##

BulletCollision Class Reference
Physics » Bullet Physics

Bullet collisions. More...

`#include <BulletCollision.hh>`

Inherits Collision.

## Public Types

enum

EntityType {
BASE = 0x00000000, ENTITY = 0x00000001, MODEL = 0x00000002, LINK = 0x00000004,
COLLISION = 0x00000008, LIGHT = 0x00000010, VISUAL = 0x00000020, JOINT = 0x00000040,
BALL_JOINT = 0x00000080, HINGE2_JOINT = 0x00000100, HINGE_JOINT = 0x00000200, SLIDER_JOINT = 0x00000400,
SCREW_JOINT = 0x00000800, UNIVERSAL_JOINT = 0x00001000, GEARBOX_JOINT = 0x00002000, FIXED_JOINT = 0x00004000,
ACTOR = 0x00008000, SHAPE = 0x00010000, BOX_SHAPE = 0x00020000, CYLINDER_SHAPE = 0x00040000,
HEIGHTMAP_SHAPE = 0x00080000, MAP_SHAPE = 0x00100000, MULTIRAY_SHAPE = 0x00200000, RAY_SHAPE = 0x00400000,
PLANE_SHAPE = 0x00800000, SPHERE_SHAPE = 0x01000000, MESH_SHAPE = 0x02000000, POLYLINE_SHAPE = 0x04000000,
SENSOR_COLLISION = 0x10000000
}

| Unique identifiers for all entity types. More...

