A right circular cone shape for geometric intersection tests. More...

#include <Cone.h>

Inheritance diagram for agxCollide::Cone:

Public Member Functions
	Cone (agx::Real topRadius, agx::Real bottomRadius, agx::Real height)
	Creates a cone.

agx::SPDMatrix3x3	calculateInertia (agx::Real mass) const override
	Calculate the inertia of the Cone.

virtual BoundingAABB	calculateLocalBound () const override
	Calculate the bounding volume in the local coordinate system.

virtual Shape *	clone () const override
	Create a clone.

agx::Real	getAngle () const

agx::Real	getBottomRadius () const

virtual agx::Vec3	getCenter () const override

agx::Real	getHeight () const

virtual agx::Vec3	getSupportPoint (const agx::Vec3 &supportDirection) const override
	Returns the support point on face of the shape.

agx::Real	getTopRadius () const

agx::Real	getTruncatedHeight () const

virtual agx::Real	getVolume () const override
	Calculate the volume of this cylinder.

virtual bool	hasSupportFunction () const override

void	set (agx::Real topRadius, agx::Real bottomRadius, agx::Real height)
	Sets all parameters for the cone.

void	setBottomRadius (agx::Real r)
	Sets the bottom radius for the cone.

void	setHeight (agx::Real height)
	Sets the height of the cone.

void	setTopRadius (agx::Real r)
	Sets the top radius for the cone.

virtual const BoundingAABB &	updateBoundingVolume () override
	Calculate the bounding volume based on the current Shape parameters including transformation.

Public Member Functions inherited from agxCollide::Shape
ShapeGroup *	asGroup ()
	Auto-cast shape to group.

const ShapeGroup *	asGroup () const
	Auto-cast shape to group.

virtual agx::Real	calculateBoundingRadius (BoundingAABB &localAABB) const
	Calculate the bounding volume (AABB) into `localAABB` and calculate the bounding radius based on the new AABB size.

virtual agx::SPDMatrix3x3	calculateInertia (agx::Real mass) const =0
	Calculate the inertia for the shape given a mass.

virtual BoundingAABB	calculateLocalBound () const =0
	Calculate the bounding volume in the local coordinate system.

virtual Shape *	clone () const
	Create a clone.

const BoundingAABB &	getBoundingVolume () const

virtual agx::Vec3	getCenter () const

agx::Physics::Geometry::ShapePtr	getEntity () const

Geometry *	getGeometry ()

const Geometry *	getGeometry () const

agx::AffineMatrix4x4	getLocalTransform () const

agx::UInt32	getModifiedCount () const

agxCollide::RenderData *	getRenderData ()

const agxCollide::RenderData *	getRenderData () const
	If this is a ShapeGroup, then this method will return nullptr as the render data is stored in the actual children (Box, Mesh etc.

virtual agx::Vec3	getSupportPoint (const agx::Vec3 &supportDirection) const
	Returns the support point on face of the shape.

agx::AffineMatrix4x4	getTransform () const

agx::UInt8	getType () const

const char *	getTypeName () const

virtual agx::Real	getVolume () const =0
	Return the volume of the shape.

virtual bool	hasSupportFunction () const

bool	isGroup () const

virtual void	propagateTransform (const agx::AffineMatrix4x4 &transform)

virtual void	setRenderData (agxCollide::RenderData *renderData)
	Store render data with the Shape.

virtual const BoundingAABB &	updateBoundingVolume ()=0
	Calculate the bounding volume based on the current Shape parameters including transformation.

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Static Public Member Functions
static agx::Real	computeTruncatedHeight (agx::Real topRadius, agx::Real bottomRadius, agx::Real height)
	Compute the height of the truncated part of the cone.

Static Public Member Functions inherited from agxCollide::Shape
static BoundingAABB	calculateBound (const agx::AffineMatrix4x4 &transform, const BoundingAABB &localBound)

static const char *	getTypeName (agx::UInt8 type)

Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Protected Member Functions
	Cone ()
	Hidden default constructor.

virtual	~Cone ()
	Destructor.

Protected Member Functions inherited from agxCollide::Shape
	Shape (Type type, agx::Physics::Geometry::ShapePtr entity=agx::Physics::Geometry::ShapeModel::createInstance())
	Constructor.

virtual	~Shape ()
	Destructor.

agx::UInt32	incrementModifiedCount ()
	Increment the number of times the shape have been modified.

void	syncronizeShapeIndex ()

Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Additional Inherited Members
Public Types inherited from agxCollide::Shape
enum	Type { GROUP , BOX , CAPSULE , CYLINDER , LINE , PLANE , SPHERE , TRIMESH , HEIGHT_FIELD , CONVEX , WIRE_SHAPE , CONE , HOLLOW_CONE , HOLLOW_CYLINDER , NUM_TYPES }
	Define the type of a Shape. More...

Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Protected Attributes inherited from agxCollide::Shape
agx::Physics::Geometry::ShapeRef	m_entity

Geometry *	m_geometry

agx::ref_ptr< agx::Referenced >	m_internalData

ShapeGroup *	m_parent

agxCollide::RenderDataRef	m_renderData

agx::Index	m_shapeIndex

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

A right circular cone shape for geometric intersection tests.

See manual for information about limitations and which shape pairs that are supported for cones.

