Inheritance diagram for CoRiBoDynamics::CollisionManager::ExternalObject:

Collaboration diagram for CoRiBoDynamics::CollisionManager::ExternalObject:

Public Member Functions
	ExternalObject ()
	Rigid bodies that are controlled externally.

	ExternalObject (const double P, const double Q, const double V, const double W)

void	UpdateStates (const double P, const double Q, const double V, const double W)

vec3	P ()
	angular velocity 'omega' of the object More...

vec3	V ()

Quat	Q ()

vec3	W ()

Public Member Functions inherited from CoRiBoDynamics::CollisionManager::GeometricObject
void	SetAsSphere (double radius, const MaterialCharacteristic &material)

void	SetAsCapsule (double radius, double length, const MaterialCharacteristic &material)

void	SetAsChamfer (double minor_radius, double major_radius, const MaterialCharacteristic &material)

void	SetAsTorus (double minor_radius, double major_radius, const MaterialCharacteristic &material)

void	SetAsPlate (double radius, double lx, double ly, const MaterialCharacteristic &material)

GeometryTools::Sphere *	GetSphere ()

GeometryTools::Capsule *	GetCapsule ()

GeometryTools::Chamfer *	GetChamfer ()

GeometryTools::Torus *	GetTorus ()

GeometryTools::Plate *	GetPlate ()

GeometryTools::Point *	GetPoint ()

GeometryTools::Segment *	GetSegment ()

GeometryTools::Disk *	GetDisk ()

GeometryTools::Ring *	GetRing ()

GeometryTools::Plane *	GetPlane ()

void	Update ()

virtual vec3	P ()=0

virtual vec3	V ()=0

virtual Quat	Q ()=0

virtual vec3	W ()=0

Public Attributes
const double *	m_P

const double *	m_Q
	position of the object

const double *	m_V
	orientation quaternion of the object. order {w,x,y,z}

const double *	m_W
	velocity of the object

Public Attributes inherited from CoRiBoDynamics::CollisionManager::GeometricObject
double	m_bounding_sphere_radius

vec3	m_OBB

double	m_radius
	half dimensions of the oriented bounding box

ShapeType	m_shape_type

char	m_buffer [sizeof(GeometryTools::Plate)]

GeometryTools::AABB	m_aabb

MaterialCharacteristic	m_material

vec6	m_contact_forces

contact_matrix_index_pair *	m_contact_matrix