## Public Member Functions

| BulletCollision (LinkPtr _parent)
| Constructor. More...
virtual | ~BulletCollision ()
| Destructor. More...
void | AddChild (BasePtr _child)
| Add a child to this entity. More...
void | AddType (EntityType _type)
| Add a type specifier. More...
virtual ignition::math::Box | BoundingBox () const
| Get the bounding box for this collision. More...
ignition::math::Box | CollisionBoundingBox () const
| Returns collision bounding box. More...
const ignition::math::Pose3d & | DirtyPose () const
| Returns Entity::dirtyPose. More...
void | FillMsg (msgs::Collision &_msg)
| Fill a collision message. More...
virtual void | Fini ()
| Finalize the collision. More...
BulletSurfaceParamsPtr | GetBulletSurface () const
| Similar to Collision::GetSurface, but provides dynamically casted pointer to BulletSurfaceParams. More...
BasePtr | GetByName (const std::string &_name)
| Get by name. More...
virtual unsigned int | GetCategoryBits () const
| Get the category bits, used during collision detection. More...
BasePtr | GetChild (const std::string &_name)
| Get a child by name. More...
BasePtr | GetChild (unsigned int _i) const
| Get a child by index. More...
CollisionPtr | GetChildCollision (const std::string &_name)
| Get a child collision entity, if one exists. More...
unsigned int | GetChildCount () const
| Get the number of children. More...
LinkPtr | GetChildLink (const std::string &_name)
| Get a child linke entity, if one exists. More...
virtual unsigned int | GetCollideBits () const
| Get the collide bits, used during collision detection. More...
btCollisionShape * | GetCollisionShape () const
| Get the bullet collision shape. More...
uint32_t | GetId () const
| Return the ID of this entity. More...
float | GetLaserRetro () const
| Get the laser retro reflectiveness. More...
LinkPtr | GetLink () const
| Get the link this collision belongs to. More...
virtual unsigned int | GetMaxContacts ()
| returns number of contacts allowed for this collision. More...
ModelPtr | GetModel () const
| Get the model this collision belongs to. More...
std::string | GetName () const
| Return the name of the entity. More...
void | GetNearestEntityBelow (double &_distBelow, std::string &_entityName)
| Get the distance to the nearest entity below (along the Z-axis) this entity. More...
BasePtr | GetParent () const
| Get the parent. More...
int | GetParentId () const
| Return the ID of the parent. More...
ModelPtr | GetParentModel ()
| Get the parent model, if one exists. More...
bool | GetSaveable () const
| Get whether the object should be "saved", when the user selects to save the world to xml. More...
std::string | GetScopedName (bool _prependWorldName=false) const
| Return the name of this entity with the model scope model1::...::modelN::entityName. More...
virtual const sdf::ElementPtr | GetSDF ()
| Get the SDF values for the object. More...
ShapePtr | GetShape () const
| Get the collision shape. More...
unsigned int | GetShapeType () const
| Get the shape type. More...
CollisionState | GetState ()
| Get the collision state. More...
SurfaceParamsPtr | GetSurface () const
| Get the surface parameters. More...
unsigned int | GetType () const
| Get the full type definition. More...
const WorldPtr & | GetWorld () const
| Get the World this object is in. More...
bool | HasType (const EntityType &_t) const
| Returns true if this object's type definition has the given type. More...
virtual void | Init ()
| Initialize the collision. More...
ignition::math::Pose3d | InitialRelativePose () const
| Get the initial relative pose. More...
bool | IsCanonicalLink () const
| A helper function that checks if this is a canonical body. More...
bool | IsPlaceable () const
| Return whether this collision is movable. More...
bool | IsSelected () const
| True if the entity is selected by the user. More...
bool | IsStatic () const
| Return whether this entity is static. More...
virtual void | Load (sdf::ElementPtr _ptr)
| Load the collision. More...
virtual void | OnPoseChange ()
| On pose change. More...
bool | operator== (const Base &_ent) const
| Returns true if the entities are the same. More...
void | PlaceOnEntity (const std::string &_entityName)
| Move this entity to be ontop of another entity by name. More...
void | PlaceOnNearestEntityBelow ()
| Move this entity to be ontop of the nearest entity below. More...
void | Print (const std::string &_prefix)
| Print this object to screen via gzmsg. More...
void | ProcessMsg (const msgs::Collision &_msg)
| Update parameters from a message. More...
virtual ignition::math::Vector3d | RelativeAngularAccel () const
| Get the angular acceleration of the collision. More...
virtual ignition::math::Vector3d | RelativeAngularVel () const
| Get the angular velocity of the collision. More...
virtual ignition::math::Vector3d | RelativeLinearAccel () const
| Get the linear acceleration of the collision. More...
virtual ignition::math::Vector3d | RelativeLinearVel () const
| Get the linear velocity of the collision. More...
ignition::math::Pose3d | RelativePose () const
| Get the pose of the entity relative to its parent. More...
void | RemoveChild (const std::string &_name)
| Remove a child by name. More...
void | RemoveChild (physics::BasePtr _child)
| Remove a child by pointer. More...
virtual void | RemoveChild (unsigned int _id)
| Remove a child from this entity. More...
void | RemoveChildren ()
| Remove all children. More...
virtual void | Reset ()
| Reset the entity. More...
virtual void | Reset ()
| Reset the object. More...
virtual void | Reset (Base::EntityType _resetType)
| Calls recursive Reset on one of the Base::EntityType's. More...
virtual void | Reset (Base::EntityType _resetType)
| Calls recursive Reset on one of the Base::EntityType's. More...
void | SetAnimation (common::PoseAnimationPtr _anim)
| Set an animation for this entity. More...
void | SetAnimation (const common::PoseAnimationPtr &_anim, boost::function< void()> _onComplete)
| Set an animation for this entity. More...
void | SetCanonicalLink (bool _value)
| Set to true if this entity is a canonical link for a model. More...
virtual void | SetCategoryBits (unsigned int _bits)
| Set the category bits, used during collision detection. More...
virtual void | SetCollideBits (unsigned int _bits)
| Set the collide bits, used during collision detection. More...
void | SetCollision (bool _placeable)
| Set the encapsulated collision object. More...
void | SetCollisionShape (btCollisionShape *_shape, bool _placeable=true)
| Set the collision shape. More...
void | SetCompoundShapeIndex (int _index)
| Set the index of the compound shape. More...
void | SetInitialRelativePose (const ignition::math::Pose3d &_pose)
| Set the initial pose. More...
void | SetLaserRetro (float _retro)
| Set the laser retro reflectiveness. More...
virtual void | SetMaxContacts (unsigned int _maxContacts)
| Number of contacts allowed for this collision. More...
virtual void | SetName (const std::string &_name)
| Set the name of the entity. More...
void | SetParent (BasePtr _parent)
| Set the parent. More...
void | SetPlaceable (const bool _placeable)
| Set if this object is moveable. More...
void | SetRelativePose (const ignition::math::Pose3d &_pose, const bool _notify=true, const bool _publish=true)
| Set the pose of the entity relative to its parent. More...
void | SetSaveable (bool _v)
| Set whether the object should be "saved", when the user selects to save the world to xml. More...
void | SetScale (const ignition::math::Vector3d &_scale)
| Set the scale of the collision. More...
virtual bool | SetSelected (bool _show)
| Set whether this entity has been selected by the user through the gui. More...
void | SetShape (ShapePtr _shape)
| Set the shape for this collision. More...
void | SetState (const CollisionState &_state)
| Set the current collision state. More...
void | SetStatic (const bool &_static)
| Set whether this entity is static: immovable. More...
void | SetWorld (const WorldPtr &_newWorld)
| Set the world this object belongs to. More...
void | SetWorldPose (const ignition::math::Pose3d &_pose, const bool _notify=true, const bool _publish=true)
| Set the world pose of the entity. More...
void | SetWorldPoseDirty ()
| Indicate that the world pose should be recalculated. More...
void | SetWorldTwist (const ignition::math::Vector3d &_linear, const ignition::math::Vector3d &_angular, const bool _updateChildren=true)
| Set angular and linear rates of an physics::Entity. More...
virtual void | StopAnimation ()
| Stop the current animation, if any. More...
std::string | TypeStr () const
| Get the string name for the entity type. More...
virtual void | Update ()
| Update the object. More...
virtual void | UpdateParameters (sdf::ElementPtr _sdf)
| Update the parameters using new sdf values. More...
common::URI | URI () const
| Return the common::URI of this entity. More...
virtual ignition::math::Vector3d | WorldAngularAccel () const
| Get the angular acceleration of the collision in the world frame. More...
virtual ignition::math::Vector3d | WorldAngularVel () const
| Get the angular velocity of the collision in the world frame. More...
virtual ignition::math::Vector3d | WorldLinearAccel () const
| Get the linear acceleration of the collision in the world frame. More...
virtual ignition::math::Vector3d | WorldLinearVel () const
| Get the linear velocity of the collision in the world frame. More...
virtual const ignition::math::Pose3d & | WorldPose () const
| Get the absolute pose of the entity. More...

