Primitive Class Reference

Interface class for primitives represented in the physical and graphical world. More...

#include <primitive.h>

Inherited by Box, Capsule, Cylinder, DummyPrimitive, HeightField, Mesh, Plane, Ray, Sphere, and Transform.

Collaboration diagram for Primitive:

Public Types
enum	Modes { Body = 1, Geom = 2, Draw = 4, _Child = 8, _Transform = 16 }
	Body means that it is a dynamic object with a body. More...
enum	Category { Dyn = 1, Stat = 2 }
Public Member Functions
	Primitive ()
virtual	~Primitive ()
virtual void	init (const OdeHandle &odeHandle, double mass, const OsgHandle &osgHandle, char mode=Body\|Geom\|Draw)=0
	registers primitive in ODE and OSG.
virtual void	update ()=0
	Updates the OSG nodes with ODE coordinates.
virtual OSGPrimitive *	getOSGPrimitive ()=0
	returns the assoziated osg primitive if there or 0
virtual void	setColor (const Color &color)
	sets the color for the underlaying osgprimitive
virtual void	setColor (const std::string &color)
	sets the color using the colorschema of osgHandle
virtual void	setTexture (const std::string &filename)
	assigns a texture to the primitive
virtual void	setTexture (const TextureDescr &texture)
	assigns a texture to the primitive, you can choose if the texture should be repeated
virtual void	setTexture (int surface, const TextureDescr &texture)
	assigns a texture to the x-th surface of the primitive.
virtual void	setTextures (const std::vector< TextureDescr > &textures)
	assign a set of texture to the surfaces of the primitive
virtual void	setPosition (const Pos &pos)
	set the position of the primitive (orientation is preserved)
virtual void	setPose (const Pose &pose)
	set the pose of the primitive
virtual Pos	getPosition () const
	returns the position
virtual Pose	getPose () const
	returns the pose
virtual Pos	getVel () const
	returns the velocity
virtual Pos	getAngularVel () const
	returns the angular velocity
virtual bool	applyForce (osg::Vec3 force)
	apply a force (in world coordinates) to the primitive and returns true if it was possible
virtual bool	applyForce (double x, double y, double z)
virtual bool	applyTorque (osg::Vec3 torque)
	apply a torque (in world coordinates) to the primitive and returns true if it was possible
virtual bool	applyTorque (double x, double y, double z)
virtual void	setMass (double mass)=0
	sets the mass of the body (uniform)
void	setMass (double mass, double cgx, double cgy, double cgz, double I11, double I22, double I33, double I12, double I13, double I23)
	sets full mass specification
dGeomID	getGeom () const
	returns ODE geomID if there
dBodyID	getBody () const
	returns ODE bodyID if there
bool	limitLinearVel (double maxVel)
	checks whether the object has higher velocity than maxVel and limits it in case
bool	limitAngularVel (double maxVel)
	checks whether the object has higher velocity than maxVel and limits it in case
void	decellerate (double factorLin, double factorAng)
	applies a force to the body to decellerate its linear and angular velocity with the given factors.
osg::Vec3	toLocal (const osg::Vec3 &pos) const
	return the given point transformed to local coordinates of the primitive
osg::Vec4	toLocal (const osg::Vec4 &axis) const
	return the given vector or axis transformed to local coordinates of the primitive (translation depends on the 4th coordinate)
osg::Vec3	toGlobal (const osg::Vec3 &pos) const
	transforms the given point in local corrds of the primitive to global coordinates
osg::Vec4	toGlobal (const osg::Vec4 &axis) const
	transforms the given vector or axis in local corrds of the primitive to global coordinates (translation depends on the 4th coordinate)
int	getNumVelocityViolations ()
void	setSubstance (Substance substance)
virtual bool	store (FILE *f) const
	stores the object to the given file stream (binary).
virtual bool	restore (FILE *f)
	loads the object from the given file stream (binary).
Static Public Member Functions
static void	setDestroyGeomFlag (bool _destroyGeom)
	20091023; guettler: hack for tasked simulations; there are some problems if running in parallel mode, if you do not destroy the geom, everything is fine (should be no problem because world is destroying geoms too)
Public Attributes
Substance	substance
Protected Member Functions
virtual void	attachGeomAndSetColliderFlags ()
	attaches geom to body (if any) and sets the category bits and collision bitfields.
Protected Attributes
dGeomID	geom
dBodyID	body
char	mode
bool	substanceManuallySet
int	numVelocityViolations
	number of times the maximal velocity was exceeded
Static Protected Attributes
static bool	destroyGeom = true

Detailed Description

Interface class for primitives represented in the physical and graphical world.

This is intended to bring OSG and ODE together and hide most implementation details.

Member Enumeration Documentation

enum Category

Enumerator:

Dyn
Stat

enum Modes

Body means that it is a dynamic object with a body.

Geom means it has a geometrical represenation used for collision detection. Draw means the primitive is drawn _Child and _Transform are only used internally and used for transformed geoms.

Enumerator:

Body
Geom
Draw
_Child
_Transform

Constructor & Destructor Documentation

Primitive ( )

~Primitive ( ) [virtual]

Member Function Documentation

bool applyForce	(	double	x,
		double	y,
		double	z
	)			`[virtual]`

See also:: applyForce(osg::Vec3)

bool applyForce ( osg::Vec3 force ) [virtual]

apply a force (in world coordinates) to the primitive and returns true if it was possible

bool applyTorque	(	double	x,
		double	y,
		double	z
	)			`[virtual]`

See also:: applyTorque(osg::Vec3)

bool applyTorque ( osg::Vec3 torque ) [virtual]

apply a torque (in world coordinates) to the primitive and returns true if it was possible

void attachGeomAndSetColliderFlags ( ) [protected, virtual]

attaches geom to body (if any) and sets the category bits and collision bitfields.

assumes: mode & Geom != 0

void decellerate	(	double	factorLin,
		double	factorAng
	)

applies a force to the body to decellerate its linear and angular velocity with the given factors.

