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Base class for all collision entities. More...
#include <Collision.hh>
Public Member Functions | |
| Collision (LinkPtr link) | |
| Constructor. | |
| virtual | ~Collision () |
| Destructor. | |
| void | Fini () |
| Finalize the collision. | |
| virtual void | Load (sdf::ElementPtr &_sdf) |
| Load the collision. | |
| virtual void | Init () |
| virtual void | UpdateParameters (sdf::ElementPtr &_sdf) |
| Update the parameters using new sdf values. | |
| void | Save (std::string &prefix, std::ostream &stream) |
| Save the collision. | |
| void | SetCollision (bool placeable) |
| Set the encapsulated collsion object. | |
| bool | IsPlaceable () const |
| Return whether this collision is placeable. | |
| virtual void | SetCategoryBits (unsigned int bits)=0 |
| Set the category bits, used during collision detection. | |
| virtual void | SetCollideBits (unsigned int bits)=0 |
| Set the collide bits, used during collision detection. | |
| void | SetLaserRetro (float retro) |
| Set the laser retro reflectiveness. | |
| float | GetLaserRetro () const |
| Get the laser retro reflectiveness. | |
| void | ShowBoundingBox (const bool &show) |
| Set the visibility of the bounding box. | |
| LinkPtr | GetLink () const |
| Get the link this collision belongs to. | |
| ModelPtr | GetModel () const |
| Get the model this collision belongs to. | |
| virtual math::Box | GetBoundingBox () const =0 |
| Get the bounding box for this collision. | |
| unsigned int | GetShapeType () |
| Get the shape type. | |
| void | SetShape (ShapePtr shape) |
| Set the shape for this collision. | |
| ShapePtr | GetShape () const |
| Get the attached shape. | |
| void | SetContactsEnabled (bool _enable) |
| Turn contact recording on or off. | |
| bool | GetContactsEnabled () const |
| Return true of contact recording is on. | |
| void | AddContact (const Contact &contact) |
| Add an occurance of a contact to this collision. | |
| virtual math::Vector3 | GetRelativeLinearVel () const |
| Get the linear velocity of the collision. | |
| virtual math::Vector3 | GetWorldLinearVel () const |
| Get the linear velocity of the collision in the world frame. | |
| virtual math::Vector3 | GetRelativeAngularVel () const |
| Get the angular velocity of the collision. | |
| virtual math::Vector3 | GetWorldAngularVel () const |
| Get the angular velocity of the collision in the world frame. | |
| virtual math::Vector3 | GetRelativeLinearAccel () const |
| Get the linear acceleration of the collision. | |
| virtual math::Vector3 | GetWorldLinearAccel () const |
| Get the linear acceleration of the collision in the world frame. | |
| virtual math::Vector3 | GetRelativeAngularAccel () const |
| Get the angular acceleration of the collision. | |
| virtual math::Vector3 | GetWorldAngularAccel () const |
| Get the angular acceleration of the collision in the world frame. | |
| template<typename T > | |
| event::ConnectionPtr | ConnectContact (T subscriber) |
| void | DisconnectContact (event::ConnectionPtr &c) |
| void | FillCollisionMsg (msgs::Collision &_msg) |
| Fill a collision message. | |
| void | ProcessMsg (const msgs::Collision &_msg) |
| Update parameters from a message. | |
Public Attributes | |
|
event::EventT< void(const std::string &, const Contact &)> | contact |
| SurfaceParamsPtr | surface |
Protected Attributes | |
| LinkPtr | link |
| The link this collision belongs to. | |
| bool | placeable |
| ShapePtr | shape |
Base class for all collision entities.
| virtual void SetCategoryBits | ( | unsigned int | bits | ) | [pure virtual] |
Set the category bits, used during collision detection.
| bits | The bits |
Implemented in ODECollision.
| virtual void SetCollideBits | ( | unsigned int | bits | ) | [pure virtual] |
Set the collide bits, used during collision detection.
| bits | The bits |
Implemented in ODECollision.
1.7.5.1