OdeHandle Class Reference

Data structure for accessing the ODE. More...

#include <odehandle.h>

Collaboration diagram for OdeHandle:

Public Member Functions
	OdeHandle ()
	OdeHandle (dWorldID _world, dSpaceID _space, dJointGroupID _jointGroup)
void	init (double *time)
	creates world at global space and so on and sets global time pointer. More...
void	close ()
	deletes the world and global data More...
void	createNewSimpleSpace (dSpaceID parentspace, bool ignore_inside_collisions)
	use this function to create a new space with optional ignored collisions, use deleteSpace to destroy it More...
void	createNewHashSpace (dSpaceID parentspace, bool ignore_inside_collisions)
	like createNewSimpleSpace but with a HashSpace. More...
void	deleteSpace ()
	destroys the space and unregisters them in the global lists More...
void	addSpace (dSpaceID g)
	adds a space to the list of spaces for collision detection (ignored spaces do not need to be insered) More...
void	removeSpace (dSpaceID g)
	removes a space from the list of ignored spaces for collision detection More...
void	destroySpaces ()
	deletes all associated memory objects, handle with care - use only when program exits More...
const std::vector< dSpaceID > &	getSpaces ()
	returns list of all spaces (as vector for parallelisation More...
double	getTime ()
void	addIgnoredPair (dGeomID g1, dGeomID g2)
	adds a pair of geoms to the list of ignored geom pairs for collision detection More...
void	addIgnoredPair (Primitive *p1, Primitive *p2)
	like addIgnoredPair(dGeomID g1, dGeomID g2) just with primitives (provided for convinience) More...
void	removeIgnoredPair (dGeomID g1, dGeomID g2)
	removes pair of geoms from the list of ignored geom pairs for collision detection More...
void	removeIgnoredPair (Primitive *p1, Primitive *p2)
	like removeIgnoredPair(dGeomID g1, dGeomID g2) just with primitives (provided for convinience) More...
bool	isIgnoredPair (dGeomID g1, dGeomID g2) const
	checks whether a pair of geoms is an ignored pair for collision detection More...

Public Attributes
dWorldID	world
dSpaceID	space
dJointGroupID	jointGroup
Substance	substance

Protected Attributes
double *	time
std::vector< dSpaceID > *	spaces
	list of spaces, except ignored spaces More...
HashSet< long > *	ignoredSpaces
	set of ignored spaces More...
HashSet< std::pair< long, long > , geomPairHash > *	ignoredPairs
	set of ignored geom pairs for collision More...

Detailed Description

Data structure for accessing the ODE.

Constructor & Destructor Documentation

OdeHandle

(

)

OdeHandle	(	dWorldID	_world,
		dSpaceID	_space,
		dJointGroupID	_jointGroup
	)

Member Function Documentation

void addIgnoredPair	(	dGeomID	g1,
		dGeomID	g2
	)

adds a pair of geoms to the list of ignored geom pairs for collision detection

void addIgnoredPair	(	Primitive *	p1,
		Primitive *	p2
	)

like addIgnoredPair(dGeomID g1, dGeomID g2) just with primitives (provided for convinience)

void addSpace

(

dSpaceID

g

)

adds a space to the list of spaces for collision detection (ignored spaces do not need to be insered)

void close

(

)

deletes the world and global data

void createNewHashSpace	(	dSpaceID	parentspace,
		bool	ignore_inside_collisions
	)

like createNewSimpleSpace but with a HashSpace.

More efficient for large objects

void createNewSimpleSpace	(	dSpaceID	parentspace,
		bool	ignore_inside_collisions
	)

use this function to create a new space with optional ignored collisions, use deleteSpace to destroy it

All primitives initialised with this handle are within this space.

void deleteSpace

(

)

destroys the space and unregisters them in the global lists

void destroySpaces

(

)

deletes all associated memory objects, handle with care - use only when program exits

const std::vector< dSpaceID > & getSpaces

(

)

returns list of all spaces (as vector for parallelisation

double getTime ( )

inline

void init

(

double *

time

)

creates world at global space and so on and sets global time pointer.

bool isIgnoredPair ( dGeomID  g1, dGeomID  g2  ) const

inline

checks whether a pair of geoms is an ignored pair for collision detection

void removeIgnoredPair	(	dGeomID	g1,
		dGeomID	g2
	)

removes pair of geoms from the list of ignored geom pairs for collision detection

void removeIgnoredPair	(	Primitive *	p1,
		Primitive *	p2
	)

like removeIgnoredPair(dGeomID g1, dGeomID g2) just with primitives (provided for convinience)

void removeSpace

(

dSpaceID

g

)

removes a space from the list of ignored spaces for collision detection

Member Data Documentation

HashSet<std::pair<long,long>, geomPairHash >* ignoredPairs

protected

set of ignored geom pairs for collision

HashSet<long>* ignoredSpaces

protected

set of ignored spaces

dJointGroupID jointGroup

dSpaceID space

std::vector<dSpaceID>* spaces

protected

list of spaces, except ignored spaces

Substance substance

double* time

protected

dWorldID world

---

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

• odehandle.h
• odehandle.cpp