physics::Capsule Class Reference

Inheritance diagram for physics::Capsule:

[legend]Collaboration diagram for physics::Capsule:

[legend]List of all members.


Public Types
typedef Int	Attributes
typedef Int	VisualType
enum	AttributeFlags { ShowAxes = 1, ShowBounds = 2, ShowCollisions = 4, ShowCollisionModel = 8, ShowCollisionDetection = 16, ShowEdges = 32, ShowNormals = 64, VerticesOnly = 128 }
enum	ExternalizationType { Input = 1, Output = 2, IO = 3 }
Public Member Functions
	Capsule ()
	Capsule (Real height, Real radius=1.0)
	Capsule (const Capsule &c)
virtual	~Capsule ()
virtual String	className () const
Real	height () const
Real	radius () const
virtual base::Object &	clone () const
virtual BoundingBox	getBoundingBox () const
virtual BoundingSphere	getBoundingSphere () const
virtual const MassProperties &	getMassProperties (ref< const Material > material) const
virtual gfx::Segment3	shortestSegmentBetween (const base::Transform &t, const Point3 &p) const
	return the shortest segment between this shape (in configuration t) and the point p (the returned segment will always end with p)
virtual gfx::Segment3	shortestSegmentBetween (const base::Transform &t, const gfx::Segment3 &s) const
	return the shortest segment between this shape (in configuration t) and the segment s
virtual gfx::Segment3	shortestSegmentBetween (const base::Transform &t, const gfx::Triangle3 &tri) const
	return the shortest segment between this shape (in configuration t) and the triangle t
virtual gfx::Segment3	shortestSegmentBetween (const base::Transform &t, const gfx::Quad3 &q) const
	return the shortest segment between this shape (in configuration t) and the quad q
virtual gfx::Segment3	shortestSegmentBetween (const base::Transform &t1, ref< const Shape > s, const base::Transform &t2) const
	return the shortest segment between this shape (in configuration t1) and the shape s (in configuration t2)
virtual gfx::Point3	support (const gfx::Vector3 &v) const
virtual ref< CollisionModel >	getCollisionModel (CollisionModel::CollisionModelType modelType) const
	deprecated.
virtual bool	visualTypeSupported (VisualType type) const
virtual osg::Node *	createOSGVisual (Attributes visualAttributes=0) const
virtual void	serialize (base::Serializer &s)
	read or write object state to Serializer
virtual bool	formatSupported (String format, Real version=1.0, ExternalizationType type=IO) const
	query if specific format is supported (for input, output or both)
virtual void	externalize (base::Externalizer &e, String format="", Real version=1.0)
	read or write object state to Externalizer
virtual void	externalize (base::Externalizer &e, String format="", Real version=1.0) const
	write object state to Externalizer (throws if e is in Input)
virtual bool	isConvex () const
virtual bool	includesAppearance () const
virtual void	setIncludesAppearance (bool appearanceIncluded)
ref< Shape >	createShapeFromInput (base::Externalizer &e, String format="", Real version=1.0)
	create a new concrete Shape (subclass) based on the next element that appears in the Input Externalizer stream
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
virtual osg::Node *	createOSGVisual (Visual::Attributes visualAttributes=0) const
virtual bool	isSameKindAs (const Object &) const
virtual bool	isSameKindAs (const ReferencedObject &) const
void	load (ref< VFile > archive, const String &format="", Real version=1.0)
void	save (ref< VFile > archive, const String &format="", Real version=1.0)
Static Public Member Functions
template<class BaseClass, class DerivedClass> void	registerSerializableInstantiator (const SerializableInstantiator &instantiator)
void	registerSerializableInstantiator (const String &baseClassTypeName, const String &derivedClassTypeName, const SerializableInstantiator &instantiator)
template<class BaseClass> const SerializableInstantiator &	getSerializableInstantiator (const String &derivedClassTypeName)
const SerializableInstantiator &	getSerializableInstantiator (const String &baseClassTypeName, const String &derivedClassTypeName)
Static Public Attributes
const Int	OSGVisual = 1
Protected Member Functions
osg::Node *	createOSGCapsule (Visual::Attributes visualAttributes, Int slices, Int stacks) const
ref< CollisionModel >	getCollisionModelFromVisual (CollisionModel::CollisionModelType modelType) const
Static Protected Member Functions
osg::Node *	createOSGAxes (const base::Dimension3 &dim)
Protected Attributes
bool	shapeHasAppearance
int	_refCount
bool	onUnreferenceEnabled

Member Typedef Documentation

typedef Int gfx::Visual::Attributes [inherited]

Definition at line 39 of file Visual.
Referenced by gfx::Visual::createOSGVisual().

typedef Int gfx::Visual::VisualType [inherited]

Definition at line 44 of file Visual.
Referenced by gfx::Visual::visualTypeSupported().

