The geometry for the object for collision or distance computation. More...

Inheritance diagram for fcl::CollisionGeometry< S >:

Public Member Functions
virtual OBJECT_TYPE	getObjectType () const
	get the type of the object

virtual NODE_TYPE	getNodeType () const
	get the node type

virtual void	computeLocalAABB ()=0
	compute the AABB for object in local coordinate

void *	getUserData () const
	get user data in geometry

void	setUserData (void *data)
	set user data in geometry

bool	isOccupied () const
	whether the object is completely occupied

bool	isFree () const
	whether the object is completely free

bool	isUncertain () const
	whether the object has some uncertainty

virtual Vector3< S >	computeCOM () const
	compute center of mass

virtual Matrix3< S >	computeMomentofInertia () const
	compute the inertia matrix, related to the origin

virtual S	computeVolume () const
	compute the volume

virtual Matrix3< S >	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com

Public Attributes
Vector3< S >	aabb_center
	AABB center in local coordinate.

S	aabb_radius
	AABB radius.

AABB< S >	aabb_local
	AABB in local coordinate, used for tight AABB when only translation transform.

void *	user_data
	pointer to user defined data specific to this object

S	cost_density
	collision cost for unit volume

S	threshold_occupied
	threshold for occupied ( >= is occupied)

S	threshold_free
	threshold for free (<= is free)

Detailed Description

The geometry for the object for collision or distance computation.

The documentation for this class was generated from the following files:

Public Member Functions