Public Member Functions | |
| SplineMotion (const Vec3f &Td0, const Vec3f &Td1, const Vec3f &Td2, const Vec3f &Td3, const Vec3f &Rd0, const Vec3f &Rd1, const Vec3f &Rd2, const Vec3f &Rd3) | |
| Construct motion from 4 deBoor points. | |
| bool | integrate (double dt) |
| Integrate the motion from 0 to dt We compute the current transformation from zero point instead of from last integrate time, for precision. | |
| FCL_REAL | computeMotionBound (const BV &bv, const Vec3f &n) const |
| Compute the motion bound for a bounding volume along a given direction n For general BV, not implemented so return trivial 0. | |
| FCL_REAL | computeMotionBound (const Vec3f &a, const Vec3f &b, const Vec3f &c, const Vec3f &n) const |
| Compute the motion bound for a triangle, given the closest direction n between two query objects. | |
| void | getCurrentTransform (Matrix3f &R, Vec3f &T) const |
| Get the rotation and translation in current step. | |
| void | getCurrentRotation (Matrix3f &R) const |
| void | getCurrentTranslation (Vec3f &T) const |
| void | getCurrentTransform (Transform3f &tf_) const |
| template<> | |
| FCL_REAL | computeMotionBound (const RSS &bv, const Vec3f &n) const |
Protected Member Functions | |
| void | computeSplineParameter () |
| FCL_REAL | getWeight0 (FCL_REAL t) const |
| FCL_REAL | getWeight1 (FCL_REAL t) const |
| FCL_REAL | getWeight2 (FCL_REAL t) const |
| FCL_REAL | getWeight3 (FCL_REAL t) const |
| FCL_REAL | computeTBound (const Vec3f &n) const |
| FCL_REAL | computeDWMax () const |
Protected Attributes | |
| Vec3f | Td [4] |
| Vec3f | Rd [4] |
| Vec3f | TA |
| Vec3f | TB |
| Vec3f | TC |
| Vec3f | RA |
| Vec3f | RB |
| Vec3f | RC |
| FCL_REAL | Rd0Rd0 |
| FCL_REAL | Rd0Rd1 |
| FCL_REAL | Rd0Rd2 |
| FCL_REAL | Rd0Rd3 |
| FCL_REAL | Rd1Rd1 |
| FCL_REAL | Rd1Rd2 |
| FCL_REAL | Rd1Rd3 |
| FCL_REAL | Rd2Rd2 |
| FCL_REAL | Rd2Rd3 |
| FCL_REAL | Rd3Rd3 |
| Transform3f | tf |
| The transformation at current time t. | |
| FCL_REAL | tf_t |
| The time related with tf. | |
Definition at line 51 of file motion.h.