## Protected Member Functions

void | ComputeScopedName ()
| Compute the scoped name of this object based on its parents. More...
virtual void | RegisterIntrospectionItems ()
| Register items in the introspection service. More...
virtual void | UnregisterIntrospectionItems ()
| Unregister items in the introspection service. More...

## Protected Attributes

common::PoseAnimationPtr | animation
| Current pose animation. More...
event::ConnectionPtr | animationConnection
| Connection used to update an animation. More...
ignition::math::Pose3d | animationStartPose
| Start pose of an animation. More...
Base_V | children
| Children of this entity. More...
btCollisionShape * | collisionShape
std::vector< event::ConnectionPtr > | connections
| All our event connections. More...
ignition::math::Pose3d | dirtyPose
| The pose set by a physics engine. More...
std::vector< common::URI > | introspectionItems
| All the introspection items regsitered for this. More...
LinkPtr | link
| The link this collision belongs to. More...
transport::NodePtr | node
| Communication node. More...
ignition::transport::Node | nodeIgn
| Ignition communication node. More...
BasePtr | parent
| Parent of this entity. More...
EntityPtr | parentEntity
| A helper that prevents numerous dynamic_casts. More...
bool | placeable
| Flag for placeable. More...
common::Time | prevAnimationTime
| Previous time an animation was updated. More...
transport::PublisherPtr | requestPub
| Request publisher. More...
ignition::transport::Node::Publisher | requestPubIgn
| Request publisher. More...
ignition::math::Vector3d | scale
| Scale of the entity. More...
sdf::ElementPtr | sdf
| The SDF values for this object. More...
ShapePtr | shape
| Pointer to physics::Shape. More...
SurfaceParamsPtr | surface
| The surface parameters. More...
transport::PublisherPtr | visPub
| Visual publisher. More...
ignition::transport::Node::Publisher | visPubIgn
| Visual publisher. More...
msgs::Visual * | visualMsg
| Visual message container. More...
WorldPtr | world
| Pointer to the world. More...
ignition::math::Pose3d | worldPose
| World pose of the entity. More...

## Detailed Description

Bullet collisions.

## Member Enumeration Documentation

## EntityType

enum EntityType

inherited

Unique identifiers for all entity types.

Enumerator
BASE | Base type.
ENTITY | Entity type.
MODEL | Model type.
LINK | Link type.
COLLISION | Collision type.
LIGHT | Light type.
VISUAL | Visual type.
JOINT | Joint type.
BALL_JOINT | BallJoint type.
HINGE2_JOINT | Hing2Joint type.
HINGE_JOINT | HingeJoint type.
SLIDER_JOINT | SliderJoint type.
SCREW_JOINT | ScrewJoint type.
UNIVERSAL_JOINT | UniversalJoint type.
GEARBOX_JOINT | GearboxJoint type.
FIXED_JOINT | FixedJoint type.
ACTOR | Actor type.
SHAPE | Shape type.
BOX_SHAPE | BoxShape type.
CYLINDER_SHAPE | CylinderShape type.
HEIGHTMAP_SHAPE | HeightmapShape type.
MAP_SHAPE | MapShape type.
MULTIRAY_SHAPE | MultiRayShape type.
RAY_SHAPE | RayShape type.
PLANE_SHAPE | PlaneShape type.
SPHERE_SHAPE | SphereShape type.
MESH_SHAPE | MeshShape type.
POLYLINE_SHAPE | PolylineShape type.
SENSOR_COLLISION | Indicates a collision shape used for sensing.

