KinematicContacts::World< PolicyT, FeaturesT > Class Template Reference
The World API for enabling kinematic contacts. More...
#include <KinematicLink.hh>
Public Member Functions | |
| bool | GetKinematicContactsEnabled () const |
| Get whether contacts between kinematic links and static or other kinematic links are detected. | |
| void | SetKinematicContactsEnabled (bool _enabled) |
Enable or disable the detection of contacts between kinematic links and static or other kinematic links. They are enabled by default. Contacts between kinematic and dynamic links are always detected. While disabled, the contacts of a kinematic link with a collision that sets //collision/surface/contact/collide_without_contact are still detected. | |
 Public Member Functions inherited from Feature::World< PolicyT, FeaturesT > | |
| virtual | ~World ()=default |
| Virtual destructor. | |
| Public Member Functions inherited from Entity< PolicyT, FeaturesT > | |
| virtual | ~Entity ()=default |
| Virtual destructor. | |
| std::size_t | EntityID () const |
| Get the unique ID value of this Entity. | |
| const std::shared_ptr< void > & | EntityReference () const |
| Get a reference-counting std::shared_ptr to the object inside the implementation that this object provides an abstraction for. | |
| const Identity & | FullIdentity () const |
| Get the Identity object of this Entity. | |
Additional Inherited Members | |
| Public Types inherited from Entity< PolicyT, FeaturesT > | |
| using | Features = FeaturesT |
| using | Pimpl = typename detail::DeterminePlugin< Policy, Features >::type |
| using | Policy = PolicyT |
| Protected Member Functions inherited from Entity< PolicyT, FeaturesT > | |
| Entity (const std::shared_ptr< Pimpl > &_pimpl=nullptr, const Identity &_identity=Identity()) | |
| Constructor for the Entity. | |
| Entity (std::shared_ptr< Pimpl > &&_pimpl, const Identity &_identity) | |
| Constructor that allows the pimpl to be moved instead of copied. | |
| template<typename FeatureT > | |
| FeatureT::template Implementation< PolicyT > * | Interface () |
| Get a pointer to the implementation of FeatureT. | |
| template<typename FeatureT > | |
| const FeatureT::template Implementation< PolicyT > * | Interface () const |
| Same as Interface(), but const-qualified so that const entities can request const-qualified interfaces from the implementation. | |
| Protected Attributes inherited from Entity< PolicyT, FeaturesT > | |
| Identity | identity |
| This field contains information to identify the entity. | |
| std::shared_ptr< Pimpl > | pimpl |
| This is a pointer to the physics engine implementation, and it can be used by the object features to find the interfaces that they need in order to function. | |
Detailed Description
template<typename PolicyT, typename FeaturesT>
class gz::physics::KinematicContacts::World< PolicyT, FeaturesT >
class gz::physics::KinematicContacts::World< PolicyT, FeaturesT >
The World API for enabling kinematic contacts.
Member Function Documentation
◆ GetKinematicContactsEnabled()
template<typename PolicyT , typename FeaturesT >
| bool GetKinematicContactsEnabled | ( | ) | const |
Get whether contacts between kinematic links and static or other kinematic links are detected.
- Returns
- True if they are detected.
- See also
- SetKinematicContactsEnabled
◆ SetKinematicContactsEnabled()
template<typename PolicyT , typename FeaturesT >
| void SetKinematicContactsEnabled | ( | bool | _enabled | ) |
Enable or disable the detection of contacts between kinematic links and static or other kinematic links. They are enabled by default. Contacts between kinematic and dynamic links are always detected. While disabled, the contacts of a kinematic link with a collision that sets //collision/surface/contact/collide_without_contact are still detected.
- Parameters
-
[in] _enabled True to detect these contacts.
The documentation for this class was generated from the following file: