physics::ODESolidSystem Class Reference

Inheritance diagram for physics::ODESolidSystem:

[legend]Collaboration diagram for physics::ODESolidSystem:

[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 }
typedef std::bitset< sizeof(Int)*8	CollidableFlags )
typedef Int	CollidableFlag
Public Member Functions
	ODESolidSystem ()
	ODESolidSystem (const ODESolidSystem &ss)
virtual	~ODESolidSystem ()
virtual String	className () const
virtual ref< Solid >	createSolid (ref< const Shape > shape, ref< const Material > material)
	create a new Solid
virtual ref< ConstraintGroup >	createConstraintGroup ()
	new ConstraintGroup
virtual ref< BallJoint >	createBallJoint ()
	new Ball & Socket joint constraint
virtual ref< HingeJoint >	createHingeJoint ()
	new Hinge joint constraint
virtual ref< DoubleHingeJoint >	createDoubleHingeJoint ()
	new Double Hinge joint constraint
virtual ref< SliderJoint >	createSliderJoint ()
	new Slider joint constraint
virtual ref< UniversalJoint >	createUniversalJoint ()
	new Universal joint constraint
virtual ref< FixedConstraint >	createFixedConstraint ()
	new FixedConstraint
virtual ref< ContactConstraint >	createContactConstraint ()
	new ContactConstraint
virtual ref< Motor >	createMotor ()
	new Joint Motor
virtual void	setGround (ref< Solid > ground, const Point3 &position)
	Set the ground Solid (which is fixed to the world frame and doesn't move from position).
virtual ref< Solid >	getGround () const
	Get the ground Solid.
virtual void	setGravity (const Vector3 &v)
	set acceleration due to gravity
virtual void	addSolid (ref< Solid > solid)
	add solid to the system (Solid must be from createSolid()
virtual void	removeSolid (ref< const Solid > solid)
	remove solid from the system
virtual void	addConstraintGroup (ref< ConstraintGroup > group)
	add a constraint group to the system
virtual void	removeConstraintGroup (ref< const ConstraintGroup > group)
	remove constraint group from the system
virtual void	setCollidable (ref< Collidable > collidable)
virtual void	setCollisionCuller (ref< CollisionCuller > collisionCuller)
	called to cull Collidables from collision detection
virtual ref< CollisionCuller >	getCollisionCuller () const
	get the current CollisionCuller
virtual void	setCollisionDetector (ref< CollisionDetector > collisionDetector)
	called to detect collisions
virtual ref< CollisionDetector >	getCollisionDetector () const
	get the current CollisionDetector (or null if none)
virtual void	setCollisionResponseHandler (ref< CollisionResponseHandler > collisionResponseHandler)
	called to handle collisions
virtual ref< CollisionResponseHandler >	getCollisionResponseHandler () const
virtual void	setParameter (const String &name, Real value)
	Set implementation specific parameters. Unknown names will throw a std::invald_argument exception.
virtual void	preSimulate ()
virtual void	simulateForSimTime (const base::Time &dt)
virtual bool	visualTypeSupported (VisualType type) const
virtual osg::Node *	createOSGVisual (Visual::Attributes visualAttributes=0) const
virtual ref< Collidable >	createCollidable (CollidableFlags flags=0)
virtual void	reset ()
virtual void	potentialCollision (ref< const Collidable > collidable1, ref< const Collidable > collidable2)
virtual void	simulateForSimTime (const Time &dt)=0
void	simulateForRealTime (const Time &dt, Real simTimeStepSize=minSimStepSize)
virtual bool	isSameKindAs (const ReferencedObject &) const
virtual bool	isSameKindAs (const Object &) const
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
Static Public Attributes
const Real	minSimStepSize
const Int	OSGVisual = 1
Protected Types
typedef base::reflist< Solid >	Solids
typedef base::reflist< ConstraintGroup >	ConstraintGroups
typedef std::pair< ref< const Collidable >, ref< const Collidable > >	CollidablePair
typedef array< CollidablePair >	PenetratingPairs
enum	CollisionListenMode { HandleCollisions, RecordInterpenetrations }
Protected Member Functions
void	updateVisual () const
Protected Attributes
bool	active
	if false, physics simulation or collision detection is performed
dWorldID	worldID
	ODE's World ID.
Solids	solids
ConstraintGroups	constraintGroups
CollisionListenMode	collisionListenMode
bool	initialPenetrations
PenetratingPairs	initiallyPenetratingPairs
ref< CollisionCuller >	collisionCuller
ref< CollisionDetector >	collisionDetector
ref< CollisionResponseHandler >	collisionHandler
ref< Collidable >	collidable
ref< Solid >	ground
	the Solid ground (or 0)
dJointID	groundJoint
	fixed joint that connects the ground Solid to the world frame.
bool	preSimulateCalled
Visual::Attributes	attributes
ref_ptr< osg::Group >	node
int	_refCount
bool	onUnreferenceEnabled

