Class CollisionGeometry

Defined in File collision_object.h

Inheritance Relationships

Derived Types

public coal::BVHModelBase (Class BVHModelBase)
public coal::HeightField< BV > (Template Class HeightField)
public coal::OcTree (Class OcTree)
public coal::ShapeBase (Class ShapeBase)

Class Documentation

class CollisionGeometry

The geometry for the object for collision or distance computation.

Subclassed by coal::BVHModelBase, coal::HeightField< BV >, coal::OcTree, coal::ShapeBase

Public Functions

inline CollisionGeometry()

CollisionGeometry(const CollisionGeometry &other) = default: Copy constructor.

inline virtual ~CollisionGeometry()

virtual CollisionGeometry *clone() const = 0: Clone *this into a new CollisionGeometry.

inline bool operator==(const CollisionGeometry &other) const: Equality operator.

inline bool operator!=(const CollisionGeometry &other) const: Difference operator.

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

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

virtual void computeLocalAABB() = 0: compute the AABB for object in local coordinate

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

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

inline bool isOccupied() const: whether the object is completely occupied

inline bool isFree() const: whether the object is completely free

bool isUncertain() const: whether the object has some uncertainty

inline virtual Vec3s computeCOM() const: compute center of mass

inline virtual Matrix3s computeMomentofInertia() const: compute the inertia matrix, related to the origin

inline virtual CoalScalar computeVolume() const: compute the volume

inline virtual Matrix3s computeMomentofInertiaRelatedToCOM() const: compute the inertia matrix, related to the com

Public Members

Vec3s aabb_center: AABB center in local coordinate.

CoalScalar aabb_radius: AABB radius.

AABB aabb_local: AABB in local coordinate, used for tight AABB when only translation transform.

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

CoalScalar cost_density: collision cost for unit volume

CoalScalar threshold_occupied: threshold for occupied ( >= is occupied)

CoalScalar threshold_free: threshold for free (<= is free)