RenderContacts Class Reference

Render for contacts. More...

#include <RenderContacts.hpp>

Inherits Render.

Public Types
typedef rw::core::Ptr< RenderContacts >	Ptr
	smart pointer type to this class
Public Types inherited from Render
typedef rw::core::Ptr< Render >	Ptr
	smart pointer type to this class
typedef DrawableNode::DrawType	DrawType
	when calling render on the draw mode or type can be specified. See DrawableNode::DrawType

Public Member Functions
	RenderContacts ()
	Construct render with no initial contacts.
	RenderContacts (const std::vector< Contact > &contacts)
	Constructs a render for a list of contacts. More...
virtual	~RenderContacts ()
	Destructor.
void	setContacts (const std::vector< Contact > &contacts)
	Set which contacts to draw. More...
std::vector< Contact >	getContacts () const
	Get list of contacts that are currently used by the render. More...
void	draw (const rw::graphics::DrawableNode::RenderInfo &info, rw::graphics::DrawableNode::DrawType type, double alpha) const
void	setColorPoints (float r, float g, float b)
	Sets color of contact points. More...
void	setColorNormal (float r, float g, float b)
	Sets color of normal arrows. More...
rw::math::Vector3D< float >	getColorPoint () const
	Get color of contact points. More...
rw::math::Vector3D< float >	getColorNormal () const
	Get color of contact points. More...
double	getSphereRadius () const
	Get the sphere radius. More...
double	getNormalLength () const
	Get the normal length. More...
std::pair< bool, bool >	showPoints () const
	Check if contact points are shown. More...
std::pair< bool, bool >	showNormals () const
	Check if contact normals are shown. More...
void	setSphereRadius (double radius=0.005)
	Set the sphere radius for the contact points. More...
void	setNormalLength (double length=0.05)
	Set the normal length for the contact normals. More...
void	showPoints (bool pointA, bool pointB)
	Set if the contact points should be shown. More...
void	showNormals (bool normalA, bool normalB)
	Set if the contact normals should be shown. More...
Public Member Functions inherited from Render
virtual	~Render ()
	destructor

Additional Inherited Members
Protected Member Functions inherited from Render
	Render ()
	Only instances of classes inheriting Render is allowed.

Detailed Description

Render for contacts.

Constructor & Destructor Documentation

RenderContacts()

RenderContacts

(

const std::vector< Contact > &

contacts

)

Constructs a render for a list of contacts.

Parameters

contacts

[in] the list of contacts to draw.

Member Function Documentation

draw()

void draw ( const rw::graphics::DrawableNode::RenderInfo &  info, rw::graphics::DrawableNode::DrawType  type, double  alpha  ) const

virtual

Parameters

info	[in] state and rendering specific info
type	[in] the drawtype which is being used
alpha	[in] the alpha value to render with

Implements Render.

getColorNormal()

rw::math::Vector3D<float> getColorNormal

(

)

const

Get color of contact points.

Returns

color of contact point as 3D vector for r-, g-, and b-components (in [0:1]).

getColorPoint()

rw::math::Vector3D<float> getColorPoint

(

)

const

Get color of contact points.

Returns

color of contact point as 3D vector for r-, g-, and b-components (in [0:1]).

getContacts()

std::vector<Contact> getContacts

(

)

const

Get list of contacts that are currently used by the render.

Returns

list of contacts.

getNormalLength()

double getNormalLength ( ) const

inline

Get the normal length.

Returns

the normal length (in meters).

getSphereRadius()

double getSphereRadius ( ) const

inline

Get the sphere radius.

Returns

the sphere radius (in meters).

setColorNormal()

void setColorNormal	(	float	r,
		float	g,
		float	b
	)

Sets color of normal arrows.

Parameters

r	[in] red color component in [0:1]
g	[in] green color component in [0:1]
b	[in] blue color component in [0:1]

setColorPoints()

void setColorPoints	(	float	r,
		float	g,
		float	b
	)

Sets color of contact points.

Parameters

r	[in] red color component in [0:1]
g	[in] green color component in [0:1]
b	[in] blue color component in [0:1]

setContacts()

void setContacts

(

const std::vector< Contact > &

contacts

)

Set which contacts to draw.

Parameters

contacts

[in] contacts to draw.

setNormalLength()

void setNormalLength ( double  length = 0.05 )

inline

Set the normal length for the contact normals.

Parameters

length

[in] the new length (default is 5 cm)

setSphereRadius()

void setSphereRadius ( double  radius = 0.005 )

inline

Set the sphere radius for the contact points.

Parameters

radius

[in] the new radius (default is 5 mm)

showNormals() [1/2]

std::pair<bool, bool> showNormals ( ) const

inline

Check if contact normals are shown.

Returns

a pair with the status for the first and second contact normal respectively.

showNormals() [2/2]

void showNormals ( bool  normalA, bool  normalB  )

inline

Set if the contact normals should be shown.

Parameters

normalA	[in] true if first contact normal should be shown.
normalB	[in] true if second contact normal should be shown.

showPoints() [1/2]

std::pair<bool, bool> showPoints ( ) const

inline

Check if contact points are shown.

Returns

a pair with the status for the first and second contact point respectively.

showPoints() [2/2]

void showPoints ( bool  pointA, bool  pointB  )

inline

Set if the contact points should be shown.

Parameters

pointA	[in] true if point on first object should be shown.
pointB	[in] true if point on second object should be shown.

---

The documentation for this class was generated from the following file:

• contacts/RenderContacts.hpp