physics::CollidableBody Class Reference

Inheritance diagram for physics::CollidableBody:

[legend]Collaboration diagram for physics::CollidableBody:

[legend]List of all members.

Public Member Functions
virtual BoundingBox	getBoundingBox () const
virtual void	setName (const String &name)
virtual void	setInterpenetrationIsNormal (bool interpenetrationIsNormal)
virtual bool	isInterpenetrationNormal () const
virtual ref< const Collidable >	findNamed (const String &name, bool recurse=true) const
virtual ref< Collidable >	findNamed (const String &name, bool recurse=true)
virtual void	setUserData (ref< base::ReferencedObject > data)
virtual ref< base::ReferencedObject >	getUserData () const
virtual void	setUserClass (Int userClass=0)
	Collisions between Collidables of the same class number (>0) are culled.
virtual Int	getUserClass () const
virtual const String &	getName () const
virtual bool	isSameKindAs (const ReferencedObject &) const
virtual bool	isSameKindAs (const Object &) const
virtual String	className () const=0
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
virtual String	className () const
virtual ref< const Shape >	getShape () const
virtual void	setPosition (const Point3 &x)=0
virtual void	setOrientation (const Orient &orient)=0
virtual Point3	getPosition () const=0
virtual Orient	getOrientation () const=0
virtual void	setVelocity (const Vector3 &v)=0
virtual void	setAngVelocity (const Vector3 &w)=0
virtual Vector3	getVelocity () const=0
virtual Vector3	getAngVelocity () const=0
virtual void	saveState ()=0
virtual void	restoreState ()=0
virtual Point3	getSavedPosition () const=0
virtual Orient	getSavedOrientation () const=0
virtual Vector3	getSavedVelocity () const=0
virtual Vector3	getSavedAngVelocity () const=0
virtual Point3	getRelPointPos (const Point3 &p)
virtual Vector3	getRelPointVel (const Point3 &p)
virtual Point3	getGlobalPointRelPos (const Point3 &p)
virtual void	setPositionOrientation (const Point3 &pos, const Orient &orient)
virtual void	setConfiguration (const base::Transform &configuration)
virtual base::Transform	getConfiguration () const
virtual void	setPosition2D (const base::Point2 &p, Real theta)
	set the 2D (x,y,theta) position (theta is rot. angle about Z-axis)
virtual base::Point2	getPosition2D () const
	get the 2D (x,y) position
Real	getOrientation2D () const
	get the 2D angle theta (rot. angle about Z-axis)
Protected Member Functions
	CollidableBody ()
	CollidableBody (const CollidableBody &cb)
	CollidableBody (ref< const Shape > shape)
void	setShape (ref< Shape > shape)
Protected Attributes
bool	interpenetrationNormal
	if under normal circumstances this Collidable is expected to sometimes be interpenetrating another Collidable, this is true
ref< base::ReferencedObject >	userData
Int	userClass
int	_refCount
bool	onUnreferenceEnabled

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Constructor & Destructor Documentation

physics::CollidableBody::CollidableBody (   )  [inline, protected]

Definition at line 50 of file CollidableBody.

physics::CollidableBody::CollidableBody (  const CollidableBody &  cb  )  [inline, protected]

Definition at line 51 of file CollidableBody.

physics::CollidableBody::CollidableBody (  ref< const Shape >  shape  )  [inline, protected]

Definition at line 52 of file CollidableBody.

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Member Function Documentation

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

return the name of the object's class type. Must be defined by derived classes. Reimplemented from physics::DynamicSpatial. Reimplemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::Solid. Definition at line 43 of file Body.

virtual String base::Object::className (   )  const [pure virtual, inherited]

return the name of the object's class type. Must be defined by derived classes. Implemented in base::Application, base::BinarySerializer, base::Cache, base::CacheDirectory, base::CacheFile, base::ConstantExpression, base::CosExpression, base::DifferenceExpression, base::Directory, base::Expression, base::Externalizer, base::File, base::LineSegPathRep, base::LineSegTrajectoryRep, base::Math, base::NegateExpression, base::ParametricPathRep, base::ParametricTrajectoryRep, base::Path, base::PathComponent, base::PathName, base::ProductExpression, base::QuotientExpression, base::SimpleXMLSerializer, base::SinExpression, base::StdFileSystem, base::SumExpression, base::Time, base::Trajectory, base::Universe, base::VariableExpression, base::VDirectory, base::WaypointPathRep, base::WaypointTrajectoryRep, base::World, gfx::IndexedPoint3Array, gfx::OSGWorld, gfx::TriangleIterator, gfx::VisualPath, gfx::VisualTriangles, gfx::VisualTriangles::TriangleArrayIteratorState, physics::Body, physics::Box, physics::Capsule, physics::CollidableGroup, physics::CollisionModel::ModelState, physics::CollisionState, physics::Cone, physics::Cylinder, physics::DynamicSpatial, physics::GJKCollisionDetector, physics::GJKCollisionDetector::GJKCollisionState, physics::GJKCollisionModel, physics::HeightField, physics::LODTerrain, physics::MassProperties, physics::Material, physics::NullCollisionResponseHandler, physics::OBBCollisionDetector, physics::OBBCollisionDetector::OBBCollisionState, physics::OBBCollisionModel, physics::ODEBallJoint, physics::ODECollidableBody, physics::ODECollidableBody::BodyState, physics::ODECollidableGroup, physics::ODECollisionCuller, physics::ODECollisionDetector, physics::ODECollisionDetector::ODECollisionState, physics::ODECollisionModel, physics::ODECollisionResponseHandler, physics::ODEConstraintGroup, physics::ODEContactConstraint, physics::ODEDoubleHingeJoint, physics::ODEFixedConstraint, physics::ODEHingeJoint, physics::ODEMotor, physics::ODESliderJoint, physics::ODESolid, physics::ODESolidConnectedCollidableBody, physics::ODESolidSystem, physics::ODEUniversalJoint, physics::Polyhedron, physics::Polyhedron::Vertex, physics::Polyhedron::Edge, physics::Polyhedron::Polygon, physics::SimpleCollisionCuller, physics::SimpleTerrain, physics::Solid, physics::SOLIDCollisionDetector, physics::SOLIDCollisionDetector::SOLIDCollisionState, physics::SOLIDCollisionModel, physics::SolidCollisionResponseHandler, physics::SpatialGroup, physics::SpatialTransform, physics::Sphere, physics::Torus, physics::VisualDebugUtil, robot::AggregateControlInterface, robot::control::ControllableAdaptor, robot::control::ControllableAdaptor::AdaptorControlInterface, robot::control::kinematics::AnalyticLagrangianFSBetaOptimizer, robot::control::kinematics::AnalyticLagrangianNullSpaceBetaOptimizer, robot::control::kinematics::BetaFormConstraints::BetaFormConstraint, robot::control::kinematics::BetaFormConstraints, robot::control::kinematics::IKOR, robot::control::kinematics::IKOR::JointLimitBetaConstraint, robot::control::kinematics::IKOR::PushAwayBetaConstraint, robot::control::kinematics::IKOR::RankLossBetaConstraint, robot::control::kinematics::IKORController, robot::control::kinematics::IKORController::EEPositionControlInterface, robot::control::kinematics::IKORController::LinkPositionsControlInterface, robot::control::kinematics::IKORFullSpaceSolver, robot::control::kinematics::LeastNormIKSolver, robot::control::kinematics::MPPseudoInvSolver, robot::control::kinematics::OldIKOR, robot::control::kinematics::ReferenceOpVectorFormObjective, robot::control::kinematics::SVDFullSpaceSolver, robot::control::ManipulatorPIDPositionController, robot::control::ManipulatorPIDPositionController::PositionInterface, robot::JFKengine, robot::KinematicChain::Link, robot::KinematicChain, robot::ManipulatorDescription, robot::ManipulatorJointTrajectory, robot::NumericKinematicEvaluator, robot::PlatformDescription, robot::RobotDescription, robot::sim::BasicEnvironment, robot::sim::BasicEnvironment::Tool, robot::sim::BasicEnvironment::Obstacle, robot::sim::Environment, robot::sim::IKORTest, robot::sim::IKORTest::Test, robot::sim::IKORTester, robot::sim::SimulatedBasicEnvironment, robot::sim::SimulatedKinematicChain::ProximityCollisionResponseHandler, robot::sim::SimulatedManipulatorDescription, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedRobot::ManipulatorControlInterface, robot::sim::SimulatedRobot::ToolControlInterface, robot::sim::SimulatedRobot::PlatformControlInterface, robot::sim::SimulatedRobot::ProximitySensorInterface, robot::sim::SimulatedRobotDescription, robot::sim::SimulatedSerialManipulator, robot::sim::SimulatedTool, robot::sim::TestBasicEnvironment, robot::sim::VisualIKORTest, robot::TestRobot, robot::TestRobot::ManipulatorControlInterface, robot::TestRobot::ToolControlInterface, robot::TestRobot::PlatformControlInterface, robot::TestRobot::ProximitySensorInterface, and robot::ToolDescription.

