DART
6.10.1
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#include <OdeCollisionObject.hpp>
Public Member Functions | |
virtual | ~OdeCollisionObject () |
Destructor. More... | |
CollisionDetector * | getCollisionDetector () |
Return collision detection engine associated with this CollisionObject. More... | |
const CollisionDetector * | getCollisionDetector () const |
Return collision detection engine associated with this CollisionObject. More... | |
const dynamics::ShapeFrame * | getShapeFrame () const |
Return the associated ShapeFrame. More... | |
dynamics::ConstShapePtr | getShape () const |
Return the associated Shape. More... | |
const Eigen::Isometry3d & | getTransform () const |
Return the transformation of this CollisionObject in world coordinates. More... | |
Protected Member Functions | |
OdeCollisionObject (OdeCollisionDetector *collisionDetector, const dynamics::ShapeFrame *shapeFrame) | |
Constructor. More... | |
OdeCollisionObject & | operator= (OdeCollisionObject &&other) |
Move assignment operator. More... | |
void | updateEngineData () override |
Update the collision object of the collision detection engine. More... | |
dBodyID | getOdeBodyId () const |
Returns the ODE body id associated to this object. More... | |
dGeomID | getOdeGeomId () const |
Returns the ODE body id associated to this object. More... | |
Protected Attributes | |
std::unique_ptr< detail::OdeGeom > | mOdeGeom |
ODE geom. More... | |
dBodyID | mBodyId |
ODE body id associated with this object. More... | |
CollisionDetector * | mCollisionDetector |
Collision detector. More... | |
const dynamics::ShapeFrame * | mShapeFrame |
ShapeFrame. More... | |
Friends | |
class | OdeCollisionDetector |
class | OdeCollisionGroup |
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virtual |
Destructor.
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protected |
Constructor.
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inherited |
Return collision detection engine associated with this CollisionObject.
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inherited |
Return collision detection engine associated with this CollisionObject.
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protected |
Returns the ODE body id associated to this object.
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protected |
Returns the ODE body id associated to this object.
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inherited |
Return the associated Shape.
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inherited |
Return the associated ShapeFrame.
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inherited |
Return the transformation of this CollisionObject in world coordinates.
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protected |
Move assignment operator.
This is used to refresh OdeCollisionObjects when their underlying shape information needs to be updated.
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overrideprotectedvirtual |
Update the collision object of the collision detection engine.
This function will be called ahead of every collision checking by CollisionGroup.
Implements dart::collision::CollisionObject.
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friend |
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friend |
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protected |
ODE body id associated with this object.
If the ODE geom type is immobile, this is nullptr.
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protectedinherited |
Collision detector.
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protected |
ODE geom.
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protectedinherited |
ShapeFrame.