dart::collision::CollisionObject Class Reference

#include <CollisionObject.hpp>

Inheritance diagram for dart::collision::CollisionObject:

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

Protected Attributes
CollisionDetector *	mCollisionDetector
	Collision detector.
const dynamics::ShapeFrame *	mShapeFrame
	ShapeFrame.

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

Friends And Related Symbol 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.