CreateGeometry

virtual PGeometry IRigidBody::CreateGeometry(const std::string &name, const PGeometryConfig &configuration, PFrame referenceFrame) = 0

Creates a geometry.

Parameters

• name – Name of the geometry.

• configuration – Geometry configuration.

• referenceFrame – Frame used as reference frame for geometry ‘Center’ Frame.

Returns

PGeometry – Created geometry.

Throws

• CCommunicationErrorException – Protocol error.

• CConnectionLostException – Connection to controller lost.

• CObjectDestroyedException – Object is destroyed.

• CRebootedException – Controller has been rebooted since this object reference was retrieved, invalidating this reference.

• CInvalidArgumentException – Name string does not follow naming rules.

• CInvalidArgumentException – Empty geometry config specified.

• CInvalidArgumentException – Geometry name is not unique.

• COutOfResourcesException – Out of memory while creating geometry.

• CUnsupportedException – Specific configuration is not supported.