#include <primitive.h>

Inheritance diagram for Capsule:

Collaboration diagram for Capsule:

Public Member Functions
	Capsule (float radius, float height)

virtual	~Capsule ()

virtual void	init (const OdeHandle &odeHandle, double mass, const OsgHandle &osgHandle, char mode=Body\|Geom\|Draw)
	registers primitive in ODE and OSG. More...

virtual void	update ()
	Updates the OSG nodes with ODE coordinates. More...

virtual OSGPrimitive *	getOSGPrimitive ()
	returns the assoziated osg primitive if there or 0 More...

virtual void	setMass (double mass, bool density=false)
	sets the mass of the body (uniform) if density==true then mass is interpreted as a density More...

Public Member Functions inherited from Primitive
	Primitive ()

virtual	~Primitive ()

virtual void	setColor (const Color &color)
	sets the color for the underlaying osgprimitive More...

virtual void	setColor (const std::string &color)
	sets the color using the colorschema of osgHandle More...

virtual void	setTexture (const std::string &filename)
	assigns a texture to the primitive More...

virtual void	setTexture (const TextureDescr &texture)
	assigns a texture to the primitive, you can choose if the texture should be repeated More...

virtual void	setTexture (int surface, const TextureDescr &texture)
	assigns a texture to the x-th surface of the primitive. More...

virtual void	setTextures (const std::vector< TextureDescr > &textures)
	assign a set of texture to the surfaces of the primitive More...

virtual void	setPosition (const Pos &pos)
	set the position of the primitive (orientation is preserved) More...

virtual void	setPose (const Pose &pose)
	set the pose of the primitive More...

virtual Pos	getPosition () const
	returns the position More...

virtual Pose	getPose () const
	returns the pose More...

virtual Pos	getVel () const
	returns the velocity More...

virtual Pos	getAngularVel () const
	returns the angular velocity More...

virtual bool	applyForce (osg::Vec3 force)
	apply a force (in world coordinates) to the primitive and returns true if it was possible More...

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 More...

virtual bool	applyTorque (double x, double y, double z)

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 More...

dGeomID	getGeom () const
	returns ODE geomID if there More...

dBodyID	getBody () const
	returns ODE bodyID if there More...

bool	limitLinearVel (double maxVel)
	checks whether the object has higher velocity than maxVel and limits it in case More...

bool	limitAngularVel (double maxVel)
	checks whether the object has higher velocity than maxVel and limits it in case More...

void	decellerate (double factorLin, double factorAng)
	applies a force to the body to decellerate its linear and angular velocity with the given factors. More...

osg::Vec3	toLocal (const osg::Vec3 &pos) const
	return the given point transformed to local coordinates of the primitive More...

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) More...

osg::Vec3	toGlobal (const osg::Vec3 &pos) const
	transforms the given point in local corrds of the primitive to global coordinates More...

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) More...

int	getNumVelocityViolations ()

void	setSubstance (const Substance &substance)

virtual bool	store (FILE *f) const
	stores the object to the given file stream (ASCII preferred). More...

virtual bool	restore (FILE *f)
	loads the object from the given file stream (ASCII preferred). More...

Public Member Functions inherited from Storeable
virtual	~Storeable ()

bool	storeToFile (const char *filename) const
	Provided for convenience. More...

bool	restoreFromFile (const char *filename)
	Provided for convenience. More...

Protected Attributes
OSGCapsule *	osgcapsule

Protected Attributes inherited from Primitive
dGeomID	geom

dBodyID	body

char	mode

bool	substanceManuallySet

int	numVelocityViolations
	number of times the maximal velocity was exceeded More...

Additional Inherited Members
Public Types inherited from Primitive
enum	Modes { Body =1, Geom =2, Draw =4, Density =8, _Child =16, _Transform =32 }
	Body means that it is a dynamic object with a body. More...

enum	Category { Dyn =1, Stat =2 }

Static Public Member Functions inherited from Primitive
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) More...

Public Attributes inherited from Primitive
Substance	substance

Protected Member Functions inherited from Primitive
virtual void	attachGeomAndSetColliderFlags ()
	attaches geom to body (if any) and sets the category bits and collision bitfields. More...

Static Protected Attributes inherited from Primitive
static bool	destroyGeom = true

Detailed Description

Capsule primitive.

Constructor & Destructor Documentation

Capsule	(	float	radius,
		float	height
	)

~Capsule ( )

virtual

Member Function Documentation

OSGPrimitive * getOSGPrimitive ( )

virtual

returns the assoziated osg primitive if there or 0

Implements Primitive.

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

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.

Implements Primitive.

void setMass	(	double	mass,
		bool	density = `false`
	)

virtual

sets the mass of the body (uniform) if density==true then mass is interpreted as a density

Implements Primitive.

void update ( )

virtual

Updates the OSG nodes with ODE coordinates.

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

Implements Primitive.

Member Data Documentation

OSGCapsule* osgcapsule

protected

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation