DART
6.10.1
|
#include <CollisionObject.hpp>
Public Member Functions | |
virtual | ~CollisionObject ()=default |
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 | |
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 | |
CollisionDetector * | mCollisionDetector |
Collision detector. More... | |
const dynamics::ShapeFrame * | mShapeFrame |
ShapeFrame. More... | |
Friends | |
class | CollisionGroup |
|
virtualdefault |
Destructor.
|
protected |
Contructor.
CollisionDetector * dart::collision::CollisionObject::getCollisionDetector | ( | ) |
Return collision detection engine associated with this CollisionObject.
const CollisionDetector * dart::collision::CollisionObject::getCollisionDetector | ( | ) | const |
Return collision detection engine associated with this CollisionObject.
dynamics::ConstShapePtr dart::collision::CollisionObject::getShape | ( | ) | const |
Return the associated Shape.
const dynamics::ShapeFrame * dart::collision::CollisionObject::getShapeFrame | ( | ) | const |
Return the associated ShapeFrame.
const Eigen::Isometry3d & dart::collision::CollisionObject::getTransform | ( | ) | const |
Return the transformation of this CollisionObject in world coordinates.
|
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.
|
friend |
|
protected |
Collision detector.
|
protected |
ShapeFrame.