Package org.robwork.sdurw

Class CollisionStrategyResult

java.lang.Object

org.robwork.sdurw.CollisionStrategyResult

public class CollisionStrategyResult
extends java.lang.Object

result of a single collision pair

A collision result is one or all colliding triangles between two objects which may have
several geometries attached.
The collision result does not have access to the actual triangle meshes of the geometries
so to extract the actual contact location the user has to supply the triangles meshes of
the geometries himself.

Constructor Summary

Constructors

Constructor	Description
CollisionStrategyResult()
CollisionStrategyResult(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	clear()	clear all result values
void	delete()
Transform3Dd	get_aTb()	transformation from a to b
CollisionStrategyCollisionPairVector	get_collisionPairs()	the collision pairs
IntPairVector	get_geomPrimIds()	indices of triangles/primitives in geometry a and b that are colliding all colliding triangle indices are in this array also those that are from different geometries
int	get_nrBVTests()
int	get_nrPrimTests()
ProximityModelPtr	getA()	reference to the first model
ProximityModelPtr	getB()	reference to the second model
static long	getCPtr(CollisionStrategyResult obj)
int	getNrBVTests()
int	getNrPrimTests()
void	set_aTb(Transform3Dd value)	transformation from a to b
void	set_collisionPairs(CollisionStrategyCollisionPairVector value)	the collision pairs
void	set_geomPrimIds(IntPairVector value)	indices of triangles/primitives in geometry a and b that are colliding all colliding triangle indices are in this array also those that are from different geometries
void	set_nrBVTests(int value)
void	set_nrPrimTests(int value)
void	setA(ProximityModelPtr value)	reference to the first model
void	setB(ProximityModelPtr value)	reference to the second model

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

CollisionStrategyResult

public CollisionStrategyResult(long cPtr,
                               boolean cMemoryOwn)

CollisionStrategyResult

public CollisionStrategyResult()

Method Detail

getCPtr

public static long getCPtr(CollisionStrategyResult obj)

delete

public void delete()

setA

public void setA(ProximityModelPtr value)

reference to the first model

getA

public ProximityModelPtr getA()

reference to the first model

setB

public void setB(ProximityModelPtr value)

reference to the second model

getB

public ProximityModelPtr getB()

reference to the second model

set_aTb

public void set_aTb(Transform3Dd value)

transformation from a to b

get_aTb

public Transform3Dd get_aTb()

transformation from a to b

set_collisionPairs

public void set_collisionPairs(CollisionStrategyCollisionPairVector value)

the collision pairs

get_collisionPairs

public CollisionStrategyCollisionPairVector get_collisionPairs()

the collision pairs

set_geomPrimIds

public void set_geomPrimIds(IntPairVector value)

indices of triangles/primitives in geometry a and b that are colliding
all colliding triangle indices are in this array also those that are from different geometries

get_geomPrimIds

public IntPairVector get_geomPrimIds()

indices of triangles/primitives in geometry a and b that are colliding
all colliding triangle indices are in this array also those that are from different geometries

set_nrBVTests

public void set_nrBVTests(int value)

get_nrBVTests

public int get_nrBVTests()

set_nrPrimTests

public void set_nrPrimTests(int value)

get_nrPrimTests

public int get_nrPrimTests()

getNrPrimTests

public int getNrPrimTests()

getNrBVTests

public int getNrBVTests()

clear

public void clear()

clear all result values