Klamp't  0.9.0
Public Attributes | List of all members
Klampt::CustomGeometryData Struct Reference

Public Attributes

AnyCollisionGeometry3D * geometry
Real outerMargin
Vector3 odeOffset

Member Data Documentation

AnyCollisionGeometry3D* Klampt::CustomGeometryData::geometry

The object pointed to must live throughout the duration of the ODE custom geometry.

Vector3 Klampt::CustomGeometryData::odeOffset

The translation from the geometry local frame to the ODE frame. i.e., the negation of the local COM vector.

Real Klampt::CustomGeometryData::outerMargin

The extra collision margin to the used with the geometry. If the geometry already has padding, this amount will be added on to detect collisions.

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