Class Object

  • Direct Known Subclasses:
    DeformableObject, RigidObject

    public class Object
    extends Stateless
    The object class represents a physical thing in the scene which has geometry.
    An object has a base frame (similar to a Device) and may have a number of associated frames.
    • Constructor Detail

      • Object

        public Object​(long cPtr,
                      boolean cMemoryOwn)
    • Method Detail

      • getCPtr

        public static long getCPtr​(Object obj)
      • getName

        public java.lang.String getName()
        get name of this object. Name is always the same as the name of the
        base frame.
        Returns:
        name of object.
      • getBase

        public Frame getBase()
        get base frame of this object
        Returns:
        base frame of object
      • getFrames

        public FrameVector getFrames()
        get all associated frames of this object
        Returns:
        a vector of frames
      • addFrame

        public void addFrame​(Frame frame)
        associate a frame to this Object.
        Parameters:
        frame - [in] frame to associate to object
      • getGeometry

        public GeometryPtrVector getGeometry()
        get default geometries
        Returns:
        geometry for collision detection
      • getModels

        public Model3DPtrVector getModels()
        get the default models
        Returns:
        models for vizualization
      • getGeometry

        public GeometryPtrVector getGeometry​(State state)
        get geometry of this object
        Returns:
        geometry for collision detection.
      • getModels

        public Model3DPtrVector getModels​(State state)
        get visualization models of this object
        Returns:
        models for visualization
      • getMass

        public double getMass​(State state)
        get mass in Kg of this object
        Returns:
        mass in kilo grams
      • getCOM

        public Vector3Dd getCOM​(State state)
        get center of mass of this object
        Parameters:
        state - [in] the state in which to get center of mass
        Returns:
      • getInertia

        public InertiaMatrixd getInertia​(State state)
        returns the inertia matrix of this body calculated around COM with the orientation
        of the base frame.