CursorSpringConnector Class Reference

#include <CursorSpringConnector.h>

Inherits PhysicsObjectInterface, SystemThreadListenerInterface, and SimulationStepListenerInterface.

Collaboration diagram for CursorSpringConnector:


Public Types
enum	CONNECTION_MODE { VELOCITY_MODE, SPRING_MODE, FORCETORQUE_MODE, JOINT_MODE }
	Possible modes for connection. More...
Public Member Functions
	CursorSpringConnector (PhysicsEntity entity, User user)
virtual	~CursorSpringConnector ()
virtual void	getRigidBodies (std::vector< oops::RigidBody * > &rigidBodyList)
virtual void	getJoints (std::vector< oops::Joint * > &jointList)
virtual PhysicsObjectID	getPhysicsObjectID ()
virtual bool	handleMessage (NetMessage *msg)
virtual void	setPhysicsObjectManager (PhysicsObjectManager *objectManager)
Static Public Member Functions
static void	setLinearConstants (float spring, float damping)
static void	setAngularConstants (float spring, float damping)
Static Public Attributes
static const unsigned	CURSORSPRINGCONNECTOR_CLASSID = 3
	ID for CursorSpringConnector-class.
Protected Member Functions
virtual void	executeVelocityMode (float dt, TransformationData cursorTrans, TransformationData bodyTrans)
virtual void	executeSpringMode (float dt, TransformationData cursorTrans, TransformationData bodyTrans)
virtual void	executeForceTorqueMode (float dt, TransformationData cursorTrans, TransformationData bodyTrans)
virtual void	executeJointMode (float dt, TransformationData cursorTrans, TransformationData bodyTrans)
virtual bool	initialize ()
virtual void	systemUpdate (float dt)
virtual void	step (float dt, unsigned simulationTime)
Protected Attributes
bool	isInitialized
	Indicating if the CursorSpringConnector is already initialized.
PhysicsObjectID	physicsObjectID
	ID of the CursorSpringConnector.
CONNECTION_MODE	connectionMode
	mode which is used for connection
PhysicsObjectManager *	objectManager
	Pointer to the used PhysicsObjectManager.
User *	user
	Owner of the Cursor used for manipulation.
PhysicsEntity *	entity
	PhysicsEntity which should be manipulated.
oops::RigidBody *	rigidBody
	RigidBody of PhysicsEntity.
oops::RigidBody *	cursorBody
	ODE-RigidBody for JointMode.
oops::SpringDamperJoint *	connectionJoint
TransformationData	cursorToBodyOffset
	Offset from Cursor to RigidBody transformation.
TransformationData	bodyToCursorOffset
	Offset from RigidBody to Cursor transformation.
TransformationData	oldCursorTransformation
	Cursor transformation from last simulation step.
TransformationData	cursorTransformation
	Current Cursor transformation.
OSG::Lock *	cursorTransformationLock
	Lock for updating Cursor transformation.
uint64_t	rigidBodyId
Static Protected Attributes
static float	linearSpringConstant = 1.0f
	Spring constants.
static float	angularSpringConstant = 0.01f
static float	linearDampingConstant = 100.f
	Damping constants.
static float	angularDampingConstant = 10.f
static float	linearThreshold = 1.f
	Thresholds where connection will break.
static float	angularThreshold = M_PI

Detailed Description

Class to connect a PhysicsEntity to the User's Cursor. This class is used for Natural Interaction when a PhysicsEntity should be manipulated with the Users's cursor. It tries to update the position of the Entity so that it matches to the one of the Cursor. Available modes: Velocity Mode: sets object-velocities directly

also called GOD-MODE: mass does not affect manipulation
very stable
problems with tires of corvette

Spring Mode: simulates a spring between cursor and RigidBody

different manipulation depending of object mass
hard to configure to work with all objects properly
problems with objects which are connected to other objects via joints
good for use with simple RigidBodies

Force Mode: calculates force and torque needed to reach velocities needed to fix transformation.

