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BaseGeom Class ReferenceBase class for GL-renderable geoms.
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#include <BaseGeom.hh>
Inheritance diagram for BaseGeom:
List of all members.
Detailed Description
Base class for GL-renderable geoms.
BaseGeom and Geom are the base classes for all physical geometric objects; BaseGeom encapsulates the mass and collision characteritics, while Geom encapsulated the visual appearance.
Constructor & Destructor Documentation
| BaseGeom::BaseGeom |
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dSpaceID |
spaceId |
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| BaseGeom::~BaseGeom |
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[virtual] |
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Member Function Documentation
| void BaseGeom::SetGeom |
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Body * |
body, |
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dGeomID |
geomId, |
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dMass * |
mass, |
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bool |
placeable |
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Set the encapsulated geometry object.
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| void BaseGeom::SetExtraRotation |
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GzQuatern |
rot |
) |
[protected] |
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| dGeomID BaseGeom::GetTransId |
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const |
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| dGeomID BaseGeom::GetGeomId |
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const |
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| void BaseGeom::SetCategoryBits |
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uint |
bits |
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| void BaseGeom::SetCollideBits |
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uint |
bits |
) |
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| void BaseGeom::SetRelativePose |
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GzPose |
pose, |
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bool |
updateCoM = true |
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) |
[virtual] |
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Set object pose (relative to body).
Reimplemented in RayGeom. |
| GzPose BaseGeom::GetRelativePose |
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const [virtual] |
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Get object pose (relative to body).
Reimplemented in RayGeom. |
| GzPose BaseGeom::GetPose |
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const |
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Get object pose (global coord).
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| void BaseGeom::SetRelativePosition |
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GzVector |
pos |
) |
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Set the relative position (without changing the rotation).
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| void BaseGeom::SetRelativeRotation |
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GzQuatern |
rot |
) |
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Set the relative rotation (without changing the position).
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| void BaseGeom::SetHardness |
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double |
kp, |
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double |
kd |
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) |
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Set surface hardness parameters for contact joints.
- Parameters:
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| kp | Elastic spring constant |
| kd | Damping constant |
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| void BaseGeom::SetFriction |
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double |
mu1, |
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double |
mu2 |
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) |
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Set friction coefficients.
- Parameters:
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| mu1 | Coefficient in direction 1 |
| mu2 | Coefficient in direction 2 |
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| void BaseGeom::SetBounce |
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double |
bounce |
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| void BaseGeom::SetSlip1 |
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double |
slip |
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| void BaseGeom::SetSlip2 |
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double |
slip |
) |
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| double BaseGeom::GetBounce |
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const |
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| double BaseGeom::GetSlip1 |
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const |
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| double BaseGeom::GetSlip2 |
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const |
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| void BaseGeom::SetMass |
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double |
m |
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| const dMass * BaseGeom::GetBodyMassMatrix |
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Friends And Related Function Documentation
friend class World [friend] |
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Member Data Documentation
The documentation for this class was generated from the following files:
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