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physics::SOLIDCollisionDetector Class Reference

Inheritance diagram for physics::SOLIDCollisionDetector:

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List of all members.

Public Types

enum  CollisionQueryType { DetectCollision, FirstContactPoint, AllContactPoints }
typedef Int Attributes
typedef Int VisualType
enum  AttributeFlags {
  ShowAxes = 1, ShowBounds = 2, ShowCollisions = 4, ShowCollisionModel = 8,
  ShowCollisionDetection = 16, ShowEdges = 32, ShowNormals = 64, VerticesOnly = 128
}

Public Member Functions

 SOLIDCollisionDetector ()
virtual ~SOLIDCollisionDetector ()
virtual String className () const
virtual CollisionModel::CollisionModelType getType () const
virtual bool collision (ref< const Solid > solid1, ref< const Solid > solid2, CollisionQueryType queryType)
virtual bool collisionEnable (bool enabled)
 enable/disable all collisions

void collisionCallback (DtObjectRef object1, DtObjectRef object2, const DtCollData *coll_data)
virtual void setCollisionQueryType (CollisionQueryType collisionQueryType)
virtual ref< CollidableBodycreateCollidableBody (ref< Shape > shape)=0
 new CollidableBody with specified Shape

virtual ref< CollisionStategetCollisionState (ref< const CollidableBody > collidableBody1, ref< const CollidableBody > collidableBody2) const
 Get the CollisionState for a pair of CollidableBodys.

virtual gfx::Segment3 shortestSegmentBetween (ref< const Collidable > collidable1, ref< const Collidable > collidable2)
 Compute the shortest line segment between the surfaces of a pair of Collidables.

virtual void reset ()
 called at the beginning of each collision cycle

virtual void collide (ref< const Collidable > collidable1, ref< const Collidable > collidable2)=0
 notify PotentialCollisionListeners if possible collision between Collidables

virtual void collide (ref< const Collidable > collidable)
virtual bool isCollisionEnabled () const
virtual void addPotentialCollisionListener (ref< PotentialCollisionListener > listener)
virtual void removePotentialCollisionListener (ref< PotentialCollisionListener > listener)
virtual void potentialCollision (ref< const Collidable > collidable1, ref< const Collidable > collidable2)
virtual bool visualTypeSupported (VisualType type) const
virtual osg::Node * createOSGVisual (Visual::Attributes visualAttributes=0) const
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 collisionEpsilon
const Int OSGVisual = 1

Protected Types

typedef std::pair< ref< const
CollidableBody >, ref< const
CollidableBody > > 
CollidableBodyPair
typedef std::map< CollidableBodyPair,
ref< CollisionState > > 
CollisionStateMap
typedef base::reflist< PotentialCollisionListenerListenerList

Protected Member Functions

virtual ref< CollisionStatenewCollisionState (ref< const Solid > solid1, ref< const Solid > solid2) const
virtual ref< CollisionStatenewCollisionState (ref< const CollidableBody > collidableBody1, ref< const CollidableBody > collidableBody2) const
void notifyListeners (ref< const Collidable > collidable1, ref< const Collidable > collidable2)
 call potentialCollision(collidable1,collidable2) on all listeners (if enabled)

void resetListeners ()
 call reset() on all listeners (if enabled)


Protected Attributes

bool collisionDetectionEnabled
bool collided
ref< const Solidsolid1
ref< const Solidsolid2
const DtCollData * collision_data
CollisionStateMap collisionStates
CollisionQueryType queryType
bool enabled
ListenerList listeners
int _refCount
bool onUnreferenceEnabled

Static Protected Attributes

bool SOLIDResponseFunctionRegistered

Member Typedef Documentation

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

Definition at line 39 of file Visual.

Referenced by gfx::Visual::createOSGVisual().

typedef std::pair< ref<const CollidableBody>, ref<const CollidableBody> > physics::CollisionDetector::CollidableBodyPair [protected, inherited]
 

Definition at line 65 of file CollisionDetector.

typedef std::map< CollidableBodyPair, ref<CollisionState> > physics::CollisionDetector::CollisionStateMap [protected, inherited]
 

Definition at line 66 of file CollisionDetector.

typedef base::reflist<PotentialCollisionListener> physics::Collider::ListenerList [protected, inherited]
 

Definition at line 76 of file Collider.

