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Robotics Library
0.6.2
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27 #ifndef _RL_SG_BULLET_SHAPE_H_
28 #define _RL_SG_BULLET_SHAPE_H_
30 #include <btBulletCollisionCommon.h>
31 #include <Inventor/actions/SoCallbackAction.h>
59 static void triangleCallback(
void* userData, SoCallbackAction* action,
const SoPrimitiveVertex* v1,
const SoPrimitiveVertex* v2,
const SoPrimitiveVertex* v3);
71 #endif // _RL_SG_BULLET_SHAPE_H_
void getTransform(::rl::math::Transform &transform)
Definition: Shape.cpp:134
btCollisionShape * shape
Definition: Shape.h:52
Shape(SoVRMLShape *shape, Body *body)
Definition: Shape.cpp:47
Body * body
Definition: Shape.h:58
void setTransform(const ::rl::math::Transform &transform)
Definition: Shape.cpp:164
btTransform transform
Definition: Shape.h:54
::Eigen::Transform< Real, 3, ::Eigen::Affine > Transform
Definition: Transform.h:42
::std::vector< btScalar > vertices
Definition: Shape.h:65
static void triangleCallback(void *userData, SoCallbackAction *action, const SoPrimitiveVertex *v1, const SoPrimitiveVertex *v2, const SoPrimitiveVertex *v3)
Definition: Shape.cpp:192
virtual ~Shape()
Definition: Shape.cpp:120
btTriangleIndexVertexArray * triangleIndexVertexArray
Definition: Shape.h:63
::std::vector< int > indices
Definition: Shape.h:61