Member Enumeration Documentation

enum gfx::Visual::AttributeFlags [inherited]

Enumeration values:

ShowAxes

ShowBounds

ShowCollisions

ShowCollisionModel

ShowCollisionDetection

ShowEdges

ShowNormals

VerticesOnly

Definition at line 40 of file Visual.

enum base::Externalizable::ExternalizationType [inherited]

Enumeration values:

Input

Output

IO

Definition at line 40 of file Externalizable.

Constructor & Destructor Documentation

physics::Capsule::Capsule ( )

Referenced by clone().

physics::Capsule::Capsule ( Real height,

Real radius = 1.0

) [explicit]

physics::Capsule::Capsule ( const Capsule & c )

virtual physics::Capsule::~Capsule ( ) [virtual]

Member Function Documentation

virtual String physics::Capsule::className ( ) const [inline, virtual]

return the name of the object's class type. Must be defined by derived classes.
Implements base::Object.
Definition at line 45 of file Capsule.
Referenced by clone().

virtual base::Object& physics::Capsule::clone ( ) const [inline, virtual]

Definition at line 51 of file Capsule.
References Capsule(), className(), and NewNamedObj.

osg::Node* physics::Shape::createOSGAxes ( const base::Dimension3 & dim ) [static, protected, inherited]

osg::Node* physics::Capsule::createOSGCapsule ( Visual::Attributes visualAttributes,

Int slices,

Int stacks

) const [protected]

virtual osg::Node* gfx::Visual::createOSGVisual ( Visual::Attributes visualAttributes = 0 ) const [inline, virtual, inherited]

Reimplemented in physics::GJKCollisionDetector, physics::OBBCollisionModel, physics::ODECollisionModel, physics::ODESolidSystem, physics::Solid, physics::SOLIDCollisionModel, and robot::sim::SimulatedBasicEnvironment.
Definition at line 49 of file Visual.
References gfx::Visual::Attributes, Logln, and NewObj.

virtual osg::Node* physics::Capsule::createOSGVisual ( Attributes visualAttributes = 0 ) const [virtual]

ref<Shape> physics::Shape::createShapeFromInput ( base::Externalizer & e,

String format = "",

Real version = 1.0

) [inherited]

create a new concrete Shape (subclass) based on the next element that appears in the Input Externalizer stream

void base::Referenced::enableOnUnreferenceCall ( bool enabled ) [inline, inherited]

If enabled, each call to unreference() will also call virtual method onUnreference()
Definition at line 115 of file Referenced.
References base::Referenced::onUnreferenceEnabled.

virtual void physics::Capsule::externalize ( base::Externalizer & e,

String format = "",

Real version = 1.0

) const [inline, virtual]

write object state to Externalizer (throws if e is in Input)

Reimplemented from base::Externalizable.
Definition at line 85 of file Capsule.

virtual void physics::Capsule::externalize ( base::Externalizer & e,

String format = "",

Real version = 1.0

) [virtual]

read or write object state to Externalizer

Implements base::Externalizable.

virtual bool physics::Capsule::formatSupported ( String format,

Real version = 1.0,

ExternalizationType type = IO

) const [virtual]

query if specific format is supported (for input, output or both)

Implements base::Externalizable.

virtual BoundingBox physics::Capsule::getBoundingBox ( ) const [inline, virtual]

Implements physics::Shape.
Definition at line 53 of file Capsule.

virtual BoundingSphere physics::Capsule::getBoundingSphere ( ) const [inline, virtual]

Implements physics::Shape.
Definition at line 58 of file Capsule.

virtual ref<CollisionModel> physics::Capsule::getCollisionModel ( CollisionModel::CollisionModelType modelType ) const [virtual]

deprecated.

Reimplemented from physics::Shape.

ref<CollisionModel> physics::Shape::getCollisionModelFromVisual ( CollisionModel::CollisionModelType modelType ) const [protected, inherited]

virtual const MassProperties& physics::Capsule::getMassProperties ( ref< const Material > material ) const [virtual]

Implements physics::Shape.

const SerializableInstantiator& base::Serializable::getSerializableInstantiator ( const String & baseClassTypeName,

const String & derivedClassTypeName

) [static, inherited]

template<class BaseClass>

const SerializableInstantiator& base::Serializable::getSerializableInstantiator ( const String & derivedClassTypeName ) [inline, static, inherited]

Definition at line 71 of file Serializable.
References base::String.

