class cdPolyhedronObstacle

a fixed polyhedral obstacle

Inheritance:

Public Fields

mpoly* p

the mpoly representing the object's geometry.

Public Methods

cdPolyhedronObstacle(const char* Name = NULL)

constructor.

~cdPolyhedronObstacle(void)

destructor

void setObstacle(mpoly* mp, int createTris)

Sets mp as the obstacle represented by the cdPolyhedronObstacle.

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

a fixed polyhedral obstacle

mpoly* p

the mpoly representing the object's geometry. since p is not used for inertial computations, it does not have to be a closed polyhedron; it can be an arbitrary collection of polyhedronFaces.

cdPolyhedronObstacle(const char* Name = NULL)

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

~cdPolyhedronObstacle(void)

destructor

void setObstacle(mpoly* mp, int createTris)

Sets mp as the obstacle represented by the cdPolyhedronObstacle. createTris should be non-zero if the polyhedrom intersections will be needed for the object

This class has no child classes.

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