Class CollisionObject

Defined in File collision_object.h

Class Documentation

class CollisionObject

the object for collision or distance computation, contains the geometry and the transform information

Public Functions

inline CollisionObject(const shared_ptr<CollisionGeometry> &cgeom_, bool compute_local_aabb = true)

inline CollisionObject(const shared_ptr<CollisionGeometry> &cgeom_, const Transform3s &tf, bool compute_local_aabb = true)

inline CollisionObject(const shared_ptr<CollisionGeometry> &cgeom_, const Matrix3s &R, const Vec3s &T, bool compute_local_aabb = true)

inline bool operator==(const CollisionObject &other) const

inline bool operator!=(const CollisionObject &other) const

inline ~CollisionObject()

inline OBJECT_TYPE getObjectType() const: get the type of the object

inline NODE_TYPE getNodeType() const: get the node type

inline const AABB &getAABB() const: get the AABB in world space

inline AABB &getAABB(): get the AABB in world space

inline void computeAABB(): compute the AABB in world space

inline void *getUserData() const: get user data in object

inline void setUserData(void *data): set user data in object

inline const Vec3s &getTranslation() const: get translation of the object

inline const Matrix3s &getRotation() const: get matrix rotation of the object

inline const Transform3s &getTransform() const: get object’s transform

inline void setRotation(const Matrix3s &R): set object’s rotation matrix

inline void setTranslation(const Vec3s &T): set object’s translation

inline void setTransform(const Matrix3s &R, const Vec3s &T): set object’s transform

inline void setTransform(const Transform3s &tf): set object’s transform

inline bool isIdentityTransform() const: whether the object is in local coordinate

inline void setIdentityTransform(): set the object in local coordinate

inline const shared_ptr<const CollisionGeometry> collisionGeometry() const: get shared pointer to collision geometry of the object instance

inline const shared_ptr<CollisionGeometry> &collisionGeometry(): get shared pointer to collision geometry of the object instance

inline const CollisionGeometry *collisionGeometryPtr() const: get raw pointer to collision geometry of the object instance

inline CollisionGeometry *collisionGeometryPtr(): get raw pointer to collision geometry of the object instance

inline void setCollisionGeometry(const shared_ptr<CollisionGeometry> &collision_geometry, bool compute_local_aabb = true)

Associate a new CollisionGeometry.

Parameters:

collision_geometry – [in] The new CollisionGeometry
compute_local_aabb – [in] Whether the local aabb of the input new has to be computed.

Protected Functions

inline void init(bool compute_local_aabb = true)

Protected Attributes

shared_ptr<CollisionGeometry> cgeom

Transform3s t

mutable AABB aabb: AABB in global coordinate.

void *user_data: pointer to user defined data specific to this object