ArticulatedPhysicsEntity Class Reference

#include <ArticulatedPhysicsEntity.h>

Collaboration diagram for ArticulatedPhysicsEntity:


Public Member Functions
	ArticulatedPhysicsEntity (unsigned short id, unsigned short environmentId, unsigned short instanceId, EntityType *type)
virtual	~ArticulatedPhysicsEntity ()
virtual void	addForceAtPosition (gmtl::Vec3f &force, gmtl::Vec3f &position, bool relativeForce=false, bool relativePosition=false)
virtual void	getRigidBodies (std::vector< oops::RigidBody * > &rigidBodyList)
virtual void	getJoints (std::vector< oops::Joint * > &jointList)
virtual PhysicsObjectID	getPhysicsObjectID ()
virtual void	setEnvironment (Environment *env)
Static Public Attributes
static const unsigned	ARTICULATEDPHYSICSENTITY_CLASSID = 2
	unique class-ID used for PhysicsObjectID
Protected Member Functions
virtual void	setArticulatedBody (oops::ArticulatedBody *obj)
virtual bool	initialize ()
virtual void	setRigidBodyMapping (unsigned rigidBodyIndex, unsigned succeedingEntityIndex)
Protected Attributes
bool	isInitialized
	Indicating if the physical representation is already initialized.
bool	addedToSimulation
	Indicating if Entity is added to physics simulation.
oops::ArticulatedBody *	articulatedBody
	Pointer to the physical representation of the Entity.
std::map< unsigned, unsigned >	rigidBodyMapping
	Mapping from RigidBody-index to SimplePhysicsEntity-ID-offset.
PhysicsObjectID	physicsObjectID
	ID of the PhysicsObject.
Friends
class	ArticulatedPhysicsEntityController
class	ArticulatedPhysicsEntityType
class	CursorSpringConnector

Detailed Description

Entity with ArticulatedBody as physical representation. This class can be used for Entities which can be represented by an ArticulatedBody.

Constructor & Destructor Documentation

ArticulatedPhysicsEntity::ArticulatedPhysicsEntity	(	unsigned short	id,
		unsigned short	environmentId,
		unsigned short	instanceId,
		EntityType *	type
	)

Constructor initializes Entity.

Parameters:

	id	ID of the Entity
	environmentId	ID of the Environment where the Entity is created
	instanceId	ID for the instance this Entity is from the EntityType
	type	EntityType this Entity is an instance of

ArticulatedPhysicsEntity::~ArticulatedPhysicsEntity ( ) [virtual]

Destructor removes Object from Physics Module.

Member Function Documentation

void ArticulatedPhysicsEntity::addForceAtPosition	(	gmtl::Vec3f &	force,
		gmtl::Vec3f &	position,
		bool	relativeForce = `false`,
		bool	relativePosition = `false`
	)			`[virtual]`

Adds a force at a passed position at the Physics Server. The method encodes the method call into a message and passes it to the PhysicsObjectManager which sends it to the Physics Server which simulates this Entity.

Parameters:

	force	force to add
	position	where to add the force
	relativeForce	is the force oriented relative to the body
	relativePosition	is the position relative to the body

virtual void ArticulatedPhysicsEntity::getJoints ( std::vector< oops::Joint * > & jointList ) [virtual]

Fills the passed list with all Joints it contains. It is mainly used by the PhysicsObjectManager to add the Joints to the simulation.

Parameters:

jointList

List which is filled with contained Joints

Implements PhysicsEntity.

PhysicsObjectID ArticulatedPhysicsEntity::getPhysicsObjectID ( ) [virtual]

Adds the PhysicsObject to the passed simulation instance.

Parameters:

simulation

oops::Simulation class instance

Returns:: true if the object could be added, false otherwise Removes the PhysicsObject from the passed simulation instance.

Parameters:

simulation

oops::Simulation class instance

Returns:: true if the object could be removed, false otherwise Returns the ID of the PhysicsObject. The method has to return the unique PhysicsObjectID of the PhysicsObject. The programmer has to ensure that this PhysicsObjectID is set properly and that it is unique.
ID of the PhysicsObject

Implements PhysicsEntity.

virtual void ArticulatedPhysicsEntity::getRigidBodies ( std::vector< oops::RigidBody * > & rigidBodyList ) [virtual]

Fills the passed list with all RigidBodies it contains. It is mainly used by the PhysicsObjectManager to add the RigidBodies to the simulation.

Parameters:

rigidBodyList

List which is filled with contained RigidBodies

Implements PhysicsEntity.

bool ArticulatedPhysicsEntity::initialize ( ) [protected, virtual]

Sets the initial Transformation of the ArticulatedBody. The method sets the TransformationPipe of the ArticulatedBody. It does so by taking the Transformation of the ArticulatedPhysicsEntity in world coordinates and multiplying the inverse offset transformation stored in the ArticulatedBody.

Returns:: true if the ArticulatedBody-Transformation could be set

void ArticulatedPhysicsEntity::setArticulatedBody ( oops::ArticulatedBody * obj ) [protected, virtual]

Adds the passed force at the passed position to the Physics Entity. This method is the server part of the addForceAtPosition method. It is only called on the machine which acts as Server for this PhysicsEntity.

Parameters:

	force	force to add
	position	where to add the force
	relativeForce	is the force oriented relative to the body
	relativePosition	is the position relative to the body Sets the ArticulatedBody. The method sets the ArticulatedBody to the PhysicsEntity. It is called by the ArticulatedPhysicsEntityType-class in the createInstance method.
	obj	ArticulatedBody representing the ArticulatedPhysicsEntity

void ArticulatedPhysicsEntity::setEnvironment ( Environment * env ) [virtual]

Sets the Environment the Entity belongs to. It is called by the Environment-class and initially sets the pointer to the Environment the Entity is created in. The method is not intended to be used when the Environment is changed, therefore call the changeEnvironment method.

Parameters:

env

Environment the Entity belongs to

Reimplemented from Entity.

void ArticulatedPhysicsEntity::setRigidBodyMapping	(	unsigned	rigidBodyIndex,
		unsigned	succeedingEntityIndex
	)			`[protected, virtual]`

Sets the mapping of the RigidBodies inside the ArticulatedBody to the Entities in the world. The method sets the mapping of a RigidBody inside the ArticulatedBody to an Entity. Each ArticulatedBody consists of a number of RigidBodies. These RigidBodies have to be represented by SimplePhysicsEntities yet. In the Environment config file the ArticulatedPhysicsEntity has to be followed by a number of SimplePhysicsEntities each for one RigidBody inside the ArticulatedBody. The passed indices define the index of the RigidBody inside the ArticulatedBody and the ID-offset of the matching SimplePhysicsEntity to the ArticulatedPhysicsEntity.

Parameters:

	rigidBodyIndex	Index of the RigidBody inside the ArticulatedBody
	succeedingEntityIndex	ID-offset between the ArticulatedPhysicsEntity and the SimplePhysicsEntity

Friends And Related Function Documentation

friend class ArticulatedPhysicsEntityController [friend]

friend class ArticulatedPhysicsEntityType [friend]

friend class CursorSpringConnector [friend]

Handles incoming messages containing remote method calls. The method receives an incoming message containing a remote method call. First it decodes the type of the message. If the type is not a negative number it is not handled by the PhysicsEntity-class itself and therfore the message is passed to the handleMessage(unsigned type,OSG::NetMessage* msg) method which has to be implemented in the derived class. If the method-type is a negative number it is proven which method call is encoded by comparing the type with the REMOTE_FUNCTIONS enumeration member. If a matching function is found it is called.

Parameters:

msg

Message containing remote method call.