C++ (Cpp) Convex::getLocalTranslation Examples

Example #1

File: geometric_shapes_utility.cpp Project: Gitu1997/Gazebo

void computeBV<AABB>(const Convex& s, AABB& bv)
{
  Vec3f R[3];
  matMulMat(s.getRotation(), s.getLocalRotation(), R);
  Vec3f T = matMulVec(s.getRotation(), s.getLocalTranslation()) + s.getTranslation();

  AABB bv_;
  for(int i = 0; i < s.num_points; ++i)
  {
    Vec3f new_p = matMulVec(R, s.points[i]) + T;
    bv_ += new_p;
  }

  bv = bv_;
}

Example #2

File: geometric_shapes_utility.cpp Project: Gitu1997/Gazebo

void computeBV<OBB>(const Convex& s, OBB& bv)
{
  Vec3f R[3];
  matMulMat(s.getRotation(), s.getLocalRotation(), R);
  Vec3f T = matMulVec(s.getRotation(), s.getLocalTranslation()) + s.getTranslation();

  fit(s.points, s.num_points, bv);

  Vec3f axis[3];
  axis[0] = matMulVec(R, bv.axis[0]);
  axis[1] = matMulVec(R, bv.axis[1]);
  axis[2] = matMulVec(R, bv.axis[2]);

  bv.axis[0] = axis[0];
  bv.axis[1] = axis[1];
  bv.axis[2] = axis[2];

  bv.To = matMulVec(R, bv.To) + T;

}