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Member Typedef Documentation

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

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

typedef Int physics::CollidableProvider::CollidableFlag [inherited]

Definition at line 45 of file CollidableProvider.

typedef std::bitset<sizeof(Int)*8 physics::CollidableProvider::CollidableFlags) [inherited]

Definition at line 44 of file CollidableProvider.

typedef std::pair< ref<const Collidable>, ref<const Collidable> > physics::ODESolidSystem::CollidablePair [protected]

Definition at line 115 of file ODESolidSystem.

typedef base::reflist<ConstraintGroup> physics::ODESolidSystem::ConstraintGroups [protected]

Definition at line 109 of file ODESolidSystem.

typedef array<CollidablePair> physics::ODESolidSystem::PenetratingPairs [protected]

Definition at line 116 of file ODESolidSystem.

typedef base::reflist<Solid> physics::ODESolidSystem::Solids [protected]

Definition at line 106 of file ODESolidSystem.

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

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

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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 physics::ODESolidSystem::CollisionListenMode [protected]

Enumeration values: HandleCollisions  RecordInterpenetrations  Definition at line 112 of file ODESolidSystem.

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Constructor & Destructor Documentation

physics::ODESolidSystem::ODESolidSystem (   )

physics::ODESolidSystem::ODESolidSystem (  const ODESolidSystem &  ss  )

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

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Member Function Documentation

virtual void physics::ODESolidSystem::addConstraintGroup (  ref< ConstraintGroup >  group  )  [virtual]

add a constraint group to the system Implements physics::SolidSystem.

virtual void physics::ODESolidSystem::addSolid (  ref< Solid >  solid  )  [virtual]

add solid to the system (Solid must be from createSolid() Implements physics::SolidSystem.

virtual String physics::ODESolidSystem::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 47 of file ODESolidSystem.

virtual ref<BallJoint> physics::ODESolidSystem::createBallJoint (   )  [virtual]

new Ball & Socket joint constraint Implements physics::SolidSystem.

virtual ref<Collidable> physics::ODESolidSystem::createCollidable (  CollidableFlags  flags = 0  )  [virtual]

Implements physics::CollidableProvider.

virtual ref<ConstraintGroup> physics::ODESolidSystem::createConstraintGroup (   )  [virtual]

new ConstraintGroup Implements physics::SolidSystem.

virtual ref<ContactConstraint> physics::ODESolidSystem::createContactConstraint (   )  [virtual]

new ContactConstraint Implements physics::SolidSystem.

virtual ref<DoubleHingeJoint> physics::ODESolidSystem::createDoubleHingeJoint (   )  [virtual]

new Double Hinge joint constraint Implements physics::SolidSystem.

virtual ref<FixedConstraint> physics::ODESolidSystem::createFixedConstraint (   )  [virtual]

new FixedConstraint Implements physics::SolidSystem.

virtual ref<HingeJoint> physics::ODESolidSystem::createHingeJoint (   )  [virtual]

new Hinge joint constraint Implements physics::SolidSystem.

virtual ref<Motor> physics::ODESolidSystem::createMotor (   )  [virtual]

new Joint Motor Implements physics::SolidSystem.

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

Reimplemented from gfx::Visual.

virtual ref<SliderJoint> physics::ODESolidSystem::createSliderJoint (   )  [virtual]

new Slider joint constraint Implements physics::SolidSystem.

virtual ref<Solid> physics::ODESolidSystem::createSolid (  ref< const Shape >  shape, ref< const Material >  material )  [virtual]

create a new Solid Implements physics::SolidSystem.

virtual ref<UniversalJoint> physics::ODESolidSystem::createUniversalJoint (   )  [virtual]

new Universal joint constraint Implements physics::SolidSystem.

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<CollisionCuller> physics::ODESolidSystem::getCollisionCuller (   )  const [virtual]

get the current CollisionCuller Implements physics::SolidSystem.

virtual ref<CollisionDetector> physics::ODESolidSystem::getCollisionDetector (   )  const [virtual]

get the current CollisionDetector (or null if none) Implements physics::SolidSystem.

virtual ref<CollisionResponseHandler> physics::ODESolidSystem::getCollisionResponseHandler (   )  const [virtual]

Implements physics::SolidSystem.

virtual ref<Solid> physics::ODESolidSystem::getGround (   )  const [virtual]

Get the ground Solid. Implements physics::SolidSystem.

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().

virtual void physics::ODESolidSystem::potentialCollision (  ref< const Collidable >  collidable1, ref< const Collidable >  collidable2 )  [virtual]

Implements physics::PotentialCollisionListener.

virtual void physics::ODESolidSystem::preSimulate (   )  [virtual]

Implements base::Simulatable.

