ContactGeometry Class Reference

A ContactGeometry object describes the physical shape of a body. More...

Inheritance diagram for ContactGeometry:

Classes
class	HalfSpace
	This ContactGeometry subclass represents an object that occupies the entire half-space x>0. More...
class	HalfSpaceImpl
class	Sphere
	This ContactGeometry subclass represents a sphere centered at the origin. More...
class	SphereImpl
class	TriangleMesh
	This ContactGeometry subclass represents an arbitrary shape described by a mesh of triangular faces. More...
class	TriangleMeshImpl
Public Member Functions
	ContactGeometry ()
	ContactGeometry (const ContactGeometry &src)
	ContactGeometry (ContactGeometryImpl *impl)
virtual	~ContactGeometry ()
Vec3	findNearestPoint (const Vec3 &position, bool &inside, UnitVec3 &normal) const
	Given a point, find the nearest point on the surface of this object.
bool	intersectsRay (const Vec3 &origin, const UnitVec3 &direction, Real &distance, UnitVec3 &normal) const
	Determine whether this object intersects a ray, and if so, find the intersection point.
void	getBoundingSphere (Vec3 &center, Real &radius) const
	Get a bounding sphere which completely encloses this object.
bool	isOwnerHandle () const
bool	isEmptyHandle () const
ContactGeometry &	operator= (const ContactGeometry &src)
bool	hasImpl () const
const ContactGeometryImpl &	getImpl () const
ContactGeometryImpl &	updImpl ()
const std::string &	getType () const
	Get a string which uniquely identifies the type of geometry this object represents.
int	getTypeIndex () const
	Get an integer which uniquely identifies the type of geometry this object represents.
Protected Attributes
ContactGeometryImpl *	impl

Detailed Description

A ContactGeometry object describes the physical shape of a body.

It is used with GeneralContactSubsystem for doing collision detection and contact modeling.

ContactGeometry ( ) [inline]

ContactGeometry ( const ContactGeometry & src )

ContactGeometry ( ContactGeometryImpl * impl ) [explicit]

virtual ~ContactGeometry ( ) [virtual]

Given a point, find the nearest point on the surface of this object.

If multiple points on the surface are equally close to the specified point, this may return any of them.

Parameters:

	position	the point in question
	inside	on exit, this is set to true if the specified point is inside this object, false otherwise
	normal	on exit, this contains the surface normal at the returned point

Returns:: the point on the surface of the object which is closest to the specified point

Reimplemented in TriangleMesh.

Get a bounding sphere which completely encloses this object.

Parameters:

	center	on exit, this contains the location of the center of the bounding sphere
	radius	on exit, this contains the radius of the bounding sphere

const ContactGeometryImpl& getImpl ( ) const [inline]

Reimplemented in Sphere, and TriangleMesh.

const std::string& getType ( ) const

Get a string which uniquely identifies the type of geometry this object represents.

Typically each subclass of ContactGeometry defines its own value.

int getTypeIndex ( ) const

Get an integer which uniquely identifies the type of geometry this object represents.

A unique index is generated automatically for each unique type value as returned by getType().

bool hasImpl ( ) const [inline]

Determine whether this object intersects a ray, and if so, find the intersection point.

Parameters:

	origin	the position at which the ray begins
	direction	the ray direction
	distance	if an intersection is found, the distance from the ray origin to the intersection point is stored in this. Otherwise, it is left unchanged.
	normal	if an intersection is found, the surface normal of the intersection point is stored in this. Otherwise, it is left unchanged.