Defines collision geometry that may be used (in principle) many ways: for rigid bodies, non-rigid bodies, ... More...
#include <CollisionGeometry.h>
Inheritance diagram for Moby::CollisionGeometry:
Public Member Functions | |
| CollisionGeometry () | |
| Constructs a CollisionGeometry with no triangle mesh, identity transformation and relative transformation. | |
| void | set_relative_pose (const Ravelin::Pose3d &pose) |
| Sets the relative pose of this geometry. More... | |
| void | write_vrml (const std::string &filename) const |
| Writes the collision geometry mesh to the specified VRML file. More... | |
| PrimitivePtr | set_geometry (PrimitivePtr primitive) |
| Sets the collision geometry via a primitive. More... | |
| virtual void | save_to_xml (XMLTreePtr node, std::list< boost::shared_ptr< const Base > > &shared_objects) const |
| Implements Base::save_to_xml() | |
| virtual void | load_from_xml (boost::shared_ptr< const XMLTree > node, std::map< std::string, BasePtr > &id_map) |
| Implements Base::load_from_xml() | |
| void | set_single_body (boost::shared_ptr< Ravelin::SingleBodyd > s) |
| Sets the single body associated with this CollisionGeometry. | |
| double | calc_signed_dist (const Point3d &p) |
| Calculates the signed distance for a primitive. | |
| double | calc_dist_and_normal (const Point3d &p, std::vector< Ravelin::Vector3d > &n) const |
| Calculates the (unsigned) distance of a point from this collision geometry. | |
| void | get_vertices (std::vector< Point3d > &p) const |
| Gets vertices for a primitive. | |
| Point3d | get_supporting_point (const Ravelin::Vector3d &d) const |
| Gets a supporting point for this geometry in a particular direction. | |
| double | get_farthest_point_distance () const |
| Gets the farthest point from this geometry. | |
| CollisionGeometryPtr | get_this () |
| Gets the shared pointer for this. | |
|
boost::shared_ptr < CollisionGeometry > | get_parent () const |
| Gets the parent of this CollisionGeometry (or NULL if there is no parent) | |
| void | set_parent (boost::weak_ptr< CollisionGeometry > parent) |
| Sets the parent of this CollisionGeometry (or NULL to indicate no parent) | |
|
boost::shared_ptr< const Ravelin::Pose3d > | get_pose () const |
| Gets the relative transform for this CollisionGeometry. | |
|
boost::shared_ptr < Ravelin::SingleBodyd > | get_single_body () const |
| Gets the single body associated with this CollisionGeometry (if any) | |
| PrimitivePtr | get_geometry () const |
| Gets the geometry for this primitive. | |
 Public Member Functions inherited from Moby::Base | |
| Base (const Base *b) | |
Static Public Member Functions | |
| static double | calc_signed_dist (CollisionGeometryPtr a, CollisionGeometryPtr b, Point3d &cpa, Point3d &cpb) |
| Calculates the signed distances between two geometries and returns closest points if geometries are not interpenetrating. | |
| Static Public Member Functions inherited from Moby::Base | |
| template<class T > | |
| static boost::shared_ptr< T > | clone (boost::shared_ptr< T > x) |
| Static method for cloning a shared pointer. | |
Public Attributes | |
| double | compliant_layer_depth |
| The compliant layer around this geometry. | |
| Public Attributes inherited from Moby::Base | |
| boost::shared_ptr< void > | userdata |
| Any relevant userdata. | |
| std::string | id |
| The unique ID for this object. | |
Protected Attributes | |
|
boost::shared_ptr < Ravelin::Pose3d > | _F |
| The pose of the CollisionGeometry (relative to the rigid body) | |
| PrimitivePtr | _geometry |
| The underlying geometry. | |
Friends | |
| class | GeneralizedCCD |
Detailed Description
Defines collision geometry that may be used (in principle) many ways: for rigid bodies, non-rigid bodies, ...
In principle the geometry may be very complex, and may support nonstationarity (changing over time) or deformities (e.g., due to collision). Note that while the underlying geometry may be shared, it is not intended for CollisionGeometry objects to be shared.
Member Function Documentation
| PrimitivePtr CollisionGeometry::set_geometry | ( | PrimitivePtr | primitive | ) |
Sets the collision geometry via a primitive.
The primitive is not cloned, nor is it unaltered; this points to the pointer returned by this method (typically primitive).
- Returns
- primitive unless the geometry of the underlying primitive is inconsistent, degenerate, or non-convex; in that case, a corrected primitive will be returned.
| void CollisionGeometry::set_relative_pose | ( | const Ravelin::Pose3d & | pose | ) |
Sets the relative pose of this geometry.
- Parameters
-
P the relative pose (P.pose must be set relative to the single body pose)
| void CollisionGeometry::write_vrml | ( | const std::string & | filename | ) | const |
Writes the collision geometry mesh to the specified VRML file.
- Note
- the mesh is transformed using the current transformation
References get_pose().
The documentation for this class was generated from the following files:
- /home/drum/Moby/include/Moby/CollisionGeometry.h
- /home/drum/Moby/src/CollisionGeometry.cpp
