Collision for an infinite plane. More...
#include <physics/physics.hh>
Inherits Shape.
Inherited by BulletPlaneShape, DARTPlaneShape, ODEPlaneShape, and SimbodyPlaneShape.
Public Types | |
enum | EntityType { BASE = 0x00000000, ENTITY = 0x00000001, MODEL = 0x00000002, LINK = 0x00000004, COLLISION = 0x00000008, LIGHT = 0x00000010, VISUAL = 0x00000020, JOINT = 0x00000040, BALL_JOINT = 0x00000080, HINGE2_JOINT = 0x00000100, HINGE_JOINT = 0x00000200, SLIDER_JOINT = 0x00000400, SCREW_JOINT = 0x00000800, UNIVERSAL_JOINT = 0x00001000, GEARBOX_JOINT = 0x00002000, FIXED_JOINT = 0x00004000, ACTOR = 0x00008000, SHAPE = 0x00010000, BOX_SHAPE = 0x00020000, CYLINDER_SHAPE = 0x00040000, HEIGHTMAP_SHAPE = 0x00080000, MAP_SHAPE = 0x00100000, MULTIRAY_SHAPE = 0x00200000, RAY_SHAPE = 0x00400000, PLANE_SHAPE = 0x00800000, SPHERE_SHAPE = 0x01000000, MESH_SHAPE = 0x02000000, POLYLINE_SHAPE = 0x04000000, SENSOR_COLLISION = 0x10000000 } |
Unique identifiers for all entity types. More... | |
Public Member Functions | |
PlaneShape (CollisionPtr _parent) | |
Constructor. More... | |
virtual | ~PlaneShape () |
Destructor. More... | |
void | AddChild (BasePtr _child) |
Add a child to this entity. More... | |
void | AddType (EntityType _type) |
Add a type specifier. More... | |
virtual double | ComputeVolume () const |
Documentation inherited. More... | |
virtual void | CreatePlane () |
Create the plane. More... | |
void | FillMsg (msgs::Geometry &_msg) |
Fill a geometry message with data from this object. More... | |
virtual void | Fini () |
Finialize the object. More... | |
BasePtr | GetByName (const std::string &_name) |
Get by name. More... | |
BasePtr | GetChild (const std::string &_name) |
Get a child by name. More... | |
BasePtr | GetChild (unsigned int _i) const |
Get a child by index. More... | |
unsigned int | GetChildCount () const |
Get the number of children. More... | |
uint32_t | GetId () const |
Return the ID of this entity. More... | |
std::string | GetName () const |
Return the name of the entity. More... | |
BasePtr | GetParent () const |
Get the parent. More... | |
int | GetParentId () const |
Return the ID of the parent. More... | |
bool | GetSaveable () const |
Get whether the object should be "saved", when the user selects to save the world to xml. More... | |
std::string | GetScopedName (bool _prependWorldName=false) const |
Return the name of this entity with the model scope model1::...::modelN::entityName. More... | |
virtual const sdf::ElementPtr | GetSDF () |
Get the SDF values for the object. More... | |
unsigned int | GetType () const |
Get the full type definition. More... | |
const WorldPtr & | GetWorld () const |
Get the World this object is in. More... | |
bool | HasType (const EntityType &_t) const |
Returns true if this object's type definition has the given type. More... | |
virtual void | Init () |
Initialize the plane. More... | |
bool | IsSelected () const |
True if the entity is selected by the user. More... | |
virtual void | Load (sdf::ElementPtr _sdf) |
Load. More... | |
ignition::math::Vector3d | Normal () const |
Get the plane normal. More... | |
bool | operator== (const Base &_ent) const |
Returns true if the entities are the same. More... | |
void | Print (const std::string &_prefix) |
Print this object to screen via gzmsg. More... | |
virtual void | ProcessMsg (const msgs::Geometry &_msg) |
Process a geometry message and use the data to update this object. More... | |
void | RemoveChild (const std::string &_name) |
Remove a child by name. More... | |
void | RemoveChild (physics::BasePtr _child) |
Remove a child by pointer. More... | |
virtual void | RemoveChild (unsigned int _id) |
Remove a child from this entity. More... | |
void | RemoveChildren () |
Remove all children. More... | |
virtual void | Reset () |
Reset the object. More... | |
virtual void | Reset (Base::EntityType _resetType) |
Calls recursive Reset on one of the Base::EntityType's. More... | |
