continuous_collision_object.h
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35 
38 #ifndef FCL_CONTINUOUS_COLLISION_OBJECT_H
39 #define FCL_CONTINUOUS_COLLISION_OBJECT_H
40 
41 #include <memory>
42 
44 
45 namespace fcl
46 {
47 
50 template <typename S>
51 class FCL_EXPORT ContinuousCollisionObject
52 {
53 public:
55  const std::shared_ptr<CollisionGeometry<S>>& cgeom);
56 
58  const std::shared_ptr<CollisionGeometry<S>>& cgeom,
59  const std::shared_ptr<MotionBase<S>>& motion);
60 
62 
64  OBJECT_TYPE getObjectType() const;
65 
67  NODE_TYPE getNodeType() const;
68 
70  const AABB<S>& getAABB() const;
71 
73  void computeAABB();
74 
76  void* getUserData() const;
77 
79  void setUserData(void* data);
80 
82  MotionBase<S>* getMotion() const;
83 
85  FCL_DEPRECATED
86  const CollisionGeometry<S>* getCollisionGeometry() const;
87 
89  const std::shared_ptr<const CollisionGeometry<S>>& collisionGeometry() const;
90 
91 protected:
92 
93  std::shared_ptr<CollisionGeometry<S>> cgeom;
94  std::shared_ptr<const CollisionGeometry<S>> cgeom_const;
95 
96  std::shared_ptr<MotionBase<S>> motion;
97 
99  mutable AABB<S> aabb;
100 
102  void* user_data;
103 };
104 
107 
108 } // namespace fcl
109 
111 
112 #endif
fcl::ContinuousCollisionObject::user_data
void * user_data
pointer to user defined data specific to this object
Definition: continuous_collision_object.h:102
fcl::ContinuousCollisionObject::cgeom_const
std::shared_ptr< const CollisionGeometry< S > > cgeom_const
Definition: continuous_collision_object.h:94
fcl::ContinuousCollisionObject::aabb
AABB< S > aabb
AABB in the global coordinate for the motion.
Definition: continuous_collision_object.h:99
fcl::ContinuousCollisionObject
the object for continuous collision or distance computation, contains the geometry and the motion inf...
Definition: continuous_collision_object.h:51
fcl::AABB< S >
continuous_collision_object-inl.h
fcl::CollisionGeometry
The geometry for the object for collision or distance computation.
Definition: collision_geometry.h:58
fcl::MotionBase
Definition: bv_motion_bound_visitor.h:45
fcl::OBJECT_TYPE
OBJECT_TYPE
object type: BVH (mesh, points), basic geometry, octree
Definition: collision_geometry.h:50
fcl::ContinuousCollisionObject::cgeom
std::shared_ptr< CollisionGeometry< S > > cgeom
Definition: continuous_collision_object.h:93
fcl::ContinuousCollisionObject::motion
std::shared_ptr< MotionBase< S > > motion
Definition: continuous_collision_object.h:96
fcl::NODE_TYPE
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
Definition: collision_geometry.h:53
collision_geometry.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Tue Jun 22 2021 07:27:50