Real physics::Capsule::height ( ) const [inline]

Definition at line 47 of file Capsule.

virtual bool physics::Shape::includesAppearance ( ) const [inline, virtual, inherited]

Definition at line 60 of file Shape.
References physics::Shape::shapeHasAppearance.

virtual bool physics::ConvexShape::isConvex ( ) const [inline, virtual, inherited]

Implements physics::Shape.
Definition at line 42 of file ConvexShape.

virtual bool base::ReferencedObject::isSameKindAs ( const ReferencedObject & ) const [inline, virtual, inherited]

Definition at line 52 of file ReferencedObject.

virtual bool base::Object::isSameKindAs ( const Object & ) const [inline, virtual, inherited]

Definition at line 47 of file Object.

void base::Externalizable::load ( ref< VFile > archive,

const String & format = "",

Real version = 1.0

) [inherited]

virtual void base::Referenced::onUnreference ( ) const [inline, virtual, inherited]

Called by unreference() if enabled via enableOnUnreferenceCall(true). Typically overridden in subclasses that wish to know about unreference() calls - for example to handle manually breaking cyclic references
Reimplemented in robot::control::ControllableAdaptor::AdaptorControlInterface, and robot::control::ControllableAdaptor.
Definition at line 121 of file Referenced.
Referenced by base::Referenced::unreference().

Real physics::Capsule::radius ( ) const [inline]

Definition at line 48 of file Capsule.

void base::Referenced::reference ( ) const [inline, inherited]

Increment the reference count by one, indicating that this object has another pointer which is referencing it.
Definition at line 65 of file Referenced.
References base::Referenced::_refCount.

const int base::Referenced::referenceCount ( ) const [inline, inherited]

Return the number pointers currently referencing this object.
Definition at line 112 of file Referenced.
References base::Referenced::_refCount.
Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::onUnreference().

void base::Serializable::registerSerializableInstantiator ( const String & baseClassTypeName,

const String & derivedClassTypeName,

const SerializableInstantiator & instantiator

) [static, inherited]

template<class BaseClass, class DerivedClass>

void base::Serializable::registerSerializableInstantiator ( const SerializableInstantiator & instantiator ) [inline, static, inherited]

Definition at line 62 of file Serializable.

void base::Externalizable::save ( ref< VFile > archive,

const String & format = "",

Real version = 1.0

) [inherited]

virtual void physics::Capsule::serialize ( base::Serializer & s ) [virtual]

read or write object state to Serializer

Implements base::Serializable.

virtual void physics::Shape::setIncludesAppearance ( bool appearanceIncluded ) [inline, virtual, inherited]

Definition at line 61 of file Shape.
References physics::Shape::shapeHasAppearance.

virtual gfx::Segment3 physics::Capsule::shortestSegmentBetween ( const base::Transform & t1,

ref< const Shape > s,

const base::Transform & t2

) const [virtual]

return the shortest segment between this shape (in configuration t1) and the shape s (in configuration t2)

Implements physics::Shape.

virtual gfx::Segment3 physics::Capsule::shortestSegmentBetween ( const base::Transform & t,

const gfx::Quad3 & q

) const [virtual]

return the shortest segment between this shape (in configuration t) and the quad q

Implements physics::Shape.

virtual gfx::Segment3 physics::Capsule::shortestSegmentBetween ( const base::Transform & t,

const gfx::Triangle3 & tri

) const [virtual]

return the shortest segment between this shape (in configuration t) and the triangle t

Implements physics::Shape.

virtual gfx::Segment3 physics::Capsule::shortestSegmentBetween ( const base::Transform & t,

const gfx::Segment3 & s

) const [virtual]

return the shortest segment between this shape (in configuration t) and the segment s

Implements physics::Shape.

virtual gfx::Segment3 physics::Capsule::shortestSegmentBetween ( const base::Transform & t,

const Point3 & p

) const [virtual]

return the shortest segment between this shape (in configuration t) and the point p (the returned segment will always end with p)

Implements physics::Shape.

virtual gfx::Point3 physics::Capsule::support ( const gfx::Vector3 & v ) const [inline, virtual]

Implements physics::ConvexShape.
Definition at line 70 of file Capsule.
References Exception.

bool base::Referenced::unreference ( ) const [inline, inherited]

Decrement the reference count by one, indicating that a pointer to this object is referencing it. If the refence count goes to zero, it is assumed that this object is nolonger referenced and is automatically deleted.
Definition at line 81 of file Referenced.
References base::Referenced::_refCount, Exception, base::Referenced::onUnreference(), and base::Referenced::onUnreferenceEnabled.

virtual bool physics::Capsule::visualTypeSupported ( VisualType type ) const [inline, virtual]

Reimplemented from gfx::Visual.
Definition at line 77 of file Capsule.