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 physics::CollisionDetector::CollisionQueryType [inherited]
 

Enumeration values:
DetectCollision 
FirstContactPoint 
AllContactPoints 

Definition at line 45 of file CollisionDetector.


Constructor & Destructor Documentation

physics::SOLIDCollisionDetector::SOLIDCollisionDetector  ) 
 

virtual physics::SOLIDCollisionDetector::~SOLIDCollisionDetector  )  [virtual]
 


Member Function Documentation

virtual void physics::Collider::addPotentialCollisionListener ref< PotentialCollisionListener listener  )  [inline, virtual, inherited]
 

Definition at line 60 of file Collider.

References base::reflist< _Tp, _Alloc >::push_back().

virtual String physics::SOLIDCollisionDetector::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 43 of file SOLIDCollisionDetector.

virtual void physics::Collider::collide ref< const Collidable collidable  )  [virtual, inherited]
 

convenience method that calls collide(collidable1, collidable2) for each pair of Collidables in the group collidable, unless collidable isn't a group or has child inter-collision disabled (so that you can keep all your Collidables in a single top-level group)

Reimplemented in physics::ODECollisionCuller, physics::ODECollisionDetector, and physics::SimpleCollisionCuller.

virtual void physics::Collider::collide ref< const Collidable collidable1,
ref< const Collidable collidable2
[pure virtual, inherited]
 

notify PotentialCollisionListeners if possible collision between Collidables

Implemented in physics::CollisionResponseHandler, physics::NullCollisionResponseHandler, physics::ODECollisionCuller, physics::ODECollisionDetector, and physics::SimpleCollisionCuller.

Referenced by physics::Collider::potentialCollision().

virtual bool physics::SOLIDCollisionDetector::collision ref< const Solid solid1,
ref< const Solid solid2,
CollisionQueryType  queryType
[virtual]
 

void physics::SOLIDCollisionDetector::collisionCallback DtObjectRef  object1,
DtObjectRef  object2,
const DtCollData *  coll_data
 

virtual bool physics::SOLIDCollisionDetector::collisionEnable bool  enabled  )  [inline, virtual]
 

enable/disable all collisions

Reimplemented from physics::Collider.

Definition at line 51 of file SOLIDCollisionDetector.

virtual ref<CollidableBody> physics::CollisionDetector::createCollidableBody ref< Shape shape  )  [pure virtual, inherited]
 

new CollidableBody with specified Shape

Implemented in physics::ODECollisionDetector.

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.

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<CollisionState> physics::CollisionDetector::getCollisionState ref< const CollidableBody collidableBody1,
ref< const CollidableBody collidableBody2
const [virtual, inherited]
 

Get the CollisionState for a pair of CollidableBodys.

virtual CollisionModel::CollisionModelType physics::SOLIDCollisionDetector::getType  )  const [inline, virtual]
 

Definition at line 45 of file SOLIDCollisionDetector.

virtual bool physics::Collider::isCollisionEnabled  )  const [inline, virtual, inherited]
 

Reimplemented in physics::CollisionCuller.

Definition at line 58 of file Collider.

References physics::Collider::enabled.

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 ref<CollisionState> physics::CollisionDetector::newCollisionState ref< const CollidableBody collidableBody1,
ref< const CollidableBody collidableBody2
const [inline, protected, virtual, inherited]
 

Reimplemented in physics::ODECollisionDetector.

Definition at line 60 of file CollisionDetector.

