the object for continuous collision or distance computation, contains the geometry and the motion information More...
#include <hpp/fcl/collision_object.h>
Public Member Functions | |
ContinuousCollisionObject (const boost::shared_ptr< CollisionGeometry > &cgeom_) | |
ContinuousCollisionObject (const boost::shared_ptr< CollisionGeometry > &cgeom_, const boost::shared_ptr< MotionBase > &motion_) | |
~ContinuousCollisionObject () | |
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 the world space for the motion More... | |
void | computeAABB () |
compute the AABB in the world space for the motion More... | |
void * | getUserData () const |
get user data in object More... | |
void | setUserData (void *data) |
set user data in object More... | |
MotionBase * | getMotion () const |
get motion from the object instance More... | |
const CollisionGeometry * | getCollisionGeometry () const FCL_DEPRECATED |
get geometry from the object instance More... | |
const boost::shared_ptr< const CollisionGeometry > & | collisionGeometry () const |
get geometry from the object instance More... | |
Protected Attributes | |
boost::shared_ptr < CollisionGeometry > | cgeom |
boost::shared_ptr< const CollisionGeometry > | cgeom_const |
boost::shared_ptr< MotionBase > | motion |
AABB | aabb |
AABB in the global coordinate for the motion. More... | |
void * | user_data |
pointer to user defined data specific to this object More... | |
the object for continuous collision or distance computation, contains the geometry and the motion information
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get geometry from the object instance
References cgeom_const.
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compute the AABB in the world space for the motion
References aabb, fcl::bound(), cgeom, fcl::IVector3::getHigh(), fcl::IVector3::getLow(), fcl::AABB::max_, fcl::AABB::min_, and motion.
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get geometry from the object instance
References cgeom.
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get motion from the object instance
References motion.
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get the node type
References cgeom.
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get the type of the object
References cgeom.
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get user data in object
References user_data.
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set user data in object
References user_data.
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AABB in the global coordinate for the motion.
Referenced by computeAABB(), and getAABB().
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Referenced by computeAABB(), getCollisionGeometry(), getNodeType(), and getObjectType().
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Referenced by collisionGeometry().
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Referenced by computeAABB(), and getMotion().
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pointer to user defined data specific to this object
Referenced by getUserData(), and setUserData().