The cone can be configured as an orinary cone (topRadius==0) or a truncated Cone (topRadius != 0 ). The shape is defined along the Y-axis with the base described by the bottom radius in the XZ-plane at Y=0. The top of the cone, described by topRadius, is positioned at height along the positive Y axis.

Requirements for the cone parameters are:

height > 0
topRadius >= 0
bottomRadius > topRadius

If the topRadius is larger than 0, then the top part of the cone is truncated.

Definition at line 48 of file Cone.h.

Constructor & Destructor Documentation

◆ Cone() [1/2]

agxCollide::Cone::Cone	(	agx::Real	topRadius,
		agx::Real	bottomRadius,
		agx::Real	height
	)

Creates a cone.

◆ Cone() [2/2]

agxCollide::Cone::Cone ( )

protected

Hidden default constructor.

◆ ~Cone()

virtual agxCollide::Cone::~Cone ( )

protectedvirtual

Destructor.

Member Function Documentation

◆ calculateInertia()

agx::SPDMatrix3x3 agxCollide::Cone::calculateInertia ( agx::Real mass ) const

overridevirtual

Calculate the inertia of the Cone.

Returns: the calculated inertia tensor for this Cone in the local coordinate system.

Implements agxCollide::Shape.

◆ calculateLocalBound()

virtual BoundingAABB agxCollide::Cone::calculateLocalBound ( ) const

overridevirtual

Calculate the bounding volume in the local coordinate system.

Returns: the calculated bounding volume.

Implements agxCollide::Shape.

◆ clone()

virtual Shape * agxCollide::Cone::clone ( ) const

overridevirtual

Create a clone.

Reimplemented from agxCollide::Shape.

◆ computeTruncatedHeight()

static agx::Real agxCollide::Cone::computeTruncatedHeight	(	agx::Real	topRadius,
		agx::Real	bottomRadius,
		agx::Real	height
	)

static

Compute the height of the truncated part of the cone.

◆ getAngle()

agx::Real agxCollide::Cone::getAngle ( ) const

Returns: The angle between the cone axis and side. This value is the same as half the opening angle.

◆ getBottomRadius()

agx::Real agxCollide::Cone::getBottomRadius ( ) const

inline

Returns: The bottom radius for the cone

Definition at line 167 of file Cone.h.

◆ getCenter()

virtual agx::Vec3 agxCollide::Cone::getCenter ( ) const

overridevirtual

Returns: the center (local, relative to the Shape) of the shape. This is in most cases 0,0,0 - but can have other positions, e.g. in Convex shapes.

Reimplemented from agxCollide::Shape.

◆ getHeight()

agx::Real agxCollide::Cone::getHeight ( ) const

inline

Returns: The height of the cone

Definition at line 172 of file Cone.h.

◆ getSupportPoint()

virtual agx::Vec3 agxCollide::Cone::getSupportPoint ( const agx::Vec3 & supportDirection ) const

overridevirtual

Returns the support point on face of the shape.

Parameters

supportDirection - Direction in shape coords where to find a support point

Reimplemented from agxCollide::Shape.

◆ getTopRadius()

agx::Real agxCollide::Cone::getTopRadius ( ) const

inline

Returns: The top radius for the cone

Definition at line 162 of file Cone.h.

◆ getTruncatedHeight()

agx::Real agxCollide::Cone::getTruncatedHeight ( ) const

Returns: The height of the truncated part. This value is non-zero if topRadius is > 0.

◆ getVolume()

virtual agx::Real agxCollide::Cone::getVolume ( ) const

overridevirtual

Calculate the volume of this cylinder.

Returns: the calculated volume for this cylinder.

Implements agxCollide::Shape.

◆ hasSupportFunction()

virtual bool agxCollide::Cone::hasSupportFunction ( ) const

overridevirtual

Returns: true if the shape implements its own support function, used by Minkowski difference based collision algorithms.

Reimplemented from agxCollide::Shape.

◆ set()

void agxCollide::Cone::set	(	agx::Real	topRadius,
		agx::Real	bottomRadius,
		agx::Real	height
	)

Sets all parameters for the cone.

Parameters

topRadius	- New top radius
bottomRadius	- New bottom radius.
height	- New height for the cone.

◆ setBottomRadius()

void agxCollide::Cone::setBottomRadius ( agx::Real r )

Sets the bottom radius for the cone.

◆ setHeight()

void agxCollide::Cone::setHeight ( agx::Real height )

Sets the height of the cone.

◆ setTopRadius()

void agxCollide::Cone::setTopRadius ( agx::Real r )

Sets the top radius for the cone.

◆ updateBoundingVolume()

virtual const BoundingAABB & agxCollide::Cone::updateBoundingVolume ( )

overridevirtual

Calculate the bounding volume based on the current Shape parameters including transformation.

Returns: new calculated bounding volume

Implements agxCollide::Shape.

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

Cone.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Cone() [1/2]

◆ Cone() [2/2]

◆ ~Cone()

Member Function Documentation

◆ calculateInertia()

◆ calculateLocalBound()

◆ clone()

◆ computeTruncatedHeight()

◆ getAngle()

◆ getBottomRadius()

◆ getCenter()

◆ getHeight()

◆ getSupportPoint()

◆ getTopRadius()

◆ getTruncatedHeight()

◆ getVolume()

◆ hasSupportFunction()

◆ set()

◆ setBottomRadius()

◆ setHeight()

◆ setTopRadius()

◆ updateBoundingVolume()