MultiSphereConvexHullShape represents the convex hull of a collection of spheres. More...

#include <MultiSphereConvexHullShape.hpp>

Inheritance diagram for dart::dynamics::MultiSphereConvexHullShape:

Public Types
using	Sphere = std::pair< double, Eigen::Vector3d >

using	Spheres = std::vector< Sphere >

enum	ShapeType { SPHERE , BOX , ELLIPSOID , CYLINDER , CAPSULE , CONE , 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
	MultiSphereConvexHullShape (const Spheres &spheres)
	Constructor. More...

virtual	~MultiSphereConvexHullShape ()
	Destructor. More...

const std::string &	getType () const override
	Returns a string representing the shape type. More...

void	addSpheres (const Spheres &spheres)
	Add a list of spheres. More...

void	addSphere (const Sphere &sphere)
	Add a sphere. More...

void	addSphere (double radius, const Eigen::Vector3d &position)
	Add a sphere. More...

void	removeAllSpheres ()
	Remove all spheres. More...

std::size_t	getNumSpheres () const
	Get the number of spheres. More...

const Spheres &	getSpheres () const
	Get the set of spheres. More...

Eigen::Matrix3d	computeInertia (double mass) const override
	Compute the inertia of this MultiSphereConvexHullShape. 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 ()
	Returns shape type for this class. 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
	Update the volume of this MultiSphereConvexHullShape. 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
Spheres	mSpheres
	Spheres. More...

VersionChangedSignal	mVersionChangedSignal
	Triggered by incrementVersion() More...

VersionCounter *	mDependent

Detailed Description

MultiSphereConvexHullShape represents the convex hull of a collection of spheres.

Member Typedef Documentation

◆ Sphere

using dart::dynamics::MultiSphereConvexHullShape::Sphere = std::pair<double, Eigen::Vector3d>

◆ Spheres

using dart::dynamics::MultiSphereConvexHullShape::Spheres = std::vector<Sphere>

◆ VersionChangedSignal

using dart::dynamics::Shape::VersionChangedSignal = common::Signal<void(Shape* shape, std::size_t version)>

inherited

Member Enumeration Documentation

◆ DataVariance

enum dart::dynamics::Shape::DataVariance

inherited

DataVariance can be used by renderers to determine whether it should expect data for this shape to change during each update.

Enumerator
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)

◆ ShapeType

enum dart::dynamics::Shape::ShapeType

inherited

Deprecated:: Deprecated in 6.1. Please use getType() instead.

Enumerator
SPHERE
BOX
ELLIPSOID
CYLINDER
CAPSULE
CONE
PLANE
MULTISPHERE
MESH
SOFT_MESH
LINE_SEGMENT
HEIGHTMAP
UNSUPPORTED

Constructor & Destructor Documentation

◆ MultiSphereConvexHullShape()

dart::dynamics::MultiSphereConvexHullShape::MultiSphereConvexHullShape ( const Spheres & spheres )

explicit

Constructor.

◆ ~MultiSphereConvexHullShape()

dart::dynamics::MultiSphereConvexHullShape::~MultiSphereConvexHullShape ( )

virtual

Destructor.

Member Function Documentation

◆ addDataVariance()

void dart::dynamics::Shape::addDataVariance ( unsigned int _variance )

inherited

Add a type of variance to this shape.

All other variance types will remain the same.

◆ addObserver()

void dart::common::Subject::addObserver ( Observer * _observer ) const

protectedinherited

Add an Observer to the list of Observers.

◆ addSphere() [1/2]

void dart::dynamics::MultiSphereConvexHullShape::addSphere ( const Sphere & sphere )

Add a sphere.

◆ addSphere() [2/2]

void dart::dynamics::MultiSphereConvexHullShape::addSphere	(	double	radius,
		const Eigen::Vector3d &	position
	)

Add a sphere.

◆ addSpheres()

void dart::dynamics::MultiSphereConvexHullShape::addSpheres ( const Spheres & spheres )

Add a list of spheres.

◆ checkDataVariance()

bool dart::dynamics::Shape::checkDataVariance ( DataVariance type ) const

inherited

True iff this Shape has the specified type of DataVariance.

◆ computeInertia()

Eigen::Matrix3d dart::dynamics::MultiSphereConvexHullShape::computeInertia ( double mass ) const

overridevirtual

Compute the inertia of this MultiSphereConvexHullShape.

