Package jsim.collision

Class ColliderShape

java.lang.Object

jsim.collision.ColliderShape

Direct Known Subclasses:

BoxCollider, PlaneCollider, SphereCollider

public abstract class ColliderShape
extends Object

A collision shape attached to a rigid body.

Shapes are defined in body-local space. The physics world transforms them to world space when building AABBs and running narrowphase tests.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	ColliderShape.Type	Shape type tag for fast dispatch in narrowphase.

Constructor Summary

Constructors

Constructor	Description
ColliderShape()

Method Summary

Modifier and Type	Method	Description
abstract void	computeAABB(edu.wpi.first.math.geometry.Pose3d pose, double[] out)	Compute the world-space AABB of this shape given the body's pose.
abstract ColliderShape.Type	getType()	The shape type of this collider.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

ColliderShape

public ColliderShape()

Method Details

getType

public abstract ColliderShape.Type getType()

The shape type of this collider.

Returns:

this shape's type tag

computeAABB

public abstract void computeAABB(edu.wpi.first.math.geometry.Pose3d pose,
 double[] out)

Compute the world-space AABB of this shape given the body's pose.

Parameters:

pose - world-space pose of the body (position in metres, orientation as quaternion)

out - receives [minX, minY, minZ, maxX, maxY, maxZ] in metres