OdeHandle Class Reference

Data structure for accessing the ODE. More...

#include <odehandle.h>

Collaboration diagram for OdeHandle:

[legend]List of all members.

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.
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
void	deleteSpace ()
	destroys the space and unregisters them in the global lists
void	addIgnoredSpace (dSpaceID g)
	adds a space to the list of ignored spaces for collision detection (i.e within this space there is no collision)
void	removeIgnoredSpace (dSpaceID g)
	removes a space from the list of ignored spaces for collision detection
bool	isIgnoredSpace (dSpaceID g) const
	checks whether the space is an ignored space for collision detection
void	addSpace (dSpaceID g)
	adds a space to the list of spaces for collision detection (ignored spaces do not need to be insered)
void	removeSpace (dSpaceID g)
	removes a space from the list of ignored spaces for collision detection
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 ()
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	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)
bool	isIgnoredPair (dGeomID g1, dGeomID g2) const
	checks whether a pair of geoms is an ignored pair for collision detection
Public Attributes
dWorldID	world
dSpaceID	space
dJointGroupID	jointGroup
Substance	substance
Protected Attributes
double *	time
std::vector< dSpaceID > *	spaces
	list of spaces, except ignored spaces
__gnu_cxx::hash_set< long > *	ignoredSpaces
	set of ignored spaces
__gnu_cxx::hash_set< std::pair< long, long >, geomPairHash > *	ignoredPairs
	set of ignored geom pairs for collision

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Detailed Description

Data structure for accessing the ODE.

Examples:

template_sphererobot/main.cpp.

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Constructor & Destructor Documentation

OdeHandle

(

)

OdeHandle	(	dWorldID	_world,
		dSpaceID	_space,
		dJointGroupID	_jointGroup
	)

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Member Function Documentation

void addIgnoredPair	(	Primitive *	p1,
		Primitive *	p2
	)

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

void addIgnoredPair	(	dGeomID	g1,
		dGeomID	g2
	)

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

void addIgnoredSpace

(

dSpaceID

g

)

adds a space to the list of ignored spaces for collision detection (i.e within this space there is no collision)

void addSpace

(

dSpaceID

g

)

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

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

bool isIgnoredSpace

(

dSpaceID

g

)

const [inline]

checks whether the space is an ignored space for collision detection

void removeIgnoredPair	(	Primitive *	p1,
		Primitive *	p2
	)

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

void removeIgnoredPair	(	dGeomID	g1,
		dGeomID	g2
	)

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

void removeIgnoredSpace

(

dSpaceID

g

)

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

void removeSpace

(

dSpaceID

g

)

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

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Member Data Documentation

__gnu_cxx::hash_set<std::pair<long,long>, geomPairHash >* ignoredPairs [protected]

set of ignored geom pairs for collision

__gnu_cxx::hash_set<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

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

• odehandle.h
• odehandle.cpp

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