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 ref<Collidable> physics::Collidable::findNamed (  const String &  name, bool  recurse = true )  [inline, virtual, inherited]

Reimplemented in physics::CollidableGroup. Definition at line 51 of file Collidable. References base::Named::getName().

virtual ref<const Collidable> physics::Collidable::findNamed (  const String &  name, bool  recurse = true )  const [inline, virtual, inherited]

Reimplemented in physics::CollidableGroup. Definition at line 48 of file Collidable. References base::Named::getName().

virtual Vector3 physics::DynamicSpatial::getAngVelocity (   )  const [pure virtual, inherited]

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::operator<<(), and physics::DynamicSpatial::operator=().

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

Implements physics::Collidable. Definition at line 41 of file CollidableBody. References physics::PositionableOrientable::getConfiguration(), physics::Body::getShape(), and physics::BoundingBox::transform().

virtual base::Transform physics::PositionableOrientable::getConfiguration (   )  const [inline, virtual, inherited]

Reimplemented in physics::SpatialTransform, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool. Definition at line 60 of file PositionableOrientable. References physics::Orientable::getOrientation(), and physics::Positionable::getPosition(). Referenced by getBoundingBox(), physics::DynamicSpatial::getGlobalPointRelPos(), physics::DynamicSpatial::getRelPointPos(), physics::PositionableOrientable::operator=(), and physics::PositionableOrientable::PositionableOrientable().

virtual Point3 physics::DynamicSpatial::getGlobalPointRelPos (  const Point3 &  p  )  [inline, virtual, inherited]

Reimplemented in physics::ODESolid. Definition at line 91 of file DynamicSpatial. References physics::PositionableOrientable::getConfiguration(), and base::Point3.

virtual const String& base::Named::getName (   )  const [inline, virtual, inherited]

Definition at line 44 of file Named. References base::String. Referenced by physics::Collidable::findNamed(), physics::operator<<(), robot::ToolDescription::operator=(), robot::RobotDescription::operator=(), robot::PlatformDescription::operator=(), robot::ManipulatorDescription::operator=(), base::Named::operator=(), and robot::ManipulatorDescription::operator==().

virtual Orient physics::DynamicSpatial::getOrientation (   )  const [pure virtual, inherited]

Implements physics::Orientable. Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::operator<<().

Real physics::PositionableOrientable::getOrientation2D (   )  const [inherited]

get the 2D angle theta (rot. angle about Z-axis)

virtual Point3 physics::DynamicSpatial::getPosition (   )  const [pure virtual, inherited]

Implements physics::Positionable. Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::operator<<().

virtual base::Point2 physics::PositionableOrientable::getPosition2D (   )  const [inline, virtual, inherited]

get the 2D (x,y) position Definition at line 72 of file PositionableOrientable. References physics::Positionable::getPosition(), base::Point2, base::Point3, base::Vector3::x, and base::Vector3::y.

virtual Point3 physics::DynamicSpatial::getRelPointPos (  const Point3 &  p  )  [inline, virtual, inherited]

Reimplemented in physics::ODESolid. Definition at line 81 of file DynamicSpatial. References physics::PositionableOrientable::getConfiguration(), base::Point3, and base::Transform::transform().

virtual Vector3 physics::DynamicSpatial::getRelPointVel (  const Point3 &  p  )  [inline, virtual, inherited]

Reimplemented in physics::ODESolid. Definition at line 86 of file DynamicSpatial. References base::Point3, and Unimplemented.

virtual Vector3 physics::DynamicSpatial::getSavedAngVelocity (   )  const [pure virtual, inherited]

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::DynamicSpatial::operator=().

virtual Orient physics::DynamicSpatial::getSavedOrientation (   )  const [pure virtual, inherited]

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::DynamicSpatial::operator=().

virtual Point3 physics::DynamicSpatial::getSavedPosition (   )  const [pure virtual, inherited]

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::DynamicSpatial::operator=().

virtual Vector3 physics::DynamicSpatial::getSavedVelocity (   )  const [pure virtual, inherited]

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::DynamicSpatial::operator=().

virtual ref<const Shape> physics::Body::getShape (   )  const [inline, virtual, inherited]

Definition at line 45 of file Body. Referenced by physics::Solid::createCollidable(), and getBoundingBox().

virtual Int physics::Collidable::getUserClass (   )  const [inline, virtual, inherited]

Definition at line 59 of file Collidable. References physics::Collidable::userClass.

virtual ref<base::ReferencedObject> physics::Collidable::getUserData (   )  const [inline, virtual, inherited]

Definition at line 55 of file Collidable. References physics::Collidable::userData.

virtual Vector3 physics::DynamicSpatial::getVelocity (   )  const [pure virtual, inherited]

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::operator<<(), and physics::DynamicSpatial::operator=().

virtual bool physics::Collidable::isInterpenetrationNormal (   )  const [inline, virtual, inherited]

Definition at line 46 of file Collidable. References physics::Collidable::interpenetrationNormal.