virtual ignition::math::Vector3d | Scale () const |
Get the scale of the shape. More... | |
ignition::math::Pose3d | SDFPoseRelativeToParent () const |
Get the SDF pose of the object according to the sdf 1.6 convention. More... | |
virtual std::optional< sdf::SemanticPose > | SDFSemanticPose () const |
Get the SDF SemanticPose object associated with the pose of this object. More... | |
virtual void | SetAltitude (const ignition::math::Vector3d &_pos) |
Set the altitude of the plane. More... | |
virtual void | SetName (const std::string &_name) |
Set the name of the entity. More... | |
void | SetNormal (const ignition::math::Vector3d &_norm) |
Set the normal. More... | |
void | SetParent (BasePtr _parent) |
Set the parent. More... | |
void | SetSaveable (bool _v) |
Set whether the object should be "saved", when the user selects to save the world to xml. More... | |
virtual void | SetScale (const ignition::math::Vector3d &_scale) |
Set the scale of the plane. More... | |
virtual bool | SetSelected (bool _show) |
Set whether this entity has been selected by the user through the gui. More... | |
void | SetSize (const ignition::math::Vector2d &_size) |
Set the size. More... | |
void | SetWorld (const WorldPtr &_newWorld) |
Set the world this object belongs to. More... | |
ignition::math::Vector2d | Size () const |
Get the size. More... | |
std::string | TypeStr () const |
Get the string name for the entity type. More... | |
virtual void | Update () |
Update the object. More... | |
virtual void | UpdateParameters (sdf::ElementPtr _sdf) |
Update the parameters using new sdf values. More... | |
common::URI | URI () const |
Return the common::URI of this entity. More... | |
Protected Member Functions | |
void | ComputeScopedName () |
Compute the scoped name of this object based on its parents. More... | |
virtual void | RegisterIntrospectionItems () |
Register items in the introspection service. More... | |
virtual void | UnregisterIntrospectionItems () |
Unregister items in the introspection service. More... | |
Protected Attributes | |
Base_V | children |
Children of this entity. More... | |
CollisionPtr | collisionParent |
This shape's collision parent. More... | |
std::vector< common::URI > | introspectionItems |
All the introspection items regsitered for this. More... | |
BasePtr | parent |
Parent of this entity. More... | |
ignition::math::Vector3d | scale = ignition::math::Vector3d::One |
This shape's scale;. More... | |
sdf::ElementPtr | sdf |
The SDF values for this object. More... | |
WorldPtr | world |
Pointer to the world. More... | |
Collision for an infinite plane.
This collision is used primarily for ground planes. Note that while the plane in infinite, only the part near the camera is drawn.
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inherited |
Unique identifiers for all entity types.
Enumerator | |
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BASE | Base type. |
ENTITY | Entity type. |
MODEL | Model type. |
LINK | Link type. |
COLLISION | Collision type. |
LIGHT | Light type. |
VISUAL | Visual type. |
JOINT | Joint type. |
BALL_JOINT | BallJoint type. |
HINGE2_JOINT | Hing2Joint type. |
HINGE_JOINT | HingeJoint type. |
SLIDER_JOINT | SliderJoint type. |
SCREW_JOINT | ScrewJoint type. |
UNIVERSAL_JOINT | UniversalJoint type. |
GEARBOX_JOINT | GearboxJoint type. |
FIXED_JOINT | FixedJoint type. |
ACTOR | Actor type. |
SHAPE | Shape type. |
BOX_SHAPE | BoxShape type. |
CYLINDER_SHAPE | CylinderShape type. |
HEIGHTMAP_SHAPE | HeightmapShape type. |
MAP_SHAPE | MapShape type. |
MULTIRAY_SHAPE | MultiRayShape type. |
RAY_SHAPE | RayShape type. |
PLANE_SHAPE | PlaneShape type. |
SPHERE_SHAPE | SphereShape type. |
MESH_SHAPE | MeshShape type. |
POLYLINE_SHAPE | PolylineShape type. |
SENSOR_COLLISION | Indicates a collision shape used for sensing. |
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explicit |
Constructor.
