Describes the properties of a geometric primitive. More...
#include <kinbody.h>
Public Member Functions | |
GeometryInfo () | |
virtual | ~GeometryInfo () |
bool | InitCollisionMesh (float fTessellation=1) |
dReal | GetSphereRadius () const |
dReal | GetCylinderRadius () const |
dReal | GetCylinderHeight () const |
const Vector & | GetBoxExtents () const |
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XMLReadable (const std::string &xmlid) | |
virtual | ~XMLReadable () |
virtual const std::string & | GetXMLId () const |
virtual void | Serialize (BaseXMLWriterPtr writer, int options=0) const |
serializes the interface | |
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virtual | ~UserData () |
Public Attributes | |
Transform | _t |
Local transformation of the geom primitive with respect to the link's coordinate system. | |
Vector | _vGeomData |
RaveVector< float > | _vDiffuseColor |
RaveVector< float > | _vAmbientColor |
hints for how to color the meshes | |
TriMesh | _meshcollision |
trimesh representation of the collision data of this object in this local coordinate system | |
GeometryType | _type |
the type of geometry primitive | |
std::string | _filenamerender |
filename for render model (optional) | |
std::string | _filenamecollision |
filename for collision data (optional) | |
Vector | _vRenderScale |
render scale of the object (x,y,z) from _filenamerender | |
Vector | _vCollisionScale |
render scale of the object (x,y,z) from _filenamecollision | |
float | _fTransparency |
value from 0-1 for the transparency of the rendered object, 0 is opaque | |
bool | _bVisible |
if true, geometry is visible as part of the 3d model (default is true) | |
bool | _bModifiable |
if true, object geometry can be dynamically modified (default is true) | |
Describes the properties of a geometric primitive.
Contains everything associated with a geometry's appearance and shape
OpenRAVE::KinBody::GeometryInfo::GeometryInfo | ( | ) |
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bool OpenRAVE::KinBody::GeometryInfo::InitCollisionMesh | ( | float | fTessellation = 1 | ) |
triangulates the geometry object and initializes collisionmesh. GeomTrimesh types must already be triangulated
fTessellation | to control how fine the triangles need to be. 1.0f is the default value |
bool OpenRAVE::KinBody::GeometryInfo::_bModifiable |
bool OpenRAVE::KinBody::GeometryInfo::_bVisible |
std::string OpenRAVE::KinBody::GeometryInfo::_filenamecollision |
std::string OpenRAVE::KinBody::GeometryInfo::_filenamerender |
float OpenRAVE::KinBody::GeometryInfo::_fTransparency |
TriMesh OpenRAVE::KinBody::GeometryInfo::_meshcollision |
trimesh representation of the collision data of this object in this local coordinate system
Should be transformed by _t before rendering. For spheres and cylinders, an appropriate discretization value is chosen. If empty, will be automatically computed from the geometry's type and render data
Transform OpenRAVE::KinBody::GeometryInfo::_t |
GeometryType OpenRAVE::KinBody::GeometryInfo::_type |
RaveVector<float> OpenRAVE::KinBody::GeometryInfo::_vAmbientColor |
Vector OpenRAVE::KinBody::GeometryInfo::_vCollisionScale |
RaveVector<float> OpenRAVE::KinBody::GeometryInfo::_vDiffuseColor |
Vector OpenRAVE::KinBody::GeometryInfo::_vGeomData |
Vector OpenRAVE::KinBody::GeometryInfo::_vRenderScale |