MOMENTUM_NAMESPACE::Geometry Class Reference

#include <Geometry.h>

Public Member Functions
	Geometry ()
	Geometry (agxCollide::Geometry *geometry)
bool	addCollisionGroup (const std::string &name)
std::pair< Vec3, Vec3 >	getBound () const
std::vector< std::string >	getCollisionGroups () const
ContactPointVector	getContacts () const
bool	getEnableCollisions () const
std::shared_ptr< Material >	getMaterial () const
std::string	getName () const
bool	getSensor () const
bool	hasCollisionGroup (const std::string &name) const
bool	operator== (const Geometry &other) const
bool	pointIsInsideGeometry (Vec3 point, double radius) const
bool	removeCollisionGroup (const std::string &name)
void	setEnableCollisions (bool flag)
void	setSensor (bool flag)

Detailed Description

A class describing a Geometry.

Constructor & Destructor Documentation

Geometry() [1/2]

MOMENTUM_NAMESPACE::Geometry::Geometry

(

agxCollide::Geometry *

geometry

)

Create a wrapper around an agxCollide::Geometry.

Geometry() [2/2]

MOMENTUM_NAMESPACE::Geometry::Geometry

(

)

Default constructor.

Member Function Documentation

addCollisionGroup()

bool MOMENTUM_NAMESPACE::Geometry::addCollisionGroup

(

const std::string &

name

)

Add a named collision group to this Geometry that can be used for contact filtering during a simulation.

Note that if a geometry is already involved in a contact, adding a named group that is disabled in the simulation, will not remove that contact.

Parameters

name	- the name of the collision group to be added

Returns

false if geometry already has name as collision group

getBound()

std::pair< Vec3, Vec3 > MOMENTUM_NAMESPACE::Geometry::getBound

(

)

const

Get the axis aligned bound of the Geometry.

Returns

pair containing the ( min, max ) of the axis aligned bound of the Geometry.

getCollisionGroups()

std::vector< std::string > MOMENTUM_NAMESPACE::Geometry::getCollisionGroups

(

)

const

Get a list of all collision groups that this geometry has.

Returns

list of all collision group names

getContacts()

ContactPointVector MOMENTUM_NAMESPACE::Geometry::getContacts

(

)

const

Get all contacts including this geometry during the current timestep.

Returns

all contacts connected to this geometry

getEnableCollisions()

bool MOMENTUM_NAMESPACE::Geometry::getEnableCollisions

(

)

const

Return whether this geometry can be involved in collisions.

Returns

true if this geometry can generate contacts

getMaterial()

std::shared_ptr< Material > MOMENTUM_NAMESPACE::Geometry::getMaterial

(

)

const

Get the material of this geometry.

Returns

the material of the geometry

getName()

std::string MOMENTUM_NAMESPACE::Geometry::getName

(

)

const

Get the name of the geometry.

Returns

the name of the geometry

getSensor()

bool MOMENTUM_NAMESPACE::Geometry::getSensor

(

)

const

Returns

true if this geometry will create contact constraints in the solver

hasCollisionGroup()

bool MOMENTUM_NAMESPACE::Geometry::hasCollisionGroup

(

const std::string &

name

)

const

Checks if this geometry has a named collision group.

Parameters

name	- the name of the collision group

Returns

true if this geometry has the named collision group

operator==()

bool MOMENTUM_NAMESPACE::Geometry::operator==

(

const Geometry &

other

)

const

pointIsInsideGeometry()

bool MOMENTUM_NAMESPACE::Geometry::pointIsInsideGeometry	(	Vec3	point,
		double	radius
	)		const

Check if the selected point is inside the geometry.

Returns

True/False if the selected point is inside the geometry.

removeCollisionGroup()

bool MOMENTUM_NAMESPACE::Geometry::removeCollisionGroup

(

const std::string &

name

)

Remove a named collision group from this Geometry.

Parameters

name	- the name of the collision group to be removed

Returns

true if collision group name was successfully removed

setEnableCollisions()

void MOMENTUM_NAMESPACE::Geometry::setEnableCollisions

(

bool

flag

)

Enable/Disable collision detection of this geometry.

Only available in simulation mode

Parameters

flag	- If true this geometry will be enabled for all collision, otherwise disabled

setSensor()

void MOMENTUM_NAMESPACE::Geometry::setSensor

(

bool

flag

)

Specifies whether this geometry will generate contacts that the solver will see or not.

Only available in simulation mode

Parameters

flag	- If true this geometry will generate contacts but not contact constraints in the solver.