Geom Class Reference
[Physics]
#include <Geom.hh>
Inheritance diagram for Geom:
Detailed Description
Base class for all geoms.
Public Member Functions | |
| Geom (Body *body) | |
| Constructor. | |
| virtual | ~Geom () |
| Destructor. | |
| virtual void | Load (XMLConfigNode *node) |
| Load the geom. | |
| virtual void | Save () |
| Load the geom. | |
| void | SetGeom (dGeomID geomId, bool placeable) |
| Set the encapsulated geometry object. | |
| void | Update () |
| Update function for geoms. | |
| virtual void | UpdateChild () |
| Update child class. | |
| dGeomID | GetGeomId () const |
| Return the geom id. | |
| dGeomID | GetTransId () const |
| Return the transform id. | |
| int | GetGeomClass () const |
| Get the ODE geom class. | |
| bool | IsPlaceable () const |
| Return whether this geom is placeable. | |
| void | SetPose (const Pose3d &pose, bool updateCoM=true) |
| Set the pose. | |
| Pose3d | GetPose () const |
| Return the pose of the geom. | |
| void | SetPosition (const Vector3 &pos) |
| Set the position. | |
| void | SetRotation (const Quatern &rot) |
| Set the rotation. | |
| void | SetCategoryBits (unsigned int bits) |
| Set the category bits, used during collision detection. | |
| void | SetCollideBits (unsigned int bits) |
| Set the collide bits, used during collision detection. | |
| const dMass * | GetBodyMassMatrix () |
| Get the mass of the geom. | |
| void | SetLaserFiducialId (int id) |
| Set the laser fiducial integer id. | |
| int | GetLaserFiducialId () const |
| Get the laser fiducial integer id. | |
| void | SetLaserRetro (float retro) |
| Set the laser retro reflectiveness. | |
| float | GetLaserRetro () const |
| Get the laser retro reflectiveness. | |
| void | SetTransparency (float trans) |
| Set the transparency. | |
| float | GetTransparency () const |
| Get the value of the transparency. | |
| void | ShowBoundingBox (bool show) |
| Set the visibility of the bounding box. | |
| void | ShowJoints (bool show) |
| Set the visibility of the joints. | |
| void | ShowPhysics (bool) |
| Set the visibility of the physical entity of this geom. | |
| virtual void | SetImmovableBasePose (const Pose3d &pose) |
| Set base pose when body is immovable (static). | |
Public Attributes | |
| ContactParams * | contact |
| Contact parameters. | |
Protected Member Functions | |
| virtual void | LoadChild (XMLConfigNode *node)=0 |
| Load child class. | |
Protected Attributes | |
| Body * | body |
| The body this geom belongs to. | |
| dGeomID | transId |
| ID for the transform geom. | |
| dGeomID | geomId |
| ID for the sub-geom. | |
| dMass | mass |
| Mass of this geometry. | |
| dMass | bodyMass |
| mass of the body | |
| double | dblMass |
| Mass as a double. | |
Member Function Documentation
| dGeomID GetGeomId | ( | ) | const |
Return the geom id.
- Returns:
- The geom id
| dGeomID GetTransId | ( | ) | const |
Return the transform id.
- Returns:
- The transform id
| void SetPose | ( | const Pose3d & | pose, | |
| bool | updateCoM = true | |||
| ) |
Set the pose.
- Parameters:
-
pose New pose updateCoM True to update the bodies Center of Mass
| void SetRotation | ( | const Quatern & | rot | ) |
Set the rotation.
- Parameters:
-
rot Quaternion rotation
| void SetCategoryBits | ( | unsigned int | bits | ) |
Set the category bits, used during collision detection.
- Parameters:
-
bits The bits
| void SetCollideBits | ( | unsigned int | bits | ) |
Set the collide bits, used during collision detection.
- Parameters:
-
bits The bits
The documentation for this class was generated from the following file: