DART 6.7.3
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ShapeFrameAspect.hpp
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1/*
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32
33#ifndef DART_DYNAMICS_DETAIL_SHAPEFRAMEASPECT_HPP_
34#define DART_DYNAMICS_DETAIL_SHAPEFRAMEASPECT_HPP_
35
36#include <Eigen/Core>
37
40
41namespace dart {
42namespace dynamics {
43
44class VisualAspect;
45class CollisionAspect;
46class DynamicsAspect;
47class ShapeFrame;
48
49namespace detail {
50
52{
54 Eigen::Vector4d mRGBA;
55
57
59 bool mHidden;
60
63
66 const Eigen::Vector4d& color = Eigen::Vector4d(0.5, 0.5, 1.0, 1.0),
67 const bool hidden = false,
68 const bool shadowed = true);
69
71 virtual ~VisualAspectProperties() = default;
72
73 // To get byte-aligned Eigen vectors
74 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
75};
76
78{
81
83 CollisionAspectProperties(const bool collidable = true);
84
86 virtual ~CollisionAspectProperties() = default;
87};
88
90{
93
96
98 DynamicsAspectProperties(const double frictionCoeff = 1.0,
99 const double restitutionCoeff = 0.0);
100
102 virtual ~DynamicsAspectProperties() = default;
103};
104
106{
109
111 ShapeFrameProperties(const ShapePtr& shape = nullptr);
112
114 virtual ~ShapeFrameProperties() = default;
115};
116
121
122} // namespace detail
123} // namespace dynamics
124} // namespace dart
125
126#endif // DART_DYNAMICS_DETAIL_SHAPEFRAMEASPECT_HPP_
This is an alternative to EmbedProperties which allows your class to also inherit other Composite obj...
Definition EmbeddedAspect.hpp:248
Declaration of the variadic template.
Definition SpecializedForAspect.hpp:46
Definition ShapeFrame.hpp:119
Definition ShapeFrame.hpp:140
Definition ShapeFrame.hpp:164
Definition ShapeFrame.hpp:55
std::shared_ptr< Shape > ShapePtr
Definition SmartPointer.hpp:81
Definition BulletCollisionDetector.cpp:63
Definition ShapeFrameAspect.hpp:78
virtual ~CollisionAspectProperties()=default
Destructor.
bool mCollidable
This object is collidable if true.
Definition ShapeFrameAspect.hpp:80
Definition ShapeFrameAspect.hpp:90
virtual ~DynamicsAspectProperties()=default
Destructor.
double mRestitutionCoeff
Coefficient of restitution.
Definition ShapeFrameAspect.hpp:95
double mFrictionCoeff
Coefficient of friction.
Definition ShapeFrameAspect.hpp:92
Definition ShapeFrameAspect.hpp:106
ShapePtr mShape
Pointer to a shape.
Definition ShapeFrameAspect.hpp:108
virtual ~ShapeFrameProperties()=default
Virtual destructor.
Definition ShapeFrameAspect.hpp:52
Eigen::Vector4d mRGBA
Color for the primitive shape.
Definition ShapeFrameAspect.hpp:54
virtual ~VisualAspectProperties()=default
Destructor.
bool mShadowed
True if this shape node should be shadowed.
Definition ShapeFrameAspect.hpp:62
bool mHidden
True if this shape node should be kept from rendering.
Definition ShapeFrameAspect.hpp:59
bool mUseDefaultColor
Definition ShapeFrameAspect.hpp:56