## Constructor & Destructor Documentation

## BulletCollision()

BulletCollision | ( | LinkPtr | _parent | ) |

explicit

Constructor.

## ~BulletCollision()

virtual ~BulletCollision | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## AddChild()

void AddChild | ( | BasePtr | _child | ) |

inherited

Add a child to this entity.

Parameters

  [in] | _child | Child entity.

## AddType()

void AddType | ( | EntityType | _type | ) |

inherited

Add a type specifier.

Parameters

  [in] | _type | New type to append to this objects type definition.

## BoundingBox()

virtual ignition::math::Box BoundingBox | ( |  | ) | const

virtual

Get the bounding box for this collision.

Returns
  The bounding box.

Implements Collision.

## CollisionBoundingBox()

ignition::math::Box CollisionBoundingBox | ( |  | ) | const

inherited

Returns collision bounding box.

Returns
  Collsion bounding box.

## ComputeScopedName()

void ComputeScopedName | ( |  | ) |

protected inherited

Compute the scoped name of this object based on its parents.

See also
  Base::GetScopedName

## DirtyPose()

const ignition::math::Pose3d& DirtyPose | ( |  | ) | const

inherited

Returns Entity::dirtyPose.

The dirty pose is the pose set by the physics engine before it's value is propagated to the rest of the simulator.

Returns
  The dirty pose of the entity.

## FillMsg()

void FillMsg | ( | msgs::Collision & | _msg | ) |

inherited

Fill a collision message.

Parameters

  [out] | _msg | The message to fill with this collision's data.

## Fini()

virtual void Fini | ( |  | ) |

virtual inherited

Finalize the collision.

Reimplemented from Entity.

Reimplemented in DARTCollision, and ODECollision.

## GetBulletSurface()

BulletSurfaceParamsPtr GetBulletSurface | ( |  | ) | const

Similar to Collision::GetSurface, but provides dynamically casted pointer to BulletSurfaceParams.

Returns
  Dynamically casted pointer to BulletSurfaceParams.

## GetByName()

BasePtr GetByName | ( | const std::string & | _name | ) |

inherited

Get by name.

Parameters

  [in] | _name | Get a child (or self) object by name

Returns
  A pointer to the object, NULL if not found

## GetCategoryBits()

virtual unsigned int GetCategoryBits | ( |  | ) | const

virtual

Get the category bits, used during collision detection.

Returns
  The bits

## GetChild() [1/2]

BasePtr GetChild | ( | const std::string & | _name | ) |

inherited

Get a child by name.

Parameters

  [in] | _name | Name of the child.

Returns
  A pointer to the object, NULL if not found

## GetChild() [2/2]

BasePtr GetChild | ( | unsigned int | _i | ) | const

inherited

Get a child by index.

Parameters

  [in] | _i | Index of the child to retreive.

Returns
  A pointer to the object, NULL if the index is invalid.

## GetChildCollision()

CollisionPtr GetChildCollision | ( | const std::string & | _name | ) |

inherited

Get a child collision entity, if one exists.

Parameters

  [in] | _name | Name of the child collision object.

Returns
  Pointer to the Collision object, or NULL if not found.

## GetChildCount()

unsigned int GetChildCount | ( |  | ) | const

inherited

Get the number of children.

Returns
  The number of children.

## GetChildLink()

LinkPtr GetChildLink | ( | const std::string & | _name | ) |

inherited

Get a child linke entity, if one exists.

Parameters

  [in] | _name | Name of the child Link object.

Returns
  Pointer to the Link object, or NULL if not found.

## GetCollideBits()

virtual unsigned int GetCollideBits | ( |  | ) | const

virtual

Get the collide bits, used during collision detection.

Returns
  The bits

## GetCollisionShape()

btCollisionShape* GetCollisionShape | ( |  | ) | const

Get the bullet collision shape.

## GetId()

uint32_t GetId | ( |  | ) | const

inherited

Return the ID of this entity.

This id is unique.

Returns
  Integer ID.

## GetLaserRetro()

float GetLaserRetro | ( |  | ) | const

inherited

Get the laser retro reflectiveness.

Returns
  The laser retro value.

## GetLink()

LinkPtr GetLink | ( |  | ) | const

inherited

Get the link this collision belongs to.

Returns
  The parent Link.

## GetMaxContacts()

virtual unsigned int GetMaxContacts | ( |  | ) |

virtual inherited

returns number of contacts allowed for this collision.

This overrides global value (in PhysicsEngine) if specified.

Returns
  max num contacts allowed for this collision.