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

Definition at line 47 of file Object.

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

Definition at line 52 of file ReferencedObject.

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().

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().

virtual void physics::DynamicSpatial::restoreState (   )  [pure virtual, inherited]

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody.

virtual void physics::DynamicSpatial::saveState (   )  [pure virtual, inherited]

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::DynamicSpatial::operator=().

virtual void physics::DynamicSpatial::setAngVelocity (  const Vector3 &  w  )  [pure virtual, inherited]

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::DynamicSpatial::operator=().

virtual void physics::PositionableOrientable::setConfiguration (  const base::Transform &  configuration  )  [inline, virtual, inherited]

Reimplemented in physics::SpatialGroup, physics::SpatialTransform, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedSerialManipulator, and robot::sim::SimulatedTool. Definition at line 53 of file PositionableOrientable. References base::Transform::getRotation(), base::Transform::getTranslation(), physics::Orientable::setOrientation(), and physics::Positionable::setPosition(). Referenced by physics::PositionableOrientable::operator=(), physics::PositionableOrientable::PositionableOrientable(), and physics::PositionableOrientable::setPositionOrientation().

virtual void physics::Collidable::setInterpenetrationIsNormal (  bool  interpenetrationIsNormal  )  [inline, virtual, inherited]

Definition at line 45 of file Collidable. References physics::Collidable::interpenetrationNormal.

virtual void physics::Collidable::setName (  const String &  name  )  [inline, virtual, inherited]

Reimplemented from base::Named. Definition at line 43 of file Collidable.

virtual void physics::DynamicSpatial::setOrientation (  const Orient &  orient  )  [pure virtual, inherited]

Implements physics::Orientable. Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::DynamicSpatial::operator=().

virtual void physics::DynamicSpatial::setPosition (  const Point3 &  x  )  [pure virtual, inherited]

Implements physics::Positionable. Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::DynamicSpatial::operator=().

virtual void physics::PositionableOrientable::setPosition2D (  const base::Point2 &  p, Real  theta )  [virtual, inherited]

set the 2D (x,y,theta) position (theta is rot. angle about Z-axis)

virtual void physics::PositionableOrientable::setPositionOrientation (  const Point3 &  pos, const Orient &  orient )  [inline, virtual, inherited]

Definition at line 48 of file PositionableOrientable. References base::Point3, and physics::PositionableOrientable::setConfiguration().

void physics::Body::setShape (  ref< Shape >  shape  )  [inline, protected, inherited]

Definition at line 55 of file Body.

virtual void physics::Collidable::setUserClass (  Int  userClass = 0  )  [inline, virtual, inherited]

Collisions between Collidables of the same class number (>0) are culled. Definition at line 58 of file Collidable.

virtual void physics::Collidable::setUserData (  ref< base::ReferencedObject >  data  )  [inline, virtual, inherited]

Definition at line 54 of file Collidable. References physics::Collidable::userData.

virtual void physics::DynamicSpatial::setVelocity (  const Vector3 &  v  )  [pure virtual, inherited]

Implemented in physics::ODECollidableBody, physics::ODESolid, physics::ODESolidConnectedCollidableBody, and physics::SolidConnectedCollidableBody. Referenced by physics::DynamicSpatial::operator=().

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.

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Member Data Documentation

int base::Referenced::_refCount [mutable, protected, inherited]

Definition at line 136 of file Referenced. Referenced by base::Referenced::reference(), base::Referenced::referenceCount(), base::Referenced::Referenced(), base::Referenced::unreference(), and base::Referenced::~Referenced().

bool physics::Collidable::interpenetrationNormal [protected, inherited]

if under normal circumstances this Collidable is expected to sometimes be interpenetrating another Collidable, this is true Definition at line 66 of file Collidable. Referenced by physics::Collidable::Collidable(), physics::Collidable::isInterpenetrationNormal(), and physics::Collidable::setInterpenetrationIsNormal().

bool base::Referenced::onUnreferenceEnabled [protected, inherited]

Definition at line 137 of file Referenced. Referenced by base::Referenced::enableOnUnreferenceCall(), base::Referenced::Referenced(), and base::Referenced::unreference().

Int physics::Collidable::userClass [protected, inherited]

Definition at line 69 of file Collidable. Referenced by physics::Collidable::Collidable(), and physics::Collidable::getUserClass().

ref<base::ReferencedObject> physics::Collidable::userData [protected, inherited]

Definition at line 68 of file Collidable. Referenced by physics::Collidable::Collidable(), physics::Collidable::getUserData(), and physics::Collidable::setUserData().

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

• physics/CollidableBody

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