Primitive Class Reference

#include <primitive.h>

Inheritance diagram for Primitive:

[legend]List of all members.

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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.

Definition at line 87 of file primitive.h.

Public Types
enum	Modes { Body = 1, Geom = 2, Draw = 4 }
	Body means that it is a dynamic object with a body. More...
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
void	setPosition (const osg::Vec3 &pos)
	set the position of the primitive (orientation is preserved)
void	setPose (const osg::Matrix &pose)
	set the pose of the primitive
osg::Vec3	getPosition () const
	returns the position
osg::Matrix	getPose () const
	returns the pose
dGeomID	getGeom () const
	returns ODE geomID if there
dBodyID	getBody () const
	returns ODE bodyID if there
Protected Attributes
dGeomID	geom
dBodyID	body
char	mode

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Member Enumeration Documentation

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 Enumerator: Body  Geom  Draw  Definition at line 93 of file primitive.h.

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Constructor & Destructor Documentation

Primitive (   )

Definition at line 108 of file primitive.cpp.

~Primitive (   )  [virtual]

Definition at line 112 of file primitive.cpp.

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Member Function Documentation

dBodyID getBody (   )  const

returns ODE bodyID if there Definition at line 165 of file primitive.cpp.

dGeomID getGeom (   )  const

returns ODE geomID if there Definition at line 160 of file primitive.cpp.

virtual OSGPrimitive* getOSGPrimitive (   )  [pure virtual]

returns the assoziated osg primitive if there or 0 Implemented in InvisibleBox, InvisibleSphere, InvisibleCapsule, Plane, Box, Sphere, Capsule, Transform, and DummyPrimitive.

osg::Matrix getPose (   )  const

returns the pose Definition at line 155 of file primitive.cpp.

osg::Vec3 getPosition (   )  const

returns the position Definition at line 150 of file primitive.cpp.

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 InvisibleBox, InvisibleSphere, InvisibleCapsule, Plane, Box, Sphere, Capsule, Transform, and DummyPrimitive.

void setPose (  const osg::Matrix &  pose  )

set the pose of the primitive Definition at line 127 of file primitive.cpp.

void setPosition (  const osg::Vec3 &  pos  )

set the position of the primitive (orientation is preserved) Definition at line 118 of file primitive.cpp.

virtual void update (   )  [pure virtual]

Updates the OSG nodes with ODE coordinates. This function must be overloaded (usually calls setMatrix of OsgPrimitives) Implemented in InvisibleBox, InvisibleSphere, InvisibleCapsule, Plane, Box, Sphere, Capsule, Transform, and DummyPrimitive.

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Member Data Documentation

dBodyID body [protected]

Definition at line 131 of file primitive.h.

dGeomID geom [protected]

Definition at line 130 of file primitive.h.

char mode [protected]

Definition at line 132 of file primitive.h.

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