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:

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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

NODE_TYPE	getNodeType () const
	get the node type

const AABB &	getAABB () const
	get the AABB in world space

AABB &	getAABB ()
	get the AABB in world space

void	computeAABB ()
	compute the AABB in world space

void *	getUserData () const
	get user data in object

void	setUserData (void *data)
	set user data in object

const Vec3s &	getTranslation () const
	get translation of the object

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

const Transform3s &	getTransform () const
	get object's transform

void	setRotation (const Matrix3s &R)
	set object's rotation matrix

void	setTranslation (const Vec3s &T)
	set object's translation

void	setTransform (const Matrix3s &R, const Vec3s &T)
	set object's transform

void	setTransform (const Transform3s &tf)
	set object's transform

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

void	setIdentityTransform ()
	set the object in local coordinate

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

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

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

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

void	setCollisionGeometry (const shared_ptr< CollisionGeometry > &collision_geometry, bool compute_local_aabb=true)
	Associate a new CollisionGeometry.

Protected Member Functions
void	init (bool compute_local_aabb=true)

Protected Attributes
shared_ptr< CollisionGeometry >	cgeom

Transform3s	t

AABB	aabb
	AABB in global coordinate.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description