DART  6.10.1
dart::collision::CollisionObject Class Referenceabstract

#include <CollisionObject.hpp>

Inheritance diagram for dart::collision::CollisionObject:
dart::collision::BulletCollisionObject dart::collision::DARTCollisionObject dart::collision::FCLCollisionObject dart::collision::OdeCollisionObject

Public Member Functions

virtual ~CollisionObject ()=default
 Destructor. More...
 
CollisionDetectorgetCollisionDetector ()
 Return collision detection engine associated with this CollisionObject. More...
 
const CollisionDetectorgetCollisionDetector () const
 Return collision detection engine associated with this CollisionObject. More...
 
const dynamics::ShapeFramegetShapeFrame () 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

 CollisionObject (CollisionDetector *collisionDetector, const dynamics::ShapeFrame *shapeFrame)
 Contructor. More...
 
virtual void updateEngineData ()=0
 Update the collision object of the collision detection engine. More...
 

Protected Attributes

CollisionDetectormCollisionDetector
 Collision detector. More...
 
const dynamics::ShapeFramemShapeFrame
 ShapeFrame. More...
 

Friends

class CollisionGroup
 

Constructor & Destructor Documentation

◆ ~CollisionObject()

virtual dart::collision::CollisionObject::~CollisionObject ( )
virtualdefault

Destructor.

◆ CollisionObject()

dart::collision::CollisionObject::CollisionObject ( CollisionDetector collisionDetector,
const dynamics::ShapeFrame shapeFrame 
)
protected

Contructor.

Member Function Documentation

◆ getCollisionDetector() [1/2]

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

Return collision detection engine associated with this CollisionObject.

◆ getCollisionDetector() [2/2]

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

Return collision detection engine associated with this CollisionObject.

◆ getShape()

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

Return the associated Shape.

◆ getShapeFrame()

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

Return the associated ShapeFrame.

◆ getTransform()

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

Return the transformation of this CollisionObject in world coordinates.

◆ updateEngineData()

virtual void dart::collision::CollisionObject::updateEngineData ( )
protectedpure virtual

Update the collision object of the collision detection engine.

This function will be called ahead of every collision checking by CollisionGroup.

Implemented in dart::collision::OdeCollisionObject, dart::collision::FCLCollisionObject, dart::collision::DARTCollisionObject, and dart::collision::BulletCollisionObject.

Friends And Related Function Documentation

◆ CollisionGroup

friend class CollisionGroup
friend

Member Data Documentation

◆ mCollisionDetector

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

Collision detector.

◆ mShapeFrame

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

ShapeFrame.