Klamp't  0.9.0
Public Member Functions | List of all members
Klampt::ODEGeometry Class Reference

An ODE collision geometry. More...

#include <ODEGeometry.h>

Public Member Functions

void Create (AnyCollisionGeometry3D *geom, dSpaceID space, Vector3 offset=Vector3(0.0), bool useCustomMesh=true)
void Clear ()
 Deletes the geometry and removes it from the space.
void DrawGL ()
 Debugging: draws the points of the trimesh (only works if useCustomMesh=false)
void SetPadding (Real outerMargin)
 Sets the boundary layer thickness for this geometry.
Real GetPadding ()
 Returns the boundadry layer thickness for this geometry.
AnyCollisionGeometry3D * SetPaddingWithPreshrink (Real outerMargin, bool inplace=false)
dGeomID geom () const
dTriMeshDataID triMeshData () const
ODESurfacePropertiessurf ()

Detailed Description

An ODE collision geometry.

The pointer to the AnyCollisionGeometry3D passed into Create must live throughout the duration of the use of this geometry.

Member Function Documentation

AnyCollisionGeometry3D* Klampt::ODEGeometry::SetPaddingWithPreshrink ( Real  outerMargin,
bool  inplace = false 

Sets the boundary layer thickness AND shrinks the original geometry. May lead to closer contact behavior to the original mesh. If inplace is set to true, then the original geometry is actually modified (this may help verify whether the geometry was shrunk correctly)

Note: does not work with point clouds (never) or geometric primitives (not at the moment, but may be supported in the future). Interpenetrating meshes may be created because a relatively naive method is used to shrink the geometry. Do this only with small margins or else you risk creating artifacts (a good rule of thumb is no smaller than half the width of your smallest triangle)

Note: destroys the collisionGeometry pointer and rebuilds the geometry.

Returns the new geometry.

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