physics::Solid Class Reference

Inheritance diagram for physics::Solid:

[legend]Collaboration diagram for physics::Solid:

[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
	Solid (const Solid &s)
virtual	~Solid ()
virtual String	className () const
virtual void	setName (const String &name)
virtual MassProperties	massProperties () const
virtual ref< const Material >	getMaterial () const
virtual void	setEnabled (bool enable)=0
virtual bool	isEnabled () const=0
virtual void	addForce (const Vector3 &f)=0
virtual void	addTorque (const Vector3 &t)=0
virtual void	addRelForce (const Vector3 &f)=0
virtual void	addRelTorque (const Vector3 &t)=0
virtual void	addForceAtPos (const Vector3 &f, const Point3 &p)=0
virtual void	addForceAtRelPos (const Vector3 &f, const Point3 &p)=0
virtual void	addRelForceAtPos (const Vector3 &f, const Point3 &p)=0
virtual void	addRelForceAtRelPos (const Vector3 &f, const Point3 &p)=0
virtual Vector3	getForce () const=0
virtual Vector3	getTorque () const=0
virtual ref< Collidable >	createCollidable (CollidableFlags flags=0)
	create CollidableBody (not connected to Solid if flags contains SolidNotConnected - i.e. not SolidConnectedCollidableBody)
virtual ref< Collidable >	createCollidable (ref< const Shape > collisionShape, CollidableFlags flags=0)=0
virtual bool	visualTypeSupported (VisualType type) const
virtual osg::Node *	createOSGVisual (Visual::Attributes visualAttributes=0) 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)
virtual const String &	getName () 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 CollidableProvider::CollidableFlag	SolidNotConnected = 1
const Int	OSGVisual = 1
Protected Member Functions
	Solid ()
	Solid (ref< const Shape > shape, ref< const Material > material)
virtual void	updateVisual ()
	update the visual to the current position & orientation state (does nothing if no Visual requested)
void	setShape (ref< Shape > shape)
Protected Attributes
ref< const Material >	material
Visual::Attributes	attributes
ref_ptr< osg::Node >	node
osg::MatrixTransform *	worldTransform
	transforms visual to current solid position/orientation
int	_refCount
bool	onUnreferenceEnabled
Friends
class	SolidSystem

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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 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.

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Constructor & Destructor Documentation

physics::Solid::Solid (  const Solid &  s  )

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

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

Definition at line 88 of file Solid.

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

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Member Function Documentation

virtual void physics::Solid::addForce (  const Vector3 &  f  )  [pure virtual]

Implemented in physics::ODESolid.

virtual void physics::Solid::addForceAtPos (  const Vector3 &  f, const Point3 &  p )  [pure virtual]

Implemented in physics::ODESolid.

virtual void physics::Solid::addForceAtRelPos (  const Vector3 &  f, const Point3 &  p )  [pure virtual]

Implemented in physics::ODESolid.

virtual void physics::Solid::addRelForce (  const Vector3 &  f  )  [pure virtual]

Implemented in physics::ODESolid.

virtual void physics::Solid::addRelForceAtPos (  const Vector3 &  f, const Point3 &  p )  [pure virtual]

Implemented in physics::ODESolid.

virtual void physics::Solid::addRelForceAtRelPos (  const Vector3 &  f, const Point3 &  p )  [pure virtual]

Implemented in physics::ODESolid.

virtual void physics::Solid::addRelTorque (  const Vector3 &  t  )  [pure virtual]

Implemented in physics::ODESolid.

virtual void physics::Solid::addTorque (  const Vector3 &  t  )  [pure virtual]

Implemented in physics::ODESolid.

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

return the name of the object's class type. Must be defined by derived classes. Reimplemented from physics::Body. Reimplemented in physics::ODESolid. Definition at line 52 of file Solid.

virtual ref<Collidable> physics::Solid::createCollidable (  ref< const Shape >  collisionShape, CollidableFlags  flags = 0 )  [pure virtual]

Implemented in physics::ODESolid.

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

create CollidableBody (not connected to Solid if flags contains SolidNotConnected - i.e. not SolidConnectedCollidableBody) Implements physics::CollidableProvider. Definition at line 80 of file Solid. References physics::Body::getShape().

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

Reimplemented from gfx::Visual.

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 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 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 physics::CollidableBody::getBoundingBox(), physics::DynamicSpatial::getGlobalPointRelPos(), physics::DynamicSpatial::getRelPointPos(), physics::PositionableOrientable::operator=(), and physics::PositionableOrientable::PositionableOrientable().

virtual Vector3 physics::Solid::getForce (   )  const [pure virtual]

Implemented in physics::ODESolid.

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 ref<const Material> physics::Solid::getMaterial (   )  const [inline, virtual]

Definition at line 57 of file Solid. References material.

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 createCollidable(), and physics::CollidableBody::getBoundingBox().

virtual Vector3 physics::Solid::getTorque (   )  const [pure virtual]

Implemented in physics::ODESolid.

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::Solid::isEnabled (   )  const [pure virtual]

Implemented in physics::ODESolid.

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 MassProperties physics::Solid::massProperties (   )  const [virtual]

Reimplemented in physics::ODESolid.

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::Solid::setEnabled (  bool  enable  )  [pure virtual]

Implemented in physics::ODESolid.

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

Reimplemented from base::Named. Definition at line 54 of file Solid. References base::Named::setName().

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::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.

virtual void physics::Solid::updateVisual (   )  [protected, virtual]

update the visual to the current position & orientation state (does nothing if no Visual requested) Reimplemented in physics::ODESolid.

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

Reimplemented from gfx::Visual. Definition at line 84 of file Solid.

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Friends And Related Function Documentation

friend class SolidSystem [friend]

Definition at line 101 of file Solid.

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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().

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

Definition at line 95 of file Solid.

ref<const Material> physics::Solid::material [protected]

Definition at line 93 of file Solid. Referenced by getMaterial().

ref_ptr<osg::Node> physics::Solid::node [mutable, protected]

Definition at line 96 of file Solid.

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.

const CollidableProvider::CollidableFlag physics::Solid::SolidNotConnected = 1 [static]

Definition at line 78 of file Solid.

osg::MatrixTransform* physics::Solid::worldTransform [mutable, protected]

transforms visual to current solid position/orientation Definition at line 99 of file Solid.

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

• physics/Solid

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