physics::ConvexShape Class Reference

Inheritance diagram for physics::ConvexShape:

[legend]Collaboration diagram for physics::ConvexShape:

[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
virtual	~ConvexShape ()
virtual bool	isConvex () const
virtual gfx::Point3	support (const gfx::Vector3 &v) const=0
virtual BoundingBox	getBoundingBox () const=0
virtual BoundingSphere	getBoundingSphere () const=0
virtual bool	includesAppearance () const
virtual void	setIncludesAppearance (bool appearanceIncluded)
virtual const MassProperties &	getMassProperties (ref< const Material > material) const=0
virtual gfx::Segment3	shortestSegmentBetween (const base::Transform &t, const Point3 &p) const=0
	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=0
	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=0
	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=0
	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=0
	return the shortest segment between this shape (in configuration t1) and the shape s (in configuration t2)
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
base::ref< CollisionModel >	getCollisionModel (CollisionModel::CollisionModelType modelType) const
	deprecated.
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
virtual bool	visualTypeSupported (VisualType type) const
virtual osg::Node *	createOSGVisual (Visual::Attributes visualAttributes=0) const
virtual void	serialize (Serializer &s)=0
	read or write object state to Serializer
virtual bool	isSameKindAs (const Object &) const
virtual bool	isSameKindAs (const ReferencedObject &) const
virtual String	className () const=0
virtual bool	formatSupported (String format, Real version=1.0, ExternalizationType type=IO) const=0
	query if specific format is supported (for input, output or both)
virtual void	externalize (Externalizer &e, String format="", Real version=1.0)=0
	read or write object state to Externalizer
virtual void	externalize (Externalizer &e, String format="", Real version=1.0) const
	write object state to Externalizer (throws if e is in Input)
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
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

virtual physics::ConvexShape::~ConvexShape ( ) [inline, virtual]

Definition at line 40 of file ConvexShape.

Member Function Documentation

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

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.

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 base::Externalizable::externalize ( Externalizer & e,

String format = "",

Real version = 1.0

) const [virtual, inherited]

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

Reimplemented in physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Polyhedron, physics::Sphere, robot::KinematicChain::Link, robot::KinematicChain, robot::ManipulatorDescription, robot::PlatformDescription, robot::RobotDescription, robot::sim::SimulatedManipulatorDescription, robot::sim::SimulatedRobotDescription, robot::sim::SimulatedSerialManipulator, robot::sim::SimulatedTool, and robot::ToolDescription.

virtual void base::Externalizable::externalize ( Externalizer & e,

String format = "",

Real version = 1.0

) [pure virtual, inherited]

read or write object state to Externalizer

Implemented in base::Path, base::Trajectory, physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Material, physics::Polyhedron, physics::Sphere, robot::KinematicChain::Link, robot::KinematicChain, robot::ManipulatorDescription, robot::ManipulatorJointTrajectory, robot::PlatformDescription, robot::RobotDescription, robot::sim::IKORTest::Test, robot::sim::IKORTest, robot::sim::SimulatedBasicEnvironment, robot::sim::SimulatedManipulatorDescription, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedRobotDescription, robot::sim::SimulatedSerialManipulator, robot::sim::SimulatedTool, robot::sim::TestBasicEnvironment, robot::sim::VisualIKORTest, and robot::ToolDescription.

virtual bool base::Externalizable::formatSupported ( String format,

Real version = 1.0,

ExternalizationType type = IO

) const [pure virtual, inherited]

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

Implemented in base::Path, base::Trajectory, physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Material, physics::Polyhedron, physics::Sphere, robot::KinematicChain::Link, robot::KinematicChain, robot::ManipulatorDescription, robot::ManipulatorJointTrajectory, robot::PlatformDescription, robot::RobotDescription, robot::sim::IKORTest::Test, robot::sim::IKORTest, robot::sim::SimulatedBasicEnvironment, robot::sim::SimulatedManipulatorDescription, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedRobotDescription, robot::sim::SimulatedSerialManipulator, robot::sim::SimulatedTool, robot::sim::TestBasicEnvironment, robot::sim::VisualIKORTest, and robot::ToolDescription.

virtual BoundingBox physics::Shape::getBoundingBox ( ) const [pure virtual, inherited]

Implemented in physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Polyhedron, physics::SimpleTerrain, physics::Sphere, and physics::Torus.

virtual BoundingSphere physics::Shape::getBoundingSphere ( ) const [pure virtual, inherited]

Implemented in physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Polyhedron, physics::SimpleTerrain, physics::Sphere, and physics::Torus.

base::ref<CollisionModel> physics::Shape::getCollisionModel ( CollisionModel::CollisionModelType modelType ) const [virtual, inherited]

deprecated.

Implements physics::CollisionModelProvider.
Reimplemented in physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Polyhedron, physics::SimpleTerrain, physics::Sphere, and physics::Torus.

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

virtual const MassProperties& physics::Shape::getMassProperties ( ref< const Material > material ) const [pure virtual, inherited]

Implemented in physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Polyhedron, physics::Sphere, and physics::Torus.

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.

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]

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().

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 base::Serializable::serialize ( Serializer & s ) [pure virtual, inherited]

read or write object state to Serializer

Implemented in base::BinaryOpExpression, base::ConstantExpression, base::Expression, base::LineSegPathRep, base::LineSegTrajectoryRep, base::ParametricPathRep, base::ParametricTrajectoryRep, base::Path, base::Trajectory, base::UnaryOpExpression, base::VariableExpression, base::WaypointPathRep, base::WaypointTrajectoryRep, physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Polyhedron::Vertex, physics::Polyhedron::Edge, physics::Polyhedron::Polygon, physics::Polyhedron, physics::Sphere, physics::Torus, robot::KinematicChain::Link, robot::KinematicChain, and robot::ManipulatorJointTrajectory.

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::Shape::shortestSegmentBetween ( const base::Transform & t1,

ref< const Shape > s,

const base::Transform & t2

) const [pure virtual, inherited]

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

Implemented in physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Polyhedron, physics::Sphere, and physics::Torus.

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

const gfx::Quad3 & q

) const [pure virtual, inherited]

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

Implemented in physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Polyhedron, physics::Sphere, and physics::Torus.

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

const gfx::Triangle3 & tri

) const [pure virtual, inherited]

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

Implemented in physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Polyhedron, physics::Sphere, and physics::Torus.

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

const gfx::Segment3 & s

) const [pure virtual, inherited]

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

Implemented in physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Polyhedron, physics::Sphere, and physics::Torus.

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

const Point3 & p

) const [pure virtual, inherited]

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

Implemented in physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Polyhedron, physics::Sphere, and physics::Torus.

virtual gfx::Point3 physics::ConvexShape::support ( const gfx::Vector3 & v ) const [pure virtual]

Implemented in physics::Capsule, physics::Cone, and physics::Cylinder.

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.