## GetModel()

ModelPtr GetModel | ( |  | ) | const

inherited

Get the model this collision belongs to.

Returns
  The parent model.

## GetName()

std::string GetName | ( |  | ) | const

inherited

Return the name of the entity.

Returns
  Name of the entity.

## GetNearestEntityBelow()

void GetNearestEntityBelow | ( | double & | _distBelow,
|  | std::string & | _entityName
| ) |  |

inherited

Get the distance to the nearest entity below (along the Z-axis) this entity.

Parameters

  [out] | _distBelow | The distance to the nearest entity below.
  [out] | _entityName | The name of the nearest entity below.

## GetParent()

BasePtr GetParent | ( |  | ) | const

inherited

Get the parent.

Returns
  Pointer to the parent entity.

## GetParentId()

int GetParentId | ( |  | ) | const

inherited

Return the ID of the parent.

Returns
  Integer ID.

## GetParentModel()

ModelPtr GetParentModel | ( |  | ) |

inherited

Get the parent model, if one exists.

Returns
  Pointer to a model, or NULL if no parent model exists.

## GetSaveable()

bool GetSaveable | ( |  | ) | const

inherited

Get whether the object should be "saved", when the user selects to save the world to xml.

Returns
  True if the object is saveable.

## GetScopedName()

std::string GetScopedName | ( | bool | _prependWorldName = `false` | ) | const

inherited

Return the name of this entity with the model scope model1::...::modelN::entityName.

Parameters

  [in] | _prependWorldName | True to prended the returned string with the world name. The result will be world::model1::...::modelN::entityName.

Returns
  The scoped name.

## GetSDF()

virtual const sdf::ElementPtr GetSDF | ( |  | ) |

virtual inherited

Get the SDF values for the object.

Returns
  The SDF values for the object.

Reimplemented in Actor, and Model.

## GetShape()

ShapePtr GetShape | ( |  | ) | const

inherited

Get the collision shape.

Returns
  The collision shape.

## GetShapeType()

unsigned int GetShapeType | ( |  | ) | const

inherited

Get the shape type.

Returns
  The shape type.

See also
  EntityType

## GetState()

CollisionState GetState | ( |  | ) |

inherited

Get the collision state.

Returns
  The collision state.

## GetSurface()

SurfaceParamsPtr GetSurface | ( |  | ) | const

inline inherited

Get the surface parameters.

Returns
  The surface parameters.

References Collision::surface.

## GetType()

unsigned int GetType | ( |  | ) | const

inherited

Get the full type definition.

Returns
  The full type definition.

## GetWorld()

const WorldPtr& GetWorld | ( |  | ) | const

inherited

Get the World this object is in.

Returns
  The World this object is part of.

## HasType()

bool HasType | ( | const EntityType & | _t | ) | const

inherited

Returns true if this object's type definition has the given type.

Parameters

  [in] | _t | Type to check.

Returns
  True if this object's type definition has the.

## Init()

virtual void Init | ( |  | ) |

virtual inherited

Initialize the collision.

Reimplemented from Base.

Reimplemented in DARTCollision.

## InitialRelativePose()

ignition::math::Pose3d InitialRelativePose | ( |  | ) | const

inherited

Get the initial relative pose.

Returns
  The initial relative pose.

## IsCanonicalLink()

bool IsCanonicalLink | ( |  | ) | const

inline inherited

A helper function that checks if this is a canonical body.

Returns
  True if the link is canonical.

## IsPlaceable()

bool IsPlaceable | ( |  | ) | const

inherited

Return whether this collision is movable.

Example on an immovable object is a ray.

Returns
  True if the object is immovable.

## IsSelected()

bool IsSelected | ( |  | ) | const

inherited

True if the entity is selected by the user.

Returns
  True if the entity is selected.

## IsStatic()

bool IsStatic | ( |  | ) | const

inherited

Return whether this entity is static.

Returns
  True if static.

## Load()

virtual void Load | ( | sdf::ElementPtr | _ptr | ) |

virtual

Load the collision.

Reimplemented from Collision.

## OnPoseChange()

virtual void OnPoseChange | ( |  | ) |

virtual

On pose change.

Implements Entity.

## operator==()

bool operator== | ( | const Base & | _ent | ) | const

inherited

Returns true if the entities are the same.

Checks only the name.

Parameters

  [in] | _ent | Base object to compare with.

Returns
  True if the entities are the same.

## PlaceOnEntity()

void PlaceOnEntity | ( | const std::string & | _entityName | ) |

inherited

Move this entity to be ontop of another entity by name.

Parameters

  [in] | _entityName | Name of the Entity this Entity should be ontop of.

## PlaceOnNearestEntityBelow()

void PlaceOnNearestEntityBelow | ( |  | ) |

inherited

Move this entity to be ontop of the nearest entity below.

