/usr/include/SurgSim/Math/BoxShape.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 | // This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_MATH_BOXSHAPE_H
#define SURGSIM_MATH_BOXSHAPE_H
#include <array>
#include "SurgSim/Framework/ObjectFactory.h"
#include "SurgSim/Math/Shape.h"
namespace SurgSim
{
namespace Math
{
SURGSIM_STATIC_REGISTRATION(BoxShape);
/// Box shape: box centered on (0 0 0), aligned with the axis
/// with different sizes along X, Y and Z
class BoxShape: public Shape
{
public:
/// Constructor
/// \param sizeX, sizeY, sizeZ the box sizes in all 3 directions (in m)
explicit BoxShape(double sizeX = 0.0, double sizeY = 0.0, double sizeZ = 0.0);
SURGSIM_CLASSNAME(SurgSim::Math::BoxShape);
/// \return the type of the shape
int getType() const override;
/// Get size of the box
/// \return the size of the box (in m)
Vector3d getSize() const;
/// Get size in X direction
/// \return the size in the X direction (in m)
double getSizeX() const;
/// Get size in Y direction
/// \return the size in the Y direction (in m)
double getSizeY() const;
/// Get size in Z direction
/// \return the size in the Z direction (in m)
double getSizeZ() const;
/// Get the volume of the shape
/// \return The volume of the shape (in m-3)
double getVolume() const override;
/// Get the volumetric center of the shape
/// \return The center of the shape
Vector3d getCenter() const override;
/// Get the second central moment of the volume, commonly used
/// to calculate the moment of inertia matrix
/// \return The 3x3 symmetric second moment matrix
Matrix33d getSecondMomentOfVolume() const override;
/// Function that returns the local vertex location, given an index.
/// \param i The vertex index.
/// \return The local vertex position.
Vector3d getVertex(const int i) const;
/// Function that returns the local vertices' location
/// \return All eight vertices of the box
const std::array<Vector3d, 8>& getVertices() const;
/// \return True if size along X, Y, Z are bigger than or equal to 0; Otherwise, false.
bool isValid() const override;
protected:
// Setters in 'protected' sections are for serialization purpose only.
/// Set size in X direction
/// \param sizeX the size in the X direction (in m)
void setSizeX(double sizeX);
/// Set size in Y direction
/// \param sizeY the size in the Y direction (in m)
void setSizeY(double sizeY);
/// Set size in Z direction
/// \param sizeZ the size in the Z direction (in m)
void setSizeZ(double sizeZ);
private:
/// Function that calculates the box vertices.
void calculateVertices();
/// Update the local aabb for this box
void updateAabb();
/// The box sizes along the 3 axis respectively {X,Y,Z}
Vector3d m_size;
/// The box vertices.
std::array<Vector3d, 8> m_vertices;
};
}; // Math
}; // SurgSim
#endif // SURGSIM_MATH_BOXSHAPE_H
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