DART  6.7.3
dart::collision::DARTCollisionObject Class Reference

#include <DARTCollisionObject.hpp>

Inheritance diagram for dart::collision::DARTCollisionObject:
dart::collision::CollisionObject

Public Member Functions

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

 DARTCollisionObject (CollisionDetector *collisionDetector, const dynamics::ShapeFrame *shapeFrame)
 Constructor. More...
 
void updateEngineData () override
 Update the collision object of the collision detection engine. More...
 

Protected Attributes

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

Friends

class DARTCollisionDetector
 

Constructor & Destructor Documentation

◆ DARTCollisionObject()

dart::collision::DARTCollisionObject::DARTCollisionObject ( CollisionDetector 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.

◆ 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.

◆ updateEngineData()

void dart::collision::DARTCollisionObject::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 Function Documentation

◆ DARTCollisionDetector

friend class DARTCollisionDetector
friend

Member Data Documentation

◆ mCollisionDetector

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

Collision detector.

◆ mShapeFrame

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

ShapeFrame.