Capsule geometry, default configuration is centered at origin with length running up and down the y axes. The length refers to the length of the cylinder. More...
#include <imstkCapsule.h>
Inheritance diagram for imstk::Capsule:
Collaboration diagram for imstk::Capsule:
Public Member Functions | |
| Capsule (const Vec3d &pos=Vec3d(0.0, 0.0, 0.0), const double radius=0.5, const double length=1.0, const Quatd orientation=Quatd::Identity()) | |
| void | print () const override |
| Print the capsule info. | |
| double | getVolume () override |
| Returns the volume of the capsule. | |
| double | getFunctionValue (const Vec3d &x) const override |
| Returns the signed distance to the capsule. | |
| void | computeBoundingBox (Vec3d &min, Vec3d &max, const double paddingPercent) |
| Get the min, max of the AABB around the capsule. | |
| void | updatePostTransformData () const override |
| Update the Capsule parameters applying the latest transform. | |
| std::unique_ptr< Capsule > | clone () |
| Polymorphic clone, hides the declaration in superclass return own type. | |
| double | getRadius (DataType type=DataType::PostTransform) |
| Get/Set the radius of the capsule. | |
| void | setRadius (const double r) |
| double | getLength (DataType type=DataType::PostTransform) |
| Get/Set the length of the capsule. | |
| void | setLength (const double l) |
 Public Member Functions inherited from imstk::AnalyticalGeometry | |
| Vec3d | getPosition (DataType type=DataType::PostTransform) |
| Get the local or global position (post transformed) | |
| Quatd | getOrientation (DataType type=DataType::PostTransform) |
| Get the local or global orientation (post transformed) | |
| void | setOrientation (const Quatd r) |
| Set the local orientation. | |
| double | getFunctionValue (const Vec3d &imstkNotUsed(pos)) const override |
| Returns the implicit function value, this could signed, unsigned distance, or some other scalar. More... | |
| void | setPosition (const Vec3d p) |
| Set the local position. | |
| void | setPosition (const double x, const double y, const double z) |
| Public Member Functions inherited from imstk::Geometry | |
| Geometry (const Geometry &other) | |
| void | operator= (const Geometry &other) |
| virtual const std::string | getTypeName () const =0 |
| Returns the string representing the type name of the geometry. More... | |
| SIGNAL (Geometry, modified) | |
| virtual Vec3d | getCenter () |
| Returns the bounding box center. | |
| void | transform (const Mat4d &T, TransformType type=TransformType::ConcatenateToTransform) |
| Applies a rigid transform to the geometry. | |
| std::unique_ptr< Geometry > | clone () |
| polymorphic clone function, utilize this to get a copy of the geometry without casting to the expected geometry type | |
| const std::string & | getName () const |
| Get the name of the geometry. | |
| void | setName (const std::string &name) |
| size_t | getGlobalId () const |
| Get the global (unique) index of the geometry. | |
| virtual bool | isMesh () const |
| Returns true if the geometry is a mesh, else returns false. | |
| void | postModified () |
| Post modified event. | |
| void | translate (const Vec3d &t, TransformType type=TransformType::ConcatenateToTransform) |
| Translate the geometry in Cartesian space. | |
| void | translate (double x, double y, double z, TransformType type=TransformType::ConcatenateToTransform) |
| void | rotate (const Quatd &q, TransformType type=TransformType::ConcatenateToTransform) |
| Rotate the geometry in Cartesian space. | |
| void | rotate (const Mat3d &m, TransformType type=TransformType::ConcatenateToTransform) |
| void | rotate (const Vec3d &axis, double radians, TransformType type=TransformType::ConcatenateToTransform) |
| void | scale (const Vec3d &scaling, TransformType type=TransformType::ConcatenateToTransform) |
| Scale in Cartesian directions. | |
| void | scale (const double scaling, TransformType type=TransformType::ConcatenateToTransform) |
| Vec3d | getTranslation () const |
| Get/Set translation. | |
| void | setTranslation (const Vec3d &t) |
| void | setTranslation (const double x, const double y, const double z) |
| Mat3d | getRotation () const |
| Get/Set rotation. | |
| void | setRotation (const Mat3d &m) |
| void | setRotation (const Quatd &q) |
