class cdBody

Represents link geometry for collision detection

Inheritance:

Public Fields

link* l

the link being checked for collisions

int flags

indicates what collision/contact checking is desired

Public Methods

cdBody(const char* Name = NULL)

constructor.

void setLink(link* L, ptrList* whichParts, int createITris)

sets l as the link to be checked for collisions.

Inherited from cdObject:

Public Fields

int index

int fixed

ptrList* ignoreList

ptrList* iTris

int active

const char* name

void* userData

Public Methods

virtual void cleanup(void)

void deleteITris(void)

virtual void getPose(double r[3][3], double t[3])

virtual void getPose(matrix &r, triple &t)

inline void addIgnoredObject(cdObject* o)

void processLinkGeometry(link* l, ptrList* whichParts, int createITris)

Inherited from synObject:

Public Fields

static int staticClassID

int objectID

int verboseLevel

Public Methods

virtual const char* className(void) const

virtual synObject* copy(void) const

virtual int isOfType(int typeNum, int derivedOk)

static int setStaticClassID(void)

virtual int classID(void) const

Documentation

Represents link geometry for collision detection

link* l

the link being checked for collisions

int flags

indicates what collision/contact checking is desired

cdBody(const char* Name = NULL)

constructor. cdBody::name will be set to Name (not copied from it)

void setLink(link* L, ptrList* whichParts, int createITris)

sets l as the link to be checked for collisions. If whichParts is non-NULL, then any of l's parts that are not in whichParts will be skipped. createITris should be set to 1 if intersection calculations will be needed for the object

This class has no child classes.

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