## Print()

void Print | ( | const std::string & | _prefix | ) |

inherited

Print this object to screen via gzmsg.

Parameters

  [in] | _prefix | Usually a set of spaces.

## ProcessMsg()

void ProcessMsg | ( | const msgs::Collision & | _msg | ) |

inherited

Update parameters from a message.

Parameters

  [in] | _msg | Message to update from.

## RegisterIntrospectionItems()

virtual void RegisterIntrospectionItems | ( |  | ) |

protected virtual inherited

Register items in the introspection service.

Reimplemented in Link, Joint, and Model.

## RelativeAngularAccel()

virtual ignition::math::Vector3d RelativeAngularAccel | ( |  | ) | const

virtual inherited

Get the angular acceleration of the collision.

Returns
  The angular acceleration of the collision.

Reimplemented from Entity.

## RelativeAngularVel()

virtual ignition::math::Vector3d RelativeAngularVel | ( |  | ) | const

virtual inherited

Get the angular velocity of the collision.

Returns
  The angular velocity of the collision.

Reimplemented from Entity.

## RelativeLinearAccel()

virtual ignition::math::Vector3d RelativeLinearAccel | ( |  | ) | const

virtual inherited

Get the linear acceleration of the collision.

Returns
  The linear acceleration of the collision.

Reimplemented from Entity.

## RelativeLinearVel()

virtual ignition::math::Vector3d RelativeLinearVel | ( |  | ) | const

virtual inherited

Get the linear velocity of the collision.

Returns
  The linear velocity relative to the parent model.

Reimplemented from Entity.

## RelativePose()

ignition::math::Pose3d RelativePose | ( |  | ) | const

inherited

Get the pose of the entity relative to its parent.

Returns
  The pose of the entity relative to its parent.

## RemoveChild() [1/3]

void RemoveChild | ( | const std::string & | _name | ) |

inherited

Remove a child by name.

Parameters

  [in] | _name | Name of the child.

## RemoveChild() [2/3]

void RemoveChild | ( | physics::BasePtr | _child | ) |

inherited

Remove a child by pointer.

Parameters

  [in] | _child | Pointer to the child.

## RemoveChild() [3/3]

virtual void RemoveChild | ( | unsigned int | _id | ) |

virtual inherited

Remove a child from this entity.

Parameters

  [in] | _id | ID of the child to remove.

## RemoveChildren()

void RemoveChildren | ( |  | ) |

inherited

Remove all children.

## Reset() [1/4]

virtual void Reset | ( |  | ) |

virtual inherited

Reset the entity.

Reimplemented from Base.

Reimplemented in Actor, Model, and Link.

## Reset() [2/4]

virtual void Reset

inherited

Reset the object.

## Reset() [3/4]

virtual void Reset

inherited

Calls recursive Reset on one of the Base::EntityType's.

Parameters

  [in] | _resetType | The type of reset operation

## Reset() [4/4]

virtual void Reset | ( | Base::EntityType | _resetType | ) |

virtual inherited

Calls recursive Reset on one of the Base::EntityType's.

Parameters

  [in] | _resetType | The type of reset operation

## SetAnimation() [1/2]

void SetAnimation | ( | common::PoseAnimationPtr | _anim | ) |

inherited

Set an animation for this entity.

Parameters

  [in] | _anim | Pose animation.

## SetAnimation() [2/2]

void SetAnimation | ( | const common::PoseAnimationPtr & | _anim,
|  | boost::function< void()> | _onComplete
| ) |  |

inherited

Set an animation for this entity.

Parameters

  [in] | _anim | Pose animation.
  [in] | _onComplete | Callback for when the animation completes.

## SetCanonicalLink()

void SetCanonicalLink | ( | bool | _value | ) |

inherited

Set to true if this entity is a canonical link for a model.

Parameters

  [in] | _value | True if the link is canonical.

## SetCategoryBits()

virtual void SetCategoryBits | ( | unsigned int | _bits | ) |

virtual

Set the category bits, used during collision detection.

Parameters

  bits | The bits

Implements Collision.

## SetCollideBits()

virtual void SetCollideBits | ( | unsigned int | _bits | ) |

virtual

Set the collide bits, used during collision detection.

Parameters

  bits | The bits

Implements Collision.

## SetCollision()

void SetCollision | ( | bool | _placeable | ) |

inherited

Set the encapsulated collision object.

Has a side effect of changing the collision bit masks

Parameters

  [in] | _placeable | True to make the object movable.

## SetCollisionShape()

void SetCollisionShape | ( | btCollisionShape * | _shape,
|  | bool | _placeable = `true`
| ) |  |

Set the collision shape.

