JointInteraction Class Reference

#include <JointInteraction.h>

Collaboration diagram for JointInteraction:


Public Member Functions
	JointInteraction ()
virtual	~JointInteraction ()
virtual bool	loadConfig (std::string configFile)
virtual void	cleanup ()
virtual std::string	getName ()
virtual void	step ()
void	init ()
bool	grabbing ()
bool	grab (unsigned entityID, TransformationData offset)
bool	ungrab ()
TransformationData	update (TransformationData trans)
Joint *	getJointWithID (int jointID)
Protected Member Functions
void	loadConfig (IrrXMLReader *xml)
void	loadJoints (IrrXMLReader *xml)
Joint *	xmlParseJoint (IrrXMLReader *xml, std::string &jointType)
void	xmlParseEntities (IrrXMLReader xml, Joint joint)
void	xmlParseConstraintAttributes (IrrXMLReader xml, Constraint constraint)
void	registerTransformationPipe (unsigned envBasedId, TransformationPipe *pipe)
void	attachJoints (int entityID)
void	grabEntity (Entity *entity, TransformationData offset)
void	readConfig (std::string fileName)
dBodyID	getBodyWithID (int entityID)
Entity *	getEntityWithID (int entID)
Protected Attributes
bool	isInitialized
std::string	configFile
std::map< unsigned, Entity * >	entityMap
std::vector< Joint * >	jointList
std::vector< Joint * >	attachedJoints
std::map< int, jointVector * >	jointMap
std::map< int, ODEObject * >	linkedObjMap
EventPipe *	incomingEvents
std::map< unsigned, TransformationPipe * >	linkedObjPipes
TransformationData	userTrans
TransformationData	deltaTrans
ODEObject *	grabbedObject
bool	isGrabbing
float	maxDist
float	maxRotDist
dWorldID	world
dSpaceID	space
int	stepsPerFrame
Friends
class	Joint
class	Constraint
class	JointInteractionBeginEvent
class	JointInteractionEndEvent

Detailed Description

Todo:: Add documentation This module always has to be initialized before the Interaction-module!!!

Constructor & Destructor Documentation

JointInteraction::JointInteraction ( )

JointInteraction::~JointInteraction ( ) [virtual]

Member Function Documentation

void JointInteraction::attachJoints ( int entityID ) [protected]

This method attaches all joints to the object with the matching entityID.

Parameters:

entityID

ID of the EntityTransform to which the joints should be attached.

void JointInteraction::cleanup ( ) [virtual]

Instruct the module to free all memory allocated internally.

Reimplemented from ModuleInterface.

dBodyID JointInteraction::getBodyWithID ( int entityID ) [protected]

This method returns the ODE-representation of the Entity with the passed ID. It searches in the map of connected objects for a matching ODEObject. If no object is found the method creates one and stores it in the map.

Parameters:

entityID

ID of the EntityTransform

Returns:: ODE representation of the EntityTransform

Entity * JointInteraction::getEntityWithID ( int entID ) [protected]

This method returns an Entity with the matching ID.

Parameters:

entID

ID of the requested EntityTransform

Returns:: the EntityTransform if found, NULL if not

Joint * JointInteraction::getJointWithID ( int jointID )

This method returns the joint with the matching ID.

Parameters:

jointID

ID of the requested Joint

Returns:: the Joint if found, NULL if not.

std::string JointInteraction::getName ( ) [virtual]

Return the unique name of the module.

Implements ModuleInterface.

bool JointInteraction::grab	(	unsigned	entityID,
		TransformationData	offset
	)

This method is called if the user wants to grab an object. It checks if the user is already grabbing and if not it searches for an object where the actual user-position is inside the bounding box of this object. If an object is found it is pushed into a list of possible results. Finally the object with the smallest bounding box in the list will be grabbed by calling the grabEntity-method.

Returns:: true if an object is grabbed

bool JointInteraction::grabbing ( )

This method returns, if the user is grabbing an object or not

Returns:: true, if an object is grabbed false if not

void JointInteraction::grabEntity	(	Entity *	entity,
		TransformationData	offset
	)			`[protected]`

This method initializes the grabbing of an object. It creates an ODE-object with the current position and orientation and stores the offset to the grabbed object for correct update of the Entity-transformation in the update method. It also creates all joints and linked objects by calling the attachJoints-method.

Parameters:

entity

Entity that should be grabbed

void JointInteraction::init ( )

This method initializes the JointInteraction class. It therefore retrieves a copy of the Entity-list from the WorldDatabase and initializes the variables needed for ODE-simulation.

Parameters:

configFile

location of the config-file

bool JointInteraction::loadConfig ( std::string configFile ) [virtual]

Instruct the module to read its configuration from a file.

Returns:: true on success.

Parameters:

configFile

path of the XML-file.

Implements ModuleInterface.

void JointInteraction::loadConfig ( IrrXMLReader * xml ) [protected]

void JointInteraction::loadJoints ( IrrXMLReader * xml ) [protected]

This method loads and parses the config-file. It searches for joint entries in the configuration, creates corresponding objects and pushes them into a Joint-list.

Parameters:

fileName,:

URL of the config-file

void JointInteraction::readConfig ( std::string fileName ) [protected]

This method reads the config-file for the JointJointInteraction-module

Parameters:

fileName

location of the config-file

void JointInteraction::registerTransformationPipe	(	unsigned	envBasedId,
		TransformationPipe *	pipe
	)			`[protected]`

void JointInteraction::step ( ) [virtual]

bool JointInteraction::ungrab ( )

This method is called if the user wants to release a grabbed object. All attached joints in the world are detached and all used ODE-objects are destroyed.

Returns:: true, if an object is released

TransformationData JointInteraction::update ( TransformationData trans )

This method updates the position and orientation of the grabbed object and all connected objects. If the grabbed object has no connections to other objects (via joints) the method simply applies the passed position and orientation to the grabbed object. Otherwise the calculation of the new transformation takes place in two steps: First the orientational difference between the grabbed object and and the passed orientation is calculated and applied to the object as torque. Then a simulation-step takes place, where the timestep is set to 0.5, what should leed to the half orientation correction. After the simulation step the objects velocities are set to zero. In the second step the difference of the objects position and the passed one are calculated and applied to the object as force. Like in step one a simulation-step with dt=0.5 takes place and the velocities are set to zero again. After the computation of the new transformations, the method iterates over all objects, which are grabbed or are linked with the grabbed object and copies their transformation from the ODE-representation to the Entity-members. At last the method calls the checkConstraints-method of all currently used joints, so that the joints can be activated or deactivated.

Parameters: