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1.14.0
coal 3.0.2 Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library |
the object for collision or distance computation, contains the geometry and the transform information More...
#include <coal/collision_object.h>
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 | |
the object for collision or distance computation, contains the geometry and the transform information
1.14.0