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

A (static) rigid object that may be manipulated. More...

#include <RigidObject.h>

Public Member Functions

bool Load (const char *fn)
 Loads from a .obj file. If libcurl is available, can load from a URL.
 
bool Save (const char *fn)
 
bool LoadGeometry (const char *fn)
 
void SetMassFromGeometry (Real totalMass, Real surfaceFraction=1.0)
 
void SetMassFromBB (Real totalMass)
 
void InitCollisions ()
 
void UpdateGeometry ()
 Call this before collision detection if the transform is changed.
 
void DrawGL ()
 
void DrawGLOpaque (bool opaque)
 

Public Attributes

string name
 
string geomFile
 
ManagedGeometry geometry
 
RigidTransform T
 
Vector3 w
 
Vector3 v
 
Real mass
 
Vector3 com
 
Matrix3 inertia
 
Real kFriction
 
Real kRestitution
 
Real kStiffness
 
Real kDamping
 

Detailed Description

A (static) rigid object that may be manipulated.

Member Function Documentation

bool Klampt::RigidObjectModel::LoadGeometry ( const char *  fn)

Supports anything the AnyGeometry class uses, and also ROS PointCloud2 topics (use prefix ros://[topic_name] or ros:PointCloud2/[topic_name]).

If libcurl is available, can load from a URL


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