of elements and/or arrangement of elements might change (this includes adding and removing vertices) (this enum is not relevant for primitive shapes) |
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inherited |
Enumerator | |
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SPHERE | |
BOX | |
ELLIPSOID | |
CYLINDER | |
CAPSULE | |
CONE | |
PYRAMID | |
RECTANGULAR_PYRAMID | |
PLANE | |
MULTISPHERE | |
MESH | |
SOFT_MESH | |
LINE_SEGMENT | |
HEIGHTMAP | |
UNSUPPORTED |
dart::dynamics::ConeShape::ConeShape | ( | double | radius, |
double | height | ||
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Constructor.
[in] | radius | Radius of the circular base. |
[in] | height | Lateral height of the cone. |
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inherited |
Add a type of variance to this shape.
All other variance types will remain the same.
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protectedinherited |
Add an Observer to the list of Observers.
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inherited |
True iff this Shape has the specified type of DataVariance.
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overridevirtual |
Computes the inertia.
Implements dart::dynamics::Shape.
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static |
Compute moments of inertia of a cone at the center of geometric center (half of the z-axis segment between the tip and the center of the base disk).
[in] | radius | Radius of the circular base. |
[in] | height | Lateral height of the cone. |
[in] | mass | The mass of the cone. |
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inherited |
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inherited |
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static |
Compute volume from given properties.
[in] | radius | Radius of the circular base. |
[in] | height | Lateral height of the cone. |
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inherited |
Get the bounding box of the shape in its local coordinate frame.
The dimension will be automatically determined by the sub-classes such as BoxShape, EllipsoidShape, CylinderShape, and MeshShape.
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inherited |
Get the data variance of this shape.
double dart::dynamics::ConeShape::getHeight | ( | ) | const |
Get the lateral height of the cone.
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inherited |
double dart::dynamics::ConeShape::getRadius | ( | ) | const |
Get the radius of the circular base.
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inherited |
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static |
Get shape type string for this shape.
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overridevirtual |
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virtualinherited |
Get the version number of this object.
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inherited |
Returns volume of this shape.
The volume will be automatically calculated by the sub-classes such as BoxShape, EllipsoidShape, CylinderShape, and MeshShape.
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finaloverridevirtualinherited |
Increment the version of this Shape and notify its subscribers.
Reimplemented from dart::common::VersionCounter.
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inherited |
Get true if the types of this Shape and the template parameter (a shape class) are identical.
This function is a syntactic sugar, which is identical to: (getType() == ShapeType::getStaticType()).
Example code:
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virtualinherited |
Notify that the alpha of this shape has updated.
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virtualinherited |
Notify that the alpha of this shape has updated.
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virtualinherited |
Notify that the color (rgba) of this shape has updated.
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virtualinherited |
Notify that the color (rgba) of this shape has updated.
Reimplemented in dart::dynamics::PointCloudShape, dart::dynamics::HeightmapShape< S_ >, dart::dynamics::HeightmapShape< S >, and dart::dynamics::ArrowShape.
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virtualinherited |
Instruct this shape to update its data.
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inherited |
Remove a type of variance from this shape.
All other variance types will remain the same.
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protectedinherited |
Remove an Observer from the list of Observers.
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protectedinherited |
Send a destruction notification to all Observers.
This will cause all Observers to behave as if this Subject has been permanently deleted, so it should only be called when that behavior is desired.
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inherited |
Set the data variance of this shape.
Use the DataVariance to indicate what kind of shape information might change during run time so that renderers can optimize reliably.
void dart::dynamics::ConeShape::setHeight | ( | double | height | ) |
Set the lateral height of the cone.
void dart::dynamics::ConeShape::setRadius | ( | double | radius | ) |
Set the radius of the circular base.
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protectedinherited |
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overrideprotectedvirtual |
Updates bounding box.
Implements dart::dynamics::Shape.
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overrideprotectedvirtual |
Updates volume.
Implements dart::dynamics::Shape.
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mutableprotectedinherited |
The bounding box (in the local coordinate frame) of the shape.
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staticprotectedinherited |
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privateinherited |
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private |
Height of the cylindrical part.
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protectedinherited |
Unique id.
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mutableprotectedinherited |
Whether bounding box needs update.
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mutableprotectedinherited |
Whether volume needs update.
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mutableprotectedinherited |
List of current Observers.
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private |
Radius of the circular base.
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protectedinherited |
Please use getType() instead. Type of primitive shpae.
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protectedinherited |
The DataVariance of this Shape.
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protectedinherited |
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privateinherited |
Triggered by incrementVersion()
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mutableprotectedinherited |
Volume enclosed by the geometry.
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inherited |
Use this to subscribe to version change signals.