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::ODESolidSystem::removeConstraintGroup (  ref< const ConstraintGroup >  group  )  [virtual]

remove constraint group from the system Implements physics::SolidSystem.

virtual void physics::ODESolidSystem::removeSolid (  ref< const Solid >  solid  )  [virtual]

remove solid from the system Implements physics::SolidSystem.

virtual void physics::ODESolidSystem::reset (   )  [virtual]

Reimplemented from physics::PotentialCollisionListener.

virtual void physics::ODESolidSystem::setCollidable (  ref< Collidable >  collidable  )  [inline, virtual]

Implements physics::SolidSystem. Definition at line 73 of file ODESolidSystem.

virtual void physics::ODESolidSystem::setCollisionCuller (  ref< CollisionCuller >  collisionCuller  )  [virtual]

called to cull Collidables from collision detection Implements physics::SolidSystem.

virtual void physics::ODESolidSystem::setCollisionDetector (  ref< CollisionDetector >  collisionDetector  )  [virtual]

called to detect collisions Implements physics::SolidSystem.

virtual void physics::ODESolidSystem::setCollisionResponseHandler (  ref< CollisionResponseHandler >  collisionResponseHandler  )  [virtual]

called to handle collisions Implements physics::SolidSystem.

virtual void physics::ODESolidSystem::setGravity (  const Vector3 &  v  )  [virtual]

set acceleration due to gravity Implements physics::SolidSystem.

virtual void physics::ODESolidSystem::setGround (  ref< Solid >  ground, const Point3 &  position )  [virtual]

Set the ground Solid (which is fixed to the world frame and doesn't move from position). Implements physics::SolidSystem.

virtual void physics::ODESolidSystem::setParameter (  const String &  name, Real  value )  [virtual]

Set implementation specific parameters. Unknown names will throw a std::invald_argument exception. Reimplemented from physics::SolidSystem.

void base::Simulatable::simulateForRealTime (  const Time &  dt, Real  simTimeStepSize = minSimStepSize )  [inherited]

Reimplemented in base::Universe.

virtual void base::Simulatable::simulateForSimTime (  const Time &  dt  )  [pure virtual, inherited]

Implemented in base::Universe.

virtual void physics::ODESolidSystem::simulateForSimTime (  const base::Time &  dt  )  [virtual]

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.

void physics::ODESolidSystem::updateVisual (   )  const [protected]

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

Reimplemented from gfx::Visual. Definition at line 91 of file ODESolidSystem.

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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::ODESolidSystem::active [protected]

if false, physics simulation or collision detection is performed Definition at line 102 of file ODESolidSystem.

Visual::Attributes physics::ODESolidSystem::attributes [mutable, protected]

Definition at line 131 of file ODESolidSystem.

ref<Collidable> physics::ODESolidSystem::collidable [protected]

Definition at line 123 of file ODESolidSystem.

ref<CollisionCuller> physics::ODESolidSystem::collisionCuller [protected]

Definition at line 119 of file ODESolidSystem.

ref<CollisionDetector> physics::ODESolidSystem::collisionDetector [protected]

Definition at line 120 of file ODESolidSystem.

ref<CollisionResponseHandler> physics::ODESolidSystem::collisionHandler [protected]

Definition at line 121 of file ODESolidSystem.

CollisionListenMode physics::ODESolidSystem::collisionListenMode [protected]

Definition at line 113 of file ODESolidSystem.

ConstraintGroups physics::ODESolidSystem::constraintGroups [protected]

Definition at line 110 of file ODESolidSystem.

ref<Solid> physics::ODESolidSystem::ground [protected]

the Solid ground (or 0) Definition at line 125 of file ODESolidSystem.

dJointID physics::ODESolidSystem::groundJoint [protected]

fixed joint that connects the ground Solid to the world frame. Definition at line 126 of file ODESolidSystem.

PenetratingPairs physics::ODESolidSystem::initiallyPenetratingPairs [protected]

Definition at line 117 of file ODESolidSystem.

bool physics::ODESolidSystem::initialPenetrations [protected]

Definition at line 114 of file ODESolidSystem.

const Real base::Simulatable::minSimStepSize [static, inherited]

Definition at line 39 of file Simulatable.

ref_ptr<osg::Group> physics::ODESolidSystem::node [mutable, protected]

Definition at line 132 of file ODESolidSystem.

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().

const Int gfx::Visual::OSGVisual = 1 [static, inherited]

Definition at line 45 of file Visual.

bool physics::ODESolidSystem::preSimulateCalled [protected]

Definition at line 128 of file ODESolidSystem.

Solids physics::ODESolidSystem::solids [protected]

Definition at line 107 of file ODESolidSystem.

dWorldID physics::ODESolidSystem::worldID [protected]

ODE's World ID. Definition at line 104 of file ODESolidSystem.

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

• physics/ODESolidSystem

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