16 #ifndef SURGSIM_MATH_OCTREESHAPE_H
17 #define SURGSIM_MATH_OCTREESHAPE_H
60 virtual double getVolume()
const override;
77 const std::shared_ptr<const NodeType>
getRootNode()
const;
84 virtual bool isValid()
const override;
86 virtual bool doLoad(
const std::string& filePath)
override;
98 #endif // SURGSIM_MATH_OCTREESHAPE_H
virtual ~OctreeShape()
Destructor.
Definition: OctreeShape.cpp:32
Definition: DriveElementFromInputBehavior.cpp:27
This class is used to facilitate file loading.
Definition: Asset.h:33
virtual bool doLoad(const std::string &filePath) override
Derived classes will overwrite this method to do actual loading.
Definition: OctreeShape.cpp:41
SURGSIM_STATIC_REGISTRATION(BoxShape)
::SurgSim::Math::Vector3d Vector3d
Definition: Shape.h:62
void setRootNode(std::shared_ptr< NodeType > node)
Set the root node.
Definition: OctreeShape.cpp:76
SurgSim::DataStructures::OctreeNode< SurgSim::DataStructures::EmptyData > NodeType
Definition: OctreeShape.h:37
SURGSIM_CLASSNAME(SurgSim::Math::OctreeShape)
std::shared_ptr< NodeType > getRootNode()
Get the root node.
Definition: OctreeShape.cpp:66
std::shared_ptr< NodeType > m_rootNode
Root node of the octree datastructure.
Definition: OctreeShape.h:90
virtual Matrix33d getSecondMomentOfVolume() const override
Get the second central moment of the volume, commonly used to calculate the moment of inertia matrix...
Definition: OctreeShape.cpp:60
virtual int getType() override
Definition: OctreeShape.cpp:36
virtual double getVolume() const override
Get the volume of the shape.
Definition: OctreeShape.cpp:49
::SurgSim::Math::Matrix33d Matrix33d
Definition: Shape.h:63
virtual bool isValid() const override
Definition: OctreeShape.cpp:81
OctreeShape()
Constructor.
Definition: OctreeShape.cpp:27
virtual Vector3d getCenter() const override
Get the volumetric center of the shape.
Definition: OctreeShape.cpp:55
Octree data structure.
Definition: OctreeNode.h:128
Octree Shape A defined by an octree data structure.
Definition: OctreeShape.h:34
Generic rigid shape class defining a shape.
Definition: Shape.h:59