FB_CollisionEntity - General Information

Overview

Type:	Function block
Available as of:	V1.0.0.0
Inherits from:	-
Implements:	IF_CollisionEntity
Versions:	Current version

This chapter provides information on:

Task

Implementation of a collision entity.

Description

A collision entity can contain one or more groups of collision objects and can be used to represent complex machine parts from the collision point of view.
A collision entity can be used as input for the collision and distance query functions.

The following graphic represents the structure of a collision entity:

Properties

Name	Data type	Accessing	Description
raifCollisionGroups	REFERENCE TO ARRAY [1...Gc_udiMaxNumberOfCollisionEntityGroups OF IF_CollisionGroup	Get	This property contains a list of collision groups interfaces added to the entity.
raxEnableCollisionGroups	REFERENCE TO ARRAY [1...Gc_udiMaxNumberOfCollisionEntityGroups] OF BOOL	Get, Set	Allows to selectively enable/disable the groups added to the entity. A group which enables flag has been set to FALSE is not considered by any collision or distance queries that include this entity. The groups are enabled by default.
udiNumberOfCollisionGroups	UDINT	Get	The number of collision groups added to the entity.
xUpdated	BOOL	Get	The property is set to TRUE if the latest call of the Update method was successful, FALSE otherwise. NOTE: The property needs to have a TRUE value before performing a collision or distance query involving the group.