coal::CollisionObject Class Reference
the object for collision or distance computation, contains the geometry and the transform information More...
#include <coal/collision_object.h>
Collaboration diagram for coal::CollisionObject:
Public Member Functions | |
| CollisionObject (const shared_ptr< CollisionGeometry > &cgeom_, bool compute_local_aabb=true) | |
| CollisionObject (const shared_ptr< CollisionGeometry > &cgeom_, const Transform3s &tf, bool compute_local_aabb=true) | |
| CollisionObject (const shared_ptr< CollisionGeometry > &cgeom_, const Matrix3s &R, const Vec3s &T, bool compute_local_aabb=true) | |
| bool | operator== (const CollisionObject &other) const |
| bool | operator!= (const CollisionObject &other) const |
| ~CollisionObject () | |
| OBJECT_TYPE | getObjectType () const |
| get the type of the object More... | |
| NODE_TYPE | getNodeType () const |
| get the node type More... | |
| const AABB & | getAABB () const |
| get the AABB in world space More... | |
| AABB & | getAABB () |
| get the AABB in world space More... | |
| void | computeAABB () |
| compute the AABB in world space More... | |
| void * | getUserData () const |
| get user data in object More... | |
| void | setUserData (void *data) |
| set user data in object More... | |
| const Vec3s & | getTranslation () const |
| get translation of the object More... | |
| const Matrix3s & | getRotation () const |
| get matrix rotation of the object More... | |
| const Transform3s & | getTransform () const |
| get object's transform More... | |
| void | setRotation (const Matrix3s &R) |
| set object's rotation matrix More... | |
| void | setTranslation (const Vec3s &T) |
| set object's translation More... | |
| void | setTransform (const Matrix3s &R, const Vec3s &T) |
| set object's transform More... | |
| void | setTransform (const Transform3s &tf) |
| set object's transform More... | |
| bool | isIdentityTransform () const |
| whether the object is in local coordinate More... | |
| void | setIdentityTransform () |
| set the object in local coordinate More... | |
| const shared_ptr< const CollisionGeometry > | collisionGeometry () const |
| get shared pointer to collision geometry of the object instance More... | |
| const shared_ptr< CollisionGeometry > & | collisionGeometry () |
| get shared pointer to collision geometry of the object instance More... | |
| const CollisionGeometry * | collisionGeometryPtr () const |
| get raw pointer to collision geometry of the object instance More... | |
| CollisionGeometry * | collisionGeometryPtr () |
| get raw pointer to collision geometry of the object instance More... | |
| void | setCollisionGeometry (const shared_ptr< CollisionGeometry > &collision_geometry, bool compute_local_aabb=true) |
| Associate a new CollisionGeometry. More... | |
Protected Member Functions | |
| void | init (bool compute_local_aabb=true) |
Protected Attributes | |
| shared_ptr< CollisionGeometry > | cgeom |
| Transform3s | t |
| AABB | aabb |
| AABB in global coordinate. More... | |
| void * | user_data |
| pointer to user defined data specific to this object More... | |
Detailed Description
the object for collision or distance computation, contains the geometry and the transform information
The documentation for this class was generated from the following file:
- include/coal/collision_object.h
