Klamp't
0.8.1
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A (static) rigid object that may be manipulated. More...
#include <RigidObject.h>
Public Member Functions | |
bool | Load (const char *fn) |
bool | Save (const char *fn) |
bool | LoadGeometry (const char *fn) |
void | SetMassFromGeometry (Real totalMass) |
void | SetMassFromBB (Real totalMass) |
void | InitCollisions () |
void | UpdateGeometry () |
Call this before collision detection if the transform is changed. | |
void | DrawGL () |
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 |
A (static) rigid object that may be manipulated.
bool RigidObject::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])