References NewNamedObj.

virtual ref<CollisionState> physics::SOLIDCollisionDetector::newCollisionState ref< const Solid solid1,
ref< const Solid solid2
const [protected, virtual]
 

void physics::Collider::notifyListeners ref< const Collidable collidable1,
ref< const Collidable collidable2
[protected, inherited]
 

call potentialCollision(collidable1,collidable2) on all listeners (if enabled)

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::Collider::potentialCollision ref< const Collidable collidable1,
ref< const Collidable collidable2
[inline, virtual, inherited]
 

Implements physics::PotentialCollisionListener.

Definition at line 66 of file Collider.

References physics::Collider::collide().

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::Collider::removePotentialCollisionListener ref< PotentialCollisionListener listener  )  [inline, virtual, inherited]
 

Definition at line 63 of file Collider.

References base::reflist< _Tp, _Alloc >::remove().

virtual void physics::Collider::reset  )  [inline, virtual, inherited]
 

called at the beginning of each collision cycle

Reimplemented from physics::PotentialCollisionListener.

Reimplemented in physics::SolidCollisionResponseHandler, and robot::sim::SimulatedKinematicChain::ProximityCollisionResponseHandler.

Definition at line 46 of file Collider.

References physics::Collider::resetListeners().

void physics::Collider::resetListeners  )  [protected, inherited]
 

call reset() on all listeners (if enabled)

Referenced by physics::Collider::reset().

virtual void physics::CollisionDetector::setCollisionQueryType CollisionQueryType  collisionQueryType  )  [inline, virtual, inherited]
 

Definition at line 47 of file CollisionDetector.

References physics::CollisionDetector::queryType.

virtual gfx::Segment3 physics::CollisionDetector::shortestSegmentBetween ref< const Collidable collidable1,
ref< const Collidable collidable2
[virtual, inherited]
 

Compute the shortest line segment between the surfaces of a pair of Collidables.

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 gfx::Visual::visualTypeSupported VisualType  type  )  const [inline, virtual, inherited]
 

Reimplemented in gfx::OSGWorld, gfx::VisualPath, physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::GJKCollisionDetector, physics::LODTerrain, physics::OBBCollisionModel, physics::ODECollisionModel, physics::ODESolidSystem, physics::Polyhedron, physics::Solid, physics::SOLIDCollisionModel, physics::Sphere, physics::Torus, physics::VisualDebugUtil, and robot::sim::VisualIKORTest.

Definition at line 47 of file Visual.

References gfx::Visual::VisualType.


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::SOLIDCollisionDetector::collided [protected]
 

Definition at line 78 of file SOLIDCollisionDetector.

const DtCollData* physics::SOLIDCollisionDetector::collision_data [protected]
 

Definition at line 81 of file SOLIDCollisionDetector.

bool physics::SOLIDCollisionDetector::collisionDetectionEnabled [protected]
 

Definition at line 61 of file SOLIDCollisionDetector.

const Real physics::CollisionDetector::collisionEpsilon [static, inherited]
 

Definition at line 49 of file CollisionDetector.

CollisionStateMap physics::CollisionDetector::collisionStates [mutable, protected, inherited]
 

Definition at line 67 of file CollisionDetector.

bool physics::Collider::enabled [protected, inherited]
 

Definition at line 74 of file Collider.

Referenced by physics::Collider::Collider(), and physics::Collider::isCollisionEnabled().

ListenerList physics::Collider::listeners [protected, inherited]
 

Definition at line 77 of file Collider.

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.

CollisionQueryType physics::CollisionDetector::queryType [protected, inherited]
 

Definition at line 69 of file CollisionDetector.

Referenced by physics::CollisionDetector::setCollisionQueryType().

ref<const Solid> physics::SOLIDCollisionDetector::solid1 [protected]
 

Definition at line 79 of file SOLIDCollisionDetector.

ref<const Solid> physics::SOLIDCollisionDetector::solid2 [protected]
 

Definition at line 80 of file SOLIDCollisionDetector.

bool physics::SOLIDCollisionDetector::SOLIDResponseFunctionRegistered [static, protected]
 

Definition at line 83 of file SOLIDCollisionDetector.


The documentation for this class was generated from the following file:
Generated on Thu Jul 29 16:41:33 2004 for OpenSim by doxygen 1.3.6