geometry object holding a link parent and wrapping access to a protected geometry info [詳細]
#include <kinbody.h>
Public メソッド | |
Geometry (boost::shared_ptr< Link > parent, const KinBody::GeometryInfo &info) | |
virtual | ~Geometry () |
const Transform & | GetTransform () const |
get local geometry transform | |
GeometryType | GetType () const |
const Vector & | GetRenderScale () const |
const std::string & | GetRenderFilename () const |
float | GetTransparency () const |
bool | IsDraw () const RAVE_DEPRECATED |
bool | IsVisible () const |
bool | IsModifiable () const |
dReal | GetSphereRadius () const |
dReal | GetCylinderRadius () const |
dReal | GetCylinderHeight () const |
const Vector & | GetBoxExtents () const |
const RaveVector< float > & | GetDiffuseColor () const |
const RaveVector< float > & | GetAmbientColor () const |
const TriMesh & | GetCollisionMesh () const |
returns the local collision mesh | |
const KinBody::GeometryInfo & | GetInfo () const |
virtual AABB | ComputeAABB (const Transform &trans) const |
returns an axis aligned bounding box given that the geometry is transformed by trans | |
virtual void | serialize (std::ostream &o, int options) const |
virtual void | SetCollisionMesh (const TriMesh &mesh) |
sets a new collision mesh and notifies every registered callback about it | |
virtual bool | SetVisible (bool visible) |
sets visible flag. if changed, notifies every registered callback about it. | |
void | SetDraw (bool bDraw) RAVE_DEPRECATED |
virtual void | SetTransparency (float f) |
set transparency level (0 is opaque) | |
virtual void | SetDiffuseColor (const RaveVector< float > &color) |
override diffuse color of geometry material | |
virtual void | SetAmbientColor (const RaveVector< float > &color) |
override ambient color of geometry material | |
virtual bool | ValidateContactNormal (const Vector &position, Vector &normal) const |
validates the contact normal on the surface of the geometry and makes sure the normal faces "outside" of the shape. | |
virtual void | SetRenderFilename (const std::string &renderfilename) |
sets a new render filename for the geometry. This does not change the collision | |
Static Public 変数 | |
static const GeometryType GeomNone | RAVE_DEPRECATED = OpenRAVE::GT_None |
static const GeometryType GeomBox | RAVE_DEPRECATED = OpenRAVE::GT_Box |
static const GeometryType GeomSphere | RAVE_DEPRECATED = OpenRAVE::GT_Sphere |
static const GeometryType GeomCylinder | RAVE_DEPRECATED = OpenRAVE::GT_Cylinder |
static const GeometryType GeomTrimesh | RAVE_DEPRECATED = OpenRAVE::GT_TriMesh |
Protected 変数 | |
boost::weak_ptr< Link > | _parent |
KinBody::GeometryInfo | _info |
geometry info | |
geometry object holding a link parent and wrapping access to a protected geometry info
OpenRAVE::KinBody::Link::Geometry::Geometry | ( | boost::shared_ptr< Link > | parent, |
const KinBody::GeometryInfo & | info | ||
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returns an axis aligned bounding box given that the geometry is transformed by trans
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override ambient color of geometry material
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sets a new collision mesh and notifies every registered callback about it
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override diffuse color of geometry material
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sets a new render filename for the geometry. This does not change the collision
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set transparency level (0 is opaque)
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sets visible flag. if changed, notifies every registered callback about it.
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validates the contact normal on the surface of the geometry and makes sure the normal faces "outside" of the shape.
position | the position of the contact point specified in the link's coordinate system |
normal | the unit normal of the contact point specified in the link's coordinate system |
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