[in] | _parent | Link to which we are attached. |
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virtual |
Destructor.
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inherited |
Add a child to this entity.
[in] | _child | Child entity. |
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inherited |
Add a type specifier.
[in] | _type | New type to append to this objects type definition. |
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protectedinherited |
Compute the scoped name of this object based on its parents.
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virtual |
Documentation inherited.
Reimplemented from Shape.
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virtual |
Create the plane.
Reimplemented in SimbodyPlaneShape, ODEPlaneShape, DARTPlaneShape, and BulletPlaneShape.
Referenced by BulletPlaneShape::CreatePlane(), and ODEPlaneShape::CreatePlane().
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virtual |
Fill a geometry message with data from this object.
[out] | _msg | Message to fill. |
Implements Shape.
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virtualinherited |
Finialize the object.
Reimplemented in ODEJoint, Model, Link, Joint, Collision, BulletJoint, SimbodyLink, Road, ODELink, ODECollision, Entity, DARTModel, DARTLink, DARTCollision, BulletLink, and Actor.
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inherited |
Get by name.
[in] | _name | Get a child (or self) object by name |
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inherited |
Get a child by name.
[in] | _name | Name of the child. |
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inherited |
Get a child by index.
[in] | _i | Index of the child to retreive. |
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inherited |
Get the number of children.
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inherited |
Return the ID of this entity.
This id is unique.
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inherited |
Return the name of the entity.
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inherited |
Get the parent.
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inherited |
Return the ID of the parent.
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inherited |
Get whether the object should be "saved", when the user selects to save the world to xml.
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inherited |
Return the name of this entity with the model scope model1::...::modelN::entityName.
[in] | _prependWorldName | True to prended the returned string with the world name. The result will be world::model1::...::modelN::entityName. |
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virtualinherited |
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inherited |
Get the full type definition.
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inherited |
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inherited |
Returns true if this object's type definition has the given type.
[in] | _t | Type to check. |
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virtual |
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inherited |
True if the entity is selected by the user.
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virtualinherited |
Load.
[in] | node | Pointer to an SDF parameters |
Reimplemented in SimbodyJoint, ODEJoint, Model, Link, Light, Joint, DARTScrewJoint, DARTJoint, Collision, BulletJoint, UniversalJoint< ODEJoint >, UniversalJoint< DARTJoint >, UniversalJoint< SimbodyJoint >, UniversalJoint< BulletJoint >, SliderJoint< ODEJoint >, SliderJoint< DARTJoint >, SliderJoint< SimbodyJoint >, SliderJoint< BulletJoint >, SimbodyUniversalJoint, SimbodySliderJoint, SimbodyScrewJoint, SimbodyPolylineShape, SimbodyModel, SimbodyMeshShape, SimbodyHingeJoint, SimbodyHinge2Joint, SimbodyFixedJoint, SimbodyBallJoint, ScrewJoint< ODEJoint >, ScrewJoint< DARTJoint >, ScrewJoint< SimbodyJoint >, ScrewJoint< BulletJoint >, Road, ODESliderJoint, ODEScrewJoint, ODEPolylineShape, ODEMeshShape, ODELink, ODEHingeJoint, ODEHinge2Joint, ODEGearboxJoint, ODEFixedJoint, ODECollision, MapShape, HingeJoint< ODEJoint >, HingeJoint< DARTJoint >, HingeJoint< SimbodyJoint >, HingeJoint< BulletJoint >, Hinge2Joint< ODEJoint >, Hinge2Joint< DARTJoint >, Hinge2Joint< SimbodyJoint >, Hinge2Joint< BulletJoint >, HeightmapShape, GearboxJoint< ODEJoint >, FixedJoint< ODEJoint >, FixedJoint< DARTJoint >, FixedJoint< SimbodyJoint >, FixedJoint< BulletJoint >, Entity, DARTUniversalJoint, DARTSliderJoint, DARTPolylineShape, DARTModel, DARTMeshShape, DARTHingeJoint, DARTHinge2Joint, DARTFixedJoint, DARTCollision, DARTBallJoint, BulletUniversalJoint, BulletSliderJoint, BulletScrewJoint, BulletPolylineShape, BulletMeshShape, BulletHingeJoint, BulletHinge2Joint, BulletFixedJoint, BulletBallJoint, BallJoint< ODEJoint >, BallJoint< DARTJoint >, BallJoint< SimbodyJoint >, BallJoint< BulletJoint >, Actor, SimbodyLink, SimbodyCollision, DARTLink, BulletLink, and BulletCollision.
ignition::math::Vector3d Normal | ( | ) | const |
Get the plane normal.