Parameters

  [in] | _shape | Collision shape
  [in] | _placeable | True to make the object movable.

## SetCompoundShapeIndex()

void SetCompoundShapeIndex | ( | int | _index | ) |

Set the index of the compound shape.

## SetInitialRelativePose()

void SetInitialRelativePose | ( | const ignition::math::Pose3d & | _pose | ) |

inherited

Set the initial pose.

Parameters

  [in] | _pose | The initial pose.

## SetLaserRetro()

void SetLaserRetro | ( | float | _retro | ) |

inherited

Set the laser retro reflectiveness.

Parameters

  [in] | _retro | The laser retro value.

## SetMaxContacts()

virtual void SetMaxContacts | ( | unsigned int | _maxContacts | ) |

virtual inherited

Number of contacts allowed for this collision.

This overrides global value (in PhysicsEngine) if specified.

Parameters

  [in] | _maxContacts | max num contacts allowed for this collision.

## SetName()

virtual void SetName | ( | const std::string & | _name | ) |

virtual inherited

Set the name of the entity.

Parameters

  [in] | _name | The new name.

Reimplemented from Base.

## SetParent()

void SetParent | ( | BasePtr | _parent | ) |

inherited

Set the parent.

Parameters

  [in] | _parent | Parent object.

## SetPlaceable()

void SetPlaceable | ( | const bool | _placeable | ) |

inherited

Set if this object is moveable.

Parameters

  [in] | _placeable | True to make the object movable.

## SetRelativePose()

void SetRelativePose | ( | const ignition::math::Pose3d & | _pose,
|  | const bool | _notify = `true`,
|  | const bool | _publish = `true`
| ) |  |

inherited

Set the pose of the entity relative to its parent.

Parameters

  [in] | _pose | The new pose.
  [in] | _notify | True = tell children of the pose change.
  [in] | _publish | True to publish the pose.

## SetSaveable()

void SetSaveable | ( | bool | _v | ) |

inherited

Set whether the object should be "saved", when the user selects to save the world to xml.

Parameters

  [in] | _v | Set to True if the object should be saved.

## SetScale()

void SetScale | ( | const ignition::math::Vector3d & | _scale | ) |

inherited

Set the scale of the collision.

Parameters

  [in] | _scale | Scale to set the collision to.

## SetSelected()

virtual bool SetSelected | ( | bool | _show | ) |

virtual inherited

Set whether this entity has been selected by the user through the gui.

Parameters

  [in] | _show | True to set this entity as selected.

Reimplemented in Link.

## SetShape()

void SetShape | ( | ShapePtr | _shape | ) |

inherited

Set the shape for this collision.

Parameters

  [in] | _shape | The shape for this collision object.

## SetState()

void SetState | ( | const CollisionState & | _state | ) |

inherited

Set the current collision state.

Parameters

  [in] | The | collision state.

## SetStatic()

void SetStatic | ( | const bool & | _static | ) |

inherited

Set whether this entity is static: immovable.

Parameters

  [in] | _static | True = static.

## SetWorld()

void SetWorld | ( | const WorldPtr & | _newWorld | ) |

inherited

Set the world this object belongs to.

This will also set the world for all children.

Parameters

  [in] | _newWorld | The new World this object is part of.

## SetWorldPose()

void SetWorldPose | ( | const ignition::math::Pose3d & | _pose,
|  | const bool | _notify = `true`,
|  | const bool | _publish = `true`
| ) |  |

inherited

Set the world pose of the entity.

Parameters

  [in] | _pose | The new world pose.
  [in] | _notify | True = tell children of the pose change.
  [in] | _publish | True to publish the pose.

## SetWorldPoseDirty()

void SetWorldPoseDirty | ( |  | ) |

inherited

Indicate that the world pose should be recalculated.

The recalculation will be done when Collision::GetWorldPose is called.

## SetWorldTwist()

void SetWorldTwist | ( | const ignition::math::Vector3d & | _linear,
|  | const ignition::math::Vector3d & | _angular,
|  | const bool | _updateChildren = `true`
| ) |  |

inherited

Set angular and linear rates of an physics::Entity.

Parameters

  [in] | _linear | Linear twist.
  [in] | _angular | Angular twist.
  [in] | _updateChildren | True to pass this update to child entities.

## StopAnimation()

virtual void StopAnimation | ( |  | ) |

virtual inherited

Stop the current animation, if any.

Reimplemented in Model.

## TypeStr()

std::string TypeStr | ( |  | ) | const

inherited

Get the string name for the entity type.

Returns
  The string name for this entity.

## UnregisterIntrospectionItems()

virtual void UnregisterIntrospectionItems | ( |  | ) |

protected virtual inherited

Unregister items in the introspection service.