Note: The return value is an approximated inertia that is the inertia of the axis-alinged bounding box of this MultiSphereConvexHullShape.

Implements dart::dynamics::Shape.

◆ computeInertiaFromDensity()

Eigen::Matrix3d dart::dynamics::Shape::computeInertiaFromDensity ( double density ) const

inherited

◆ computeInertiaFromMass()

Eigen::Matrix3d dart::dynamics::Shape::computeInertiaFromMass ( double mass ) const

inherited

◆ getBoundingBox()

const math::BoundingBox & dart::dynamics::Shape::getBoundingBox ( ) const

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.

◆ getDataVariance()

unsigned int dart::dynamics::Shape::getDataVariance ( ) const

inherited

Get the data variance of this shape.

◆ getID()

std::size_t dart::dynamics::Shape::getID ( ) const

inherited

◆ getNumSpheres()

std::size_t dart::dynamics::MultiSphereConvexHullShape::getNumSpheres ( ) const

Get the number of spheres.

◆ getShapeType()

Shape::ShapeType dart::dynamics::Shape::getShapeType ( ) const

inherited

Deprecated:: Deprecated in 6.1. Please use getType() instead.

◆ getSpheres()

const MultiSphereConvexHullShape::Spheres & dart::dynamics::MultiSphereConvexHullShape::getSpheres ( ) const

Get the set of spheres.

◆ getStaticType()

const std::string & dart::dynamics::MultiSphereConvexHullShape::getStaticType ( )

static

Returns shape type for this class.

◆ getType()

const std::string & dart::dynamics::MultiSphereConvexHullShape::getType ( ) const

overridevirtual

Returns a string representing the shape type.

See also: is()

Implements dart::dynamics::Shape.

◆ getVersion()

std::size_t dart::common::VersionCounter::getVersion ( ) const

virtualinherited

Get the version number of this object.

◆ getVolume()

double dart::dynamics::Shape::getVolume ( ) const

inherited

Returns volume of this shape.

The volume will be automatically calculated by the sub-classes such as BoxShape, EllipsoidShape, CylinderShape, and MeshShape.

◆ incrementVersion()

std::size_t dart::dynamics::Shape::incrementVersion ( )

finaloverridevirtualinherited

Increment the version of this Shape and notify its subscribers.

Reimplemented from dart::common::VersionCounter.

◆ is()

template<typename ShapeT >

bool dart::dynamics::Shape::is

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:

auto shape = bodyNode->getShapeNode(0)->getShape();
if (shape->is<BoxShape>())
  std::cout << "The shape type is box!\n";

See also: getType()

◆ notifyAlphaUpdate()

void dart::dynamics::Shape::notifyAlphaUpdate ( double alpha )

virtualinherited

Notify that the alpha of this shape has updated.

◆ notifyAlphaUpdated()

void dart::dynamics::Shape::notifyAlphaUpdated ( double alpha )

virtualinherited

Notify that the alpha of this shape has updated.

Reimplemented in dart::dynamics::MeshShape.

◆ notifyColorUpdate()

void dart::dynamics::Shape::notifyColorUpdate ( const Eigen::Vector4d & color )

virtualinherited

Notify that the color (rgba) of this shape has updated.

◆ notifyColorUpdated()

void dart::dynamics::Shape::notifyColorUpdated ( const Eigen::Vector4d & color )

virtualinherited

Notify that the color (rgba) of this shape has updated.

Reimplemented in dart::dynamics::ArrowShape.

◆ refreshData()

void dart::dynamics::Shape::refreshData ( )

virtualinherited

Instruct this shape to update its data.

◆ removeAllSpheres()

void dart::dynamics::MultiSphereConvexHullShape::removeAllSpheres ( )

Remove all spheres.

◆ removeDataVariance()

void dart::dynamics::Shape::removeDataVariance ( unsigned int _variance )

inherited

Remove a type of variance from this shape.

All other variance types will remain the same.

◆ removeObserver()

void dart::common::Subject::removeObserver ( Observer * _observer ) const

protectedinherited

Remove an Observer from the list of Observers.

◆ sendDestructionNotification()

void dart::common::Subject::sendDestructionNotification ( ) const

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.

◆ setDataVariance()

void dart::dynamics::Shape::setDataVariance ( unsigned int _variance )

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.

