Inheritance diagram for CoRiBoDynamics::CollisionManager::InternalObject:

Collaboration diagram for CoRiBoDynamics::CollisionManager::InternalObject:

Public Member Functions
	InternalObject (RigidElement *element)
	Rigid bodies that are under direct control by the constraint solver.

vec3	P ()

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
RigidElement *	m_element

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