## Update()

virtual void Update | ( |  | ) |

inline virtual inherited

Update the object.

Reimplemented in RayShape, MultiRayShape, Joint, Actor, Model, DARTModel, MapShape, DARTRayShape, ODERayShape, DARTMeshShape, ODEMeshShape, ODEPolylineShape, SimbodyRayShape, BulletRayShape, and MeshShape.

## UpdateParameters()

virtual void UpdateParameters | ( | sdf::ElementPtr | _sdf | ) |

virtual inherited

Update the parameters using new sdf values.

Parameters

  [in] | _sdf | SDF values to update from.

Reimplemented from Entity.

## URI()

common::URI URI | ( |  | ) | const

inherited

Return the common::URI of this entity.

The URI includes the world where the entity is contained and all the hierarchy of sub-entities that can compose this entity. E.g.: A link entity contains the name of the link and the model where the link is contained.

Returns
  The URI of this entity.

## WorldAngularAccel()

virtual ignition::math::Vector3d WorldAngularAccel | ( |  | ) | const

virtual inherited

Get the angular acceleration of the collision in the world frame.

Returns
  The angular acceleration of the collision in the world frame.

Reimplemented from Entity.

## WorldAngularVel()

virtual ignition::math::Vector3d WorldAngularVel | ( |  | ) | const

virtual inherited

Get the angular velocity of the collision in the world frame.

Returns
  The angular velocity of the collision in the world frame.

Reimplemented from Entity.

## WorldLinearAccel()

virtual ignition::math::Vector3d WorldLinearAccel | ( |  | ) | const

virtual inherited

Get the linear acceleration of the collision in the world frame.

Returns
  The linear acceleration of the collision in the world frame.

Reimplemented from Entity.

## WorldLinearVel()

virtual ignition::math::Vector3d WorldLinearVel | ( |  | ) | const

virtual inherited

Get the linear velocity of the collision in the world frame.

Returns
  The linear velocity of the collision in the world frame.

Reimplemented from Entity.

## WorldPose()

virtual const ignition::math::Pose3d& WorldPose | ( |  | ) | const

virtual inherited

Get the absolute pose of the entity.

Returns
  The absolute pose of the entity.

Reimplemented from Entity.

## Member Data Documentation

## animation

common::PoseAnimationPtr animation

protected inherited

Current pose animation.

## animationConnection

event::ConnectionPtr animationConnection

protected inherited

Connection used to update an animation.

## animationStartPose

ignition::math::Pose3d animationStartPose

protected inherited

Start pose of an animation.

## children

Base_V children

protected inherited

Children of this entity.

## collisionShape

btCollisionShape* collisionShape

protected

## connections

std::vector<event::ConnectionPtr> connections

protected inherited

All our event connections.

## dirtyPose

ignition::math::Pose3d dirtyPose

protected inherited

The pose set by a physics engine.

## introspectionItems

std::vector<common::URI> introspectionItems

protected inherited

All the introspection items regsitered for this.

## link

LinkPtr link

protected inherited

The link this collision belongs to.

## node

transport::NodePtr node

protected inherited

Communication node.

## nodeIgn

ignition::transport::Node nodeIgn

protected inherited

Ignition communication node.

## parent

BasePtr parent

protected inherited

Parent of this entity.

## parentEntity

EntityPtr parentEntity

protected inherited

A helper that prevents numerous dynamic_casts.

## placeable

bool placeable

protected inherited

Flag for placeable.

## prevAnimationTime

common::Time prevAnimationTime

protected inherited

Previous time an animation was updated.

## requestPub

transport::PublisherPtr requestPub

protected inherited

Request publisher.

## requestPubIgn

ignition::transport::Node::Publisher requestPubIgn

protected inherited

Request publisher.

## scale

ignition::math::Vector3d scale

protected inherited

Scale of the entity.

## sdf

sdf::ElementPtr sdf

protected inherited

The SDF values for this object.

## shape

ShapePtr shape

protected inherited

Pointer to physics::Shape.

## surface

SurfaceParamsPtr surface

protected inherited

The surface parameters.

Referenced by Collision::GetSurface().

## visPub

transport::PublisherPtr visPub

protected inherited

Visual publisher.

## visPubIgn

ignition::transport::Node::Publisher visPubIgn

protected inherited

Visual publisher.

## visualMsg

msgs::Visual* visualMsg

protected inherited

Visual message container.

## world

WorldPtr world

protected inherited

Pointer to the world.

## worldPose

ignition::math::Pose3d worldPose

mutable protected inherited

World pose of the entity.

Referenced by Entity::WorldPose().

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

- BulletCollision.hh