Referenced by BulletPlaneShape::CreatePlane(), and ODEPlaneShape::CreatePlane().
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inherited |
Returns true if the entities are the same.
Checks only the name.
[in] | _ent | Base object to compare with. |
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inherited |
Print this object to screen via gzmsg.
[in] | _prefix | Usually a set of spaces. |
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virtual |
Process a geometry message and use the data to update this object.
[in] | _msg | Message to update from. |
Implements Shape.
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protectedvirtualinherited |
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inherited |
Remove a child by name.
[in] | _name | Name of the child. |
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inherited |
Remove a child by pointer.
[in] | _child | Pointer to the child. |
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virtualinherited |
Remove a child from this entity.
[in] | _id | ID of the child to remove. |
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inherited |
Remove all children.
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virtualinherited |
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virtualinherited |
Calls recursive Reset on one of the Base::EntityType's.
[in] | _resetType | The type of reset operation |
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virtualinherited |
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inherited |
Get the SDF pose of the object according to the sdf 1.6 convention.
This convention is that the pose of an element is relative to its parent XML element, except for joints, whose pose is relative to the child link.
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virtualinherited |
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virtual |
Set the altitude of the plane.
[in] | _pos | Position of the plane. |
Reimplemented in BulletPlaneShape, SimbodyPlaneShape, ODEPlaneShape, and DARTPlaneShape.
Referenced by ODEPlaneShape::SetAltitude(), and BulletPlaneShape::SetAltitude().
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virtualinherited |
void SetNormal | ( | const ignition::math::Vector3d & | _norm | ) |
Set the normal.
[in] | _norm | Plane normal. |
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inherited |
Set the parent.
[in] | _parent | Parent object. |
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inherited |
Set whether the object should be "saved", when the user selects to save the world to xml.
[in] | _v | Set to True if the object should be saved. |
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virtual |
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virtualinherited |
Set whether this entity has been selected by the user through the gui.
[in] | _show | True to set this entity as selected. |
Reimplemented in Link.
void SetSize | ( | const ignition::math::Vector2d & | _size | ) |
Set the size.
[in] | _size | 2D size of the plane. |
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inherited |
Set the world this object belongs to.
This will also set the world for all children.
[in] | _newWorld | The new World this object is part of. |
ignition::math::Vector2d Size | ( | ) | const |
Get the size.
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inherited |
Get the string name for the entity type.
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protectedvirtualinherited |
Unregister items in the introspection service.
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inlinevirtualinherited |
Update the object.
Reimplemented in RayShape, Model, Joint, SimbodyRayShape, ODERayShape, ODEPolylineShape, ODEMeshShape, MultiRayShape, MeshShape, MapShape, Link, DARTRayShape, DARTModel, DARTMeshShape, BulletRayShape, and Actor.
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virtualinherited |
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inherited |
Return the common::URI of this entity.
The URI includes the world where the entity is contained and all the hierarchy of sub-entities that can compose this entity. E.g.: A link entity contains the name of the link and the model where the link is contained.
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protectedinherited |
Children of this entity.
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protectedinherited |
This shape's collision parent.
Referenced by BulletPlaneShape::CreatePlane(), ODEPlaneShape::CreatePlane(), ODEPlaneShape::SetAltitude(), BulletSphereShape::SetRadius(), ODESphereShape::SetRadius(), SimbodySphereShape::SetRadius(), BulletBoxShape::SetSize(), ODEBoxShape::SetSize(), SimbodyBoxShape::SetSize(), BulletCylinderShape::SetSize(), ODECylinderShape::SetSize(), and SimbodyCylinderShape::SetSize().
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protectedinherited |
All the introspection items regsitered for this.
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protectedinherited |
Parent of this entity.
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protectedinherited |
This shape's scale;.
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protectedinherited |
The SDF values for this object.
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protectedinherited |
Pointer to the world.