Package org.robwork.sdurw_proximity

Class CollisionResult

java.lang.Object

org.robwork.sdurw_proximity.CollisionResult

public class CollisionResult
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.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	CollisionResult.CollisionPair	a collision pair of

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
void	clear()	clear all result values
void	delete()
Transform3D	get_aTb()	transformation from a to b
CollisionPairVector	get_collisionPairs()	the collision pairs
VectorPair_i_i	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(CollisionResult obj)
int	getNrBVTests()
int	getNrPrimTests()
void	set_aTb(Transform3D value)	transformation from a to b
void	set_collisionPairs(CollisionPairVector value)	the collision pairs
void	set_geomPrimIds(VectorPair_i_i 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

CollisionResult

public CollisionResult(long cPtr,
                       boolean cMemoryOwn)

CollisionResult

public CollisionResult()

Method Detail

getCPtr

public static long getCPtr(CollisionResult 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(Transform3D value)

transformation from a to b

get_aTb

public Transform3D get_aTb()

transformation from a to b

set_collisionPairs

public void set_collisionPairs(CollisionPairVector value)

the collision pairs

get_collisionPairs

public CollisionPairVector get_collisionPairs()

the collision pairs

set_geomPrimIds

public void set_geomPrimIds(VectorPair_i_i 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 VectorPair_i_i 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