◆ setVersionDependentObject()

void dart::common::VersionCounter::setVersionDependentObject ( VersionCounter * dependent )

protectedinherited

◆ updateBoundingBox()

void dart::dynamics::MultiSphereConvexHullShape::updateBoundingBox ( ) const

overrideprotectedvirtual

Updates bounding box.

Implements dart::dynamics::Shape.

◆ updateVolume()

void dart::dynamics::MultiSphereConvexHullShape::updateVolume ( ) const

overrideprotectedvirtual

Update the volume of this MultiSphereConvexHullShape.

Note: The result volume is an approximated volumen that is the volume of the axis-alinged bounding box of this MultiSphereConvexHullShape.

Implements dart::dynamics::Shape.

Member Data Documentation

◆ mBoundingBox

math::BoundingBox dart::dynamics::Shape::mBoundingBox

mutableprotectedinherited

The bounding box (in the local coordinate frame) of the shape.

◆ mCounter

std::atomic_int dart::dynamics::Shape::mCounter { 1000 }

staticprotectedinherited

◆ mDependent

VersionCounter* dart::common::VersionCounter::mDependent

privateinherited

◆ mID

const std::size_t dart::dynamics::Shape::mID

protectedinherited

Unique id.

◆ mIsBoundingBoxDirty

bool dart::dynamics::Shape::mIsBoundingBoxDirty

mutableprotectedinherited

Whether bounding box needs update.

◆ mIsVolumeDirty

bool dart::dynamics::Shape::mIsVolumeDirty

mutableprotectedinherited

Whether volume needs update.

◆ mObservers

std::set<Observer*> dart::common::Subject::mObservers

mutableprotectedinherited

List of current Observers.

◆ mSpheres

Spheres dart::dynamics::MultiSphereConvexHullShape::mSpheres

private

Spheres.

◆ mType

ShapeType dart::dynamics::Shape::mType

protectedinherited

Deprecated:: Deprecated in 6.1.

Please use getType() instead. Type of primitive shpae.

◆ mVariance

unsigned int dart::dynamics::Shape::mVariance

protectedinherited

The DataVariance of this Shape.

◆ mVersion

std::size_t dart::common::VersionCounter::mVersion

protectedinherited

◆ mVersionChangedSignal

VersionChangedSignal dart::dynamics::Shape::mVersionChangedSignal

privateinherited

Triggered by incrementVersion()

◆ mVolume

double dart::dynamics::Shape::mVolume

mutableprotectedinherited

Volume enclosed by the geometry.

◆ onVersionChanged

common::SlotRegister<VersionChangedSignal> dart::dynamics::Shape::onVersionChanged

inherited

Use this to subscribe to version change signals.

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Sphere

◆ Spheres

◆ VersionChangedSignal

Member Enumeration Documentation

◆ DataVariance

◆ ShapeType

Constructor & Destructor Documentation

◆ MultiSphereConvexHullShape()

◆ ~MultiSphereConvexHullShape()

Member Function Documentation

◆ addDataVariance()

◆ addObserver()

◆ addSphere() [1/2]

◆ addSphere() [2/2]

◆ addSpheres()

◆ checkDataVariance()

◆ computeInertia()

◆ computeInertiaFromDensity()

◆ computeInertiaFromMass()

◆ getBoundingBox()

◆ getDataVariance()

◆ getID()

◆ getNumSpheres()

◆ getShapeType()

◆ getSpheres()

◆ getStaticType()

◆ getType()

◆ getVersion()

◆ getVolume()

◆ incrementVersion()

◆ is()

◆ notifyAlphaUpdate()

◆ notifyAlphaUpdated()

◆ notifyColorUpdate()

◆ notifyColorUpdated()

◆ refreshData()

◆ removeAllSpheres()

◆ removeDataVariance()

◆ removeObserver()

◆ sendDestructionNotification()

◆ setDataVariance()

◆ setVersionDependentObject()

◆ updateBoundingBox()

◆ updateVolume()

Member Data Documentation

◆ mBoundingBox

◆ mCounter

◆ mDependent

◆ mID

◆ mIsBoundingBoxDirty

◆ mIsVolumeDirty

◆ mObservers

◆ mSpheres

◆ mType

◆ mVariance

◆ mVersion

◆ mVersionChangedSignal

◆ mVolume

◆ onVersionChanged