dart::collision::OdeCollisionObject Class Reference

#include <OdeCollisionObject.hpp>

Inheritance diagram for dart::collision::OdeCollisionObject:

Public Member Functions
virtual	~OdeCollisionObject ()
	Destructor.
CollisionDetector *	getCollisionDetector ()
	Return collision detection engine associated with this CollisionObject.
const CollisionDetector *	getCollisionDetector () const
	Return collision detection engine associated with this CollisionObject.
const dynamics::ShapeFrame *	getShapeFrame () const
	Return the associated ShapeFrame.
dynamics::ConstShapePtr	getShape () const
	Return the associated Shape.
const Eigen::Isometry3d &	getTransform () const
	Return the transformation of this CollisionObject in world coordinates.

Protected Member Functions
	OdeCollisionObject (OdeCollisionDetector *collisionDetector, const dynamics::ShapeFrame *shapeFrame)
	Constructor.
OdeCollisionObject &	operator= (OdeCollisionObject &&other)
	Move assignment operator.
void	updateEngineData () override
	Update the collision object of the collision detection engine.
dBodyID	getOdeBodyId () const
	Returns the ODE body id associated to this object.
dGeomID	getOdeGeomId () const
	Returns the ODE body id associated to this object.

Protected Attributes
std::unique_ptr< detail::OdeGeom >	mOdeGeom
	ODE geom.
dBodyID	mBodyId
	ODE body id associated with this object.
CollisionDetector *	mCollisionDetector
	Collision detector.
const dynamics::ShapeFrame *	mShapeFrame
	ShapeFrame.

Friends
class	OdeCollisionDetector
class	OdeCollisionGroup

Constructor & Destructor Documentation

~OdeCollisionObject()

dart::collision::OdeCollisionObject::~OdeCollisionObject ( )

virtual

Destructor.

OdeCollisionObject()

dart::collision::OdeCollisionObject::OdeCollisionObject ( OdeCollisionDetector *  collisionDetector, const dynamics::ShapeFrame *  shapeFrame  )

protected

Constructor.

Member Function Documentation

getCollisionDetector() [1/2]

CollisionDetector * dart::collision::CollisionObject::getCollisionDetector ( )

inherited

Return collision detection engine associated with this CollisionObject.

getCollisionDetector() [2/2]

const CollisionDetector * dart::collision::CollisionObject::getCollisionDetector ( ) const

inherited

Return collision detection engine associated with this CollisionObject.

getOdeBodyId()

dBodyID dart::collision::OdeCollisionObject::getOdeBodyId ( ) const

protected

Returns the ODE body id associated to this object.

getOdeGeomId()

dGeomID dart::collision::OdeCollisionObject::getOdeGeomId ( ) const

protected

Returns the ODE body id associated to this object.

getShape()

dynamics::ConstShapePtr dart::collision::CollisionObject::getShape ( ) const

inherited

Return the associated Shape.

getShapeFrame()

const dynamics::ShapeFrame * dart::collision::CollisionObject::getShapeFrame ( ) const

inherited

Return the associated ShapeFrame.

getTransform()

const Eigen::Isometry3d & dart::collision::CollisionObject::getTransform ( ) const

inherited

Return the transformation of this CollisionObject in world coordinates.

operator=()

OdeCollisionObject & dart::collision::OdeCollisionObject::operator= ( OdeCollisionObject &&  other )

protected

Move assignment operator.

This is used to refresh OdeCollisionObjects when their underlying shape information needs to be updated.

updateEngineData()

void dart::collision::OdeCollisionObject::updateEngineData ( )

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.

Friends And Related Symbol Documentation

OdeCollisionDetector

friend class OdeCollisionDetector

friend

OdeCollisionGroup

friend class OdeCollisionGroup

friend

Member Data Documentation

mBodyId

dBodyID dart::collision::OdeCollisionObject::mBodyId

protected

ODE body id associated with this object.

If the ODE geom type is immobile, this is nullptr.

mCollisionDetector

CollisionDetector* dart::collision::CollisionObject::mCollisionDetector

protectedinherited

Collision detector.

mOdeGeom

std::unique_ptr<detail::OdeGeom> dart::collision::OdeCollisionObject::mOdeGeom

protected

ODE geom.

mShapeFrame

const dynamics::ShapeFrame* dart::collision::CollisionObject::mShapeFrame

protectedinherited

ShapeFrame.