| void | setRotation (const Vec3d &axis, const double angle) |
| Vec3d | getScaling () const |
| Get/Set scaling. | |
| void | setScaling (const Vec3d &s) |
| void | setScaling (const double s) |
| const Mat4d & | getTransform () const |
| Get/Set the transform. | |
| void | setTransform (const Mat4d &m) |
| Public Member Functions inherited from imstk::EventObject | |
| template<typename T > | |
| void | postEvent (const T &e) |
| Emits the event Direct observers will be immediately called, in sync Queued observers will receive the Command in their queue for later execution, reciever must implement doEvent. | |
| template<typename T > | |
| void | queueEvent (const T &e) |
| Queues event directly to this. | |
| void | doEvent () |
| Do an event, if none exists return. | |
| void | doAllEvents () |
| Do all the events in the event queue. | |
| void | foreachEvent (std::function< void(Command cmd)> func) |
| Thread safe loop over all event commands, one can implement a custom handler. | |
| void | rforeachEvent (std::function< void(Command cmd)> func) |
| thread safe reverse loop over all event commands, one can implement a custom handler | |
| void | clearEvents () |
| Removes all events from queue cleans up copies of the event. | |
Protected Member Functions | |
| void | applyTransform (const Mat4d &m) override |
| Apply a user transform directly to (pre-transformed) parameters producing new parameters. | |
Protected Attributes | |
| double | m_radius = 1.0 |
| Radius of the hemispheres at the end of the capsule. | |
| double | m_radiusPostTransform = 1.0 |
| Radius after transform. | |
| double | m_length = 1.0 |
| Length between the centers of two hemispheres. | |
| double | m_lengthPostTransform = 1.0 |
| Length after transform. | |
| Protected Attributes inherited from imstk::AnalyticalGeometry | |
| Vec3d | m_position |
| position | |
| Vec3d | m_positionPostTransform |
| position once transform applied | |
| Quatd | m_orientation |
| orientation | |
| Quatd | m_orientationPostTransform |
| orientation once transform is applied | |
| Protected Attributes inherited from imstk::Geometry | |
| bool | m_transformApplied = true |
| bool | m_boundsDirty = true |
| Mat4d | m_transform = Mat4d::Identity() |
| Transformation matrix. | |
| size_t | m_globalId |
| Unique ID assigned to each geometry upon construction. | |
| std::string | m_name = "unnamed" |
| Protected Attributes inherited from imstk::EventObject | |
| ParallelUtils::SpinLock | eventQueueLock |
| std::deque< Command > | eventQueue |
| std::vector< std::pair< std::string, std::vector< Observer > > > | queuedObservers |
| std::vector< std::pair< std::string, std::vector< Observer > > > | directObservers |
Additional Inherited Members | |
| Public Types inherited from imstk::Geometry | |
| enum | TransformType { ApplyToData, ConcatenateToTransform } |
| Enumeration for the transformation to apply ApplyToTransform to apply the transformation to the data ConcatenateToTransform to apply the transformation to the transform matrix. | |
| enum | DataType { PreTransform, PostTransform } |
| Enumeration for the data to retrieve PreTransform for data where transform matrix is not applied PostTransform for data where transform matrix is applied. | |
| Public Types inherited from imstk::EventObject | |
| using | Observer = std::tuple< bool, std::weak_ptr< EventObject >, std::function< void(Event *)> > |
| Static Public Member Functions inherited from imstk::Geometry | |
| static size_t | getNumGlobalIds () |
| Get number of ids/geometries. | |
| Static Protected Member Functions inherited from imstk::Geometry | |
| static size_t | getUniqueId () |
| Get a unique ID for the new generated geometry object. | |
| Static Protected Attributes inherited from imstk::Geometry | |
| static std::atomic< size_t > | s_numGlobalIds = { 0 } |
| Total number of geometries that have been created in this program. | |
Detailed Description
Capsule geometry, default configuration is centered at origin with length running up and down the y axes. The length refers to the length of the cylinder.
Definition at line 21 of file imstkCapsule.h.
The documentation for this class was generated from the following files:
- Source/Geometry/Analytic/imstkCapsule.h
- Source/Geometry/Analytic/imstkCapsule.cpp
