Shell Class Reference

A shell represents the geometry of an object as a collection of non-connected faces. More...

#include <Shell.hpp>

Inherits GeometryData.

Inherited by ImplicitShell, IndexedFaceArray, and QuadraticShell.

Public Types
typedef rw::core::Ptr< Shell >	Ptr
	Smart pointer type to Shell.
typedef rw::core::Ptr< const Shell >	CPtr
	Smart pointer type to const Shell.
Public Types inherited from GeometryData
enum	GeometryType {   PointCloud , LineMesh , PlainTriMesh , IdxTriMesh ,   SpherePrim , BoxPrim , OBBPrim , AABBPrim ,   LinePrim , PointPrim , PyramidPrim , ConePrim ,   TrianglePrim , CylinderPrim , TubePrim , PlanePrim ,   RayPrim , Implicit , Quadratic , UserType }
	geometry data types
typedef rw::core::Ptr< GeometryData >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< const GeometryData >	CPtr
	const smart pointer type to this class

Public Member Functions
	Shell ()
	Constructor.
virtual	~Shell ()
	Destructor.
virtual GeometryType	getType () const =0
	the type of this primitive More...
virtual rw::core::Ptr< TriMesh >	getTriMesh (bool forceCopy=true)
	gets a trimesh representation of this geometry data. More...
virtual rw::core::Ptr< TriMesh >	getTriMesh (bool forceCopy=true) const
	gets a trimesh representation of this geometry data. More...
virtual bool	isConvex ()=0
	test if this geometry data is convex More...
virtual std::size_t	size () const =0
	Get the number of surface patches in this shell. More...
rw::core::Ptr< const Face >	getFace (std::size_t idx) const
	Get a surface patch. More...
virtual void	getFace (std::size_t idx, GenericFace &face) const
	Get a surface patch. More...
virtual std::pair< double, double >	extremums (const rw::math::Vector3D< double > &dir) const
	Get the minimum and maximum values of the shell in a certain direction. More...
virtual OBB	obb () const
	Create Oriented Bounding Box (OBB) as a bounding volume for the shell. More...
Public Member Functions inherited from GeometryData
virtual	~GeometryData ()
	Destructor.

Additional Inherited Members
Static Public Member Functions inherited from GeometryData
static std::string	toString (GeometryType type)
	format GeometryType to string More...

Detailed Description

A shell represents the geometry of an object as a collection of non-connected faces.

Each face is composed of a trimmed surface, the edge curves, and vertices that connects the edges. Contrary to the BREP representation, the shell representation holds no information about how each face is connected to the neighbouring faces.

Member Function Documentation

extremums()

virtual std::pair<double, double> extremums ( const rw::math::Vector3D< double > &  dir ) const

virtual

Get the minimum and maximum values of the shell in a certain direction.

Parameters

dir	[in] the direction to find extremums for.

Returns

the minimum and maximum as a pair of values.

getFace() [1/2]

rw::core::Ptr<const Face> getFace ( std::size_t  idx ) const

inline

Get a surface patch.

Parameters

idx	[in] index of patch.

Returns

a copy of the surface patch.

getFace() [2/2]

virtual void getFace ( std::size_t  idx, GenericFace &  face  ) const

virtual

Get a surface patch.

Parameters

idx	[in] index of patch.
face	[out] existing face to copy data into.

Reimplemented in PlainQuadraticShell.

getTriMesh() [1/2]

virtual rw::core::Ptr<TriMesh> getTriMesh ( bool  forceCopy = true )

virtual

gets a trimesh representation of this geometry data.

The trimesh that is returned is by default a copy, which means ownership is transfered to the caller. Specifying forceCopy to false will enable copy by reference and ownership is not necesarilly transfered. This is more efficient, though pointer is only alive as long as this GeometryData is alive.

Returns

TriMesh representation of this GeometryData

Implements GeometryData.

getTriMesh() [2/2]

virtual rw::core::Ptr<TriMesh> getTriMesh ( bool  forceCopy = true ) const

virtual

gets a trimesh representation of this geometry data.

The trimesh that is returned is by default a copy, which means ownership is transfered to the caller. Specifying forceCopy to false will enable copy by reference and ownership is not necesarilly transfered. This is more efficient, though pointer is only alive as long as this GeometryData is alive.

Returns

TriMesh representation of this GeometryData

getType()

virtual GeometryType getType ( ) const

pure virtual

the type of this primitive

Implements GeometryData.

Implemented in QuadraticShell, IndexedFaceArray, and ImplicitShell.

isConvex()

virtual bool isConvex ( )

pure virtual

test if this geometry data is convex

Returns

true if convex

Reimplemented from GeometryData.

Implemented in QuadraticShell, ImplicitShell, PlainQuadraticShell, IndexedQuadraticFaceArray, and IndexedFaceArray.

obb()

virtual OBB obb ( ) const

virtual

Create Oriented Bounding Box (OBB) as a bounding volume for the shell.

Returns

the OBB.

size()

virtual std::size_t size ( ) const

pure virtual

Get the number of surface patches in this shell.

Returns

the number of surface patches.

Implemented in QuadraticShell, ImplicitShell, PlainQuadraticShell, IndexedQuadraticFaceArray, and IndexedFaceArray.

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

• Shell.hpp