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

#include <primitive.h>

Inheritance diagram for Primitive:

Collaboration diagram for Primitive:

Public Types
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 }

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. More...

virtual void	update ()=0
	Updates the OSG nodes with ODE coordinates. More...

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

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)

virtual void	setMass (double mass, bool density=false)=0
	sets the mass of the body (uniform) if density==true then mass is interpreted as a density More...

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...

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) More...

Public Attributes
Substance	substance

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

Protected Attributes
dGeomID	geom

dBodyID	body

char	mode

bool	substanceManuallySet

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

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. Density means that the mass is interpreted as a density _Child and _Transform are only used internally and used for transformed geoms.

Enumerator
Body
Geom
Draw
Density
_Child
_Transform

Constructor & Destructor Documentation

Primitive ( )

~Primitive ( )

virtual

Member Function Documentation

bool applyForce ( osg::Vec3 force )

virtual

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

bool applyForce	(	double	x,
		double	y,
		double	z
	)

virtual

See Also: applyForce(osg::Vec3)

bool applyTorque ( osg::Vec3 torque )

virtual

apply a torque (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)

void attachGeomAndSetColliderFlags ( )

protectedvirtual

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

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

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

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 (ASCII preferred).

Implements Storeable.

void setColor ( const Color & color )

virtual

sets the color for the underlaying osgprimitive

void setColor ( const std::string & color )

virtual

sets the color using the colorschema of osgHandle

static void setDestroyGeomFlag ( bool _destroyGeom )

inlinestatic

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

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

pure virtual

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

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

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

void setPose ( const Pose & pose )

virtual

set the pose of the primitive

Reimplemented in Transform, Mesh, and HeightField.

void setPosition ( const Pos & pos )

virtual

set the position of the primitive (orientation is preserved)

void setSubstance ( const Substance & substance )

void setTexture ( const std::string & filename )

virtual

assigns a texture to the primitive

void setTexture ( const TextureDescr & texture )

virtual

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

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 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 (ASCII preferred).

Implements Storeable.

osg::Vec4 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)

osg::Vec4 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)

virtual void update ( )

pure virtual

Updates the OSG nodes with ODE coordinates.

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

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

Member Data Documentation

dBodyID body

protected

bool destroyGeom = true

staticprotected

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:

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