TODO

Member Enumeration Documentation

enum CursorSpringConnector::CONNECTION_MODE

Possible modes for connection.

Enumerator:

VELOCITY_MODE
SPRING_MODE
FORCETORQUE_MODE
JOINT_MODE

Constructor & Destructor Documentation

CursorSpringConnector::CursorSpringConnector	(	PhysicsEntity *	entity,
		User *	user
	)

Constructor.

Parameters:

	entity	Entity which should be manipulated
	user	owner of the cursor

CursorSpringConnector::~CursorSpringConnector ( ) [virtual]

Empty Destructor.

Member Function Documentation

void CursorSpringConnector::executeForceTorqueMode	(	float	dt,
		TransformationData	cursorTrans,
		TransformationData	bodyTrans
	)			`[protected, virtual]`

Executes the manipulation in Force Mode

Parameters:

	dt	timestep since last call
	cursorTrans	transformation of the Cursor
	bodyTrans	transformation of the RigidBody

void CursorSpringConnector::executeJointMode	(	float	dt,
		TransformationData	cursorTrans,
		TransformationData	bodyTrans
	)			`[protected, virtual]`

Executes the manipulation in Joint Mode

Parameters:

	dt	timestep since last call
	cursorTrans	transformation of the Cursor
	bodyTrans	transformation of the RigidBody

void CursorSpringConnector::executeSpringMode	(	float	dt,
		TransformationData	cursorTrans,
		TransformationData	bodyTrans
	)			`[protected, virtual]`

Executes the manipulation in Spring Mode

Parameters:

	dt	timestep since last call
	cursorTrans	transformation of the Cursor
	bodyTrans	transformation of the RigidBody

void CursorSpringConnector::executeVelocityMode	(	float	dt,
		TransformationData	cursorTrans,
		TransformationData	bodyTrans
	)			`[protected, virtual]`

Executes the manipulation in Velocity Mode

Parameters:

	dt	timestep since last call
	cursorTrans	transformation of the Cursor
	bodyTrans	transformation of the RigidBody

virtual void CursorSpringConnector::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 PhysicsObjectInterface.

PhysicsObjectID CursorSpringConnector::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 PhysicsObjectInterface.

virtual void CursorSpringConnector::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 PhysicsObjectInterface.

bool CursorSpringConnector::handleMessage ( NetMessage * msg ) [virtual]

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

void CursorSpringConnector::setAngularConstants	(	float	spring,
		float	damping
	)			`[static]`

void CursorSpringConnector::setLinearConstants	(	float	spring,
		float	damping
	)			`[static]`

void CursorSpringConnector::setPhysicsObjectManager ( PhysicsObjectManager * objectManager ) [virtual]

Transforms the incoming Message into a message call. The method is called from the PhysicsObjectManager. It has to decode the passed Message and call the method call encoded in it.

Parameters:

msg

Message containing a method call

Returns:: true if the encoded method could be called, false otherwise Sets the PhysicsObjectManager responsible for the object. The method has to store the PhysicsObjectManager in order to call the handleClientInput method if a change in the physical state of the PhysicsObject should take place (e.g. via a user input)

Parameters:

objectManager

PhysicsObjectManager responsible for the object

Implements PhysicsObjectInterface.

void CursorSpringConnector::step	(	float	dt,
		unsigned	simulationTime
	)			`[protected, virtual]`

Callback function when Physics::step is called. This method is called from the Physics Thread when a simulation step will be initiated. The passed argument defines the timestep which will be simulated. The real simulation step takes place after this method call.

Parameters:

	dt	timestep of the next simulation step
	simulationTime	time of the simulation

Implements SimulationStepListenerInterface.

void CursorSpringConnector::systemUpdate ( float dt ) [protected, virtual]

Callback function when Physics::update is called. The method is called from the System Thread when the Physics::update method is called. It allows to update data which is needed by the System Thread, for example the transformation of an object. The method call runs parallel to the Physics Thread so take care to Lock data which can be accessible from both Threads!

Parameters:

dt

elapsed time since last call in seconds

Implements SystemThreadListenerInterface.