primitive.h File Reference

#include <ode-dbl/common.h>
#include <selforg/storeable.h>
#include <vector>
#include "pos.h"
#include "pose.h"
#include "substance.h"
#include "osgforwarddecl.h"

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Classes
class	Primitive
	Interface class for primitives represented in the physical and graphical world. More...
class	Plane
	Plane primitive. More...
class	Box
	Box primitive. More...
class	Sphere
	Sphere primitive. More...
class	Capsule
	Capsule primitive. More...
class	Cylinder
	Cylinder primitive. More...
class	Ray
	Ray primitive The actual visual representation can have different length than the ray object. More...
class	Mesh
	Mesh primitive. More...
class	Transform
	Primitive for transforming a geom (primitive without body) in respect to a body (primitive with body). More...
class	DummyPrimitive
	Dummy Primitive which returns 0 for geom and body. More...

Namespaces
	lpzrobots
	forward declarations

Functions
Pose	osgPose (dGeomID geom)
	returns the osg (4x4) pose matrix of the ode geom More...
Pose	osgPose (dBodyID body)
	returns the osg (4x4) pose matrix of the ode body More...
Pose	osgPose (const double *position, const double *rotation)
	converts a position vector and a rotation matrix from ode to osg 4x4 matrix More...
void	odeRotation (const Pose &pose, dMatrix3 &odematrix)
	converts the rotation component of pose into an ode rotation matrix More...