class cdObject

a base type for objects used in collision detection

Inheritance:

Public Fields

int index

the index of the object in the dynoCollisionDetector's list of objects

int fixed

indicates whether the object is fixed, or if it can move

ptrList* ignoreList

the list of objects that will be ignored during collision detection

ptrList* iTris

a list of iTris used for computing polyhedron intersections

int active

indicates whether the object should be checked for collisions.

const char* name

the name of the object.

void* userData

user-defined data for the object

Public Methods

virtual ~cdObject(void)

destructor

virtual void cleanup(void)

performs class-specific cleanup

void deleteITris(void)

deletes any iTris assocated with the object

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

gets the current pose of the object

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

gets the current pose of the object

inline void addIgnoredObject(cdObject* o)

adds 'o' to the list of objects that will be ignored by this object when checking for collisions

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

processes l's geometry.

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

a base type for objects used in collision detection

int index

the index of the object in the dynoCollisionDetector's list of objects

int fixed

indicates whether the object is fixed, or if it can move

ptrList* ignoreList

the list of objects that will be ignored during collision detection

ptrList* iTris

a list of iTris used for computing polyhedron intersections

int active

indicates whether the object should be checked for collisions. This can be changed on-the-fly by user application code.

const char* name

the name of the object.

void* userData

user-defined data for the object

virtual ~cdObject(void)

destructor

virtual void cleanup(void)

performs class-specific cleanup

void deleteITris(void)

deletes any iTris assocated with the object

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

gets the current pose of the object

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

gets the current pose of the object

inline void addIgnoredObject(cdObject* o)

adds 'o' to the list of objects that will be ignored by this object when checking for collisions

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

processes l's geometry. 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

Direct child classes:

cdPolyhedronObstacle
cdBody

Friends:

dynoCollisionDetector

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