(depends on stepwidth!)

Pos getAngularVel ( ) const [virtual]

returns the angular velocity

dBodyID getBody ( ) const [inline]

returns ODE bodyID if there

Examples:: template_sphererobot/main.cpp.

dGeomID getGeom ( ) const [inline]

returns ODE geomID if there

int getNumVelocityViolations ( ) [inline]

virtual OSGPrimitive* getOSGPrimitive ( ) [pure virtual]

returns the assoziated osg primitive if there or 0

Implemented in HeightField, Plane, Box, Sphere, Capsule, Cylinder, Ray, Mesh, Transform, and DummyPrimitive.

Pose getPose ( ) const [virtual]

returns the pose

Pos getPosition ( ) const [virtual]

returns the position

Reimplemented in DummyPrimitive.

Pos getVel ( ) const [virtual]

returns the velocity

Reimplemented in DummyPrimitive.

virtual void init	(	const OdeHandle &	odeHandle,
		double	mass,
		const OsgHandle &	osgHandle,
		char	mode = `Body\|Geom\|Draw`
	)			`[pure virtual]`

registers primitive in ODE and OSG.

Parameters:

	osgHandle	scruct with ODE variables inside (to specify space, world...)
	mass	Mass of the object in ODE (if withBody = true)
	osgHandle	scruct with OSG variables inside (scene node, color ...)
	mode	is a conjuction of Modes.

Implemented in HeightField, Plane, Box, Sphere, Capsule, Cylinder, Ray, Mesh, Transform, and DummyPrimitive.

bool limitAngularVel ( double maxVel )

checks whether the object has higher velocity than maxVel and limits it in case

bool limitLinearVel ( double maxVel )

checks whether the object has higher velocity than maxVel and limits it in case

bool restore ( FILE * f ) [virtual]

loads the object from the given file stream (binary).

Implements Storeable.

void setColor ( const std::string & color ) [virtual]

sets the color using the colorschema of osgHandle

void setColor ( const Color & color ) [virtual]

sets the color for the underlaying osgprimitive

static void setDestroyGeomFlag ( bool _destroyGeom ) [inline, static]

20091023; guettler: hack for tasked simulations; there are some problems if running in parallel mode, if you do not destroy the geom, everything is fine (should be no problem because world is destroying geoms too)

Parameters:

_destroyGeom

set this to false if geoms must not be destroyed if the primitive is destroyed

void setMass	(	double	mass,
		double	cgx,
		double	cgy,
		double	cgz,
		double	I11,
		double	I22,
		double	I33,
		double	I12,
		double	I13,
		double	I23
	)

sets full mass specification

sets full mass specification.

Parameters:

	cg	center of gravity vector
	I	3x3 interia tensor

cg is center of gravity vector I are parts of the 3x3 interia tensor

virtual void setMass ( double mass ) [pure virtual]

sets the mass of the body (uniform)

Implemented in HeightField, Plane, Box, Sphere, Capsule, Cylinder, Ray, Mesh, Transform, and DummyPrimitive.

void setPose ( const Pose & pose ) [virtual]

set the pose of the primitive

Reimplemented in Mesh.

void setPosition ( const Pos & pos ) [virtual]

set the position of the primitive (orientation is preserved)

void setSubstance ( Substance substance )

void setTexture	(	int	surface,
		const TextureDescr &	texture
	)			`[virtual]`

assigns a texture to the x-th surface of the primitive.

You can choose how often to repeat negative values of repeat correspond to length units. E.g. assume a rectangle of size 5 in x direction: with repeatOnX = 2 the texture would be two times rereated. With repeatOnX = -2 the texture would be 2.5 times repeated because the texture is made to have the size 2

void setTexture ( const TextureDescr & texture ) [virtual]

assigns a texture to the primitive, you can choose if the texture should be repeated

void setTexture ( const std::string & filename ) [virtual]

assigns a texture to the primitive

void setTextures ( const std::vector< TextureDescr > & textures ) [virtual]

assign a set of texture to the surfaces of the primitive

bool store ( FILE * f ) const [virtual]

stores the object to the given file stream (binary).

Implements Storeable.

osg::Vec4 toGlobal ( const osg::Vec4 & axis ) const

transforms the given vector or axis in local corrds of the primitive to global coordinates (translation depends on the 4th coordinate)

osg::Vec3 toGlobal ( const osg::Vec3 & pos ) const

transforms the given point in local corrds of the primitive to global coordinates

osg::Vec4 toLocal ( const osg::Vec4 & axis ) const

return the given vector or axis transformed to local coordinates of the primitive (translation depends on the 4th coordinate)

osg::Vec3 toLocal ( const osg::Vec3 & pos ) const

return the given point transformed to local coordinates of the primitive

virtual void update ( ) [pure virtual]

Updates the OSG nodes with ODE coordinates.

This function must be overloaded (usually calls setMatrix of OsgPrimitives)

Implemented in HeightField, Plane, Box, Sphere, Capsule, Cylinder, Ray, Mesh, Transform, and DummyPrimitive.

Member Data Documentation

dBodyID body [protected]

bool destroyGeom = true [static, protected]

dGeomID geom [protected]

char mode [protected]

int numVelocityViolations [protected]

number of times the maximal velocity was exceeded

Substance substance

bool substanceManuallySet [protected]

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

Primitive Class Reference

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation