class mpoly

The mpoly class represenents a polyhedra and its material properties.

Public Fields

int npts

the number of vertices

int nfaces

the number of faces

triple* pts

an array of vertices

polyhedronFace* faces

an array of polyhedron faces

double density

the density of the mpoly; used for inertial calculations

part* p

the part to which the mpoly belongs

unsigned char processed

a flag indicating whether process() has been called yet

Public Methods

inline mpoly(void)

constructor

mpoly(const mpoly &other)

copy constructor - makes a copy of all of other's arrays

~mpoly(void)

destructor

int process(void)

computes normals and other information for each polyhedronFace

void transform(const tmatrix &m)

transforms the mpoly's coordinates (both vertices and face normals)

void setAppearance(void* app)

sets polyhedronFace::appearance for each face

void setColor(const float* Color)

set polyedronFace::color for each face, copying Color's contents

Documentation

The mpoly class represenents a polyhedra and its material properties. mpolys are used for several purposes: - for computing inertial properties of a link - for checking collisions between objects - for display The mpoly is organized as an indexed face set: there is an array of vertices and an array of polyhedronFaces. Each face contains an array of indices indicating which vertices are used by the face. The vertices for each face should be arranged in counter-clockwise order when viewed from outside the mpoly.

int npts

the number of vertices

int nfaces

the number of faces

triple* pts

an array of vertices

polyhedronFace* faces

an array of polyhedron faces

double density

the density of the mpoly; used for inertial calculations

part* p

the part to which the mpoly belongs

unsigned char processed

a flag indicating whether process() has been called yet

inline mpoly(void)

constructor

mpoly(const mpoly &other)

copy constructor - makes a copy of all of other's arrays

~mpoly(void)

destructor

int process(void)

computes normals and other information for each polyhedronFace

void transform(const tmatrix &m)

transforms the mpoly's coordinates (both vertices and face normals)

void setAppearance(void* app)

sets polyhedronFace::appearance for each face

void setColor(const float* Color)

set polyedronFace::color for each face, copying Color's contents

This class has no child classes.

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