SimplePhysicsEntity Class Reference

#include <SimplePhysicsEntity.h>

Collaboration diagram for SimplePhysicsEntity:


Public Member Functions
	SimplePhysicsEntity (unsigned short id, unsigned short environmentId, unsigned short instanceId, EntityType *type)
virtual	~SimplePhysicsEntity ()
virtual void	addForce (gmtl::Vec3f &force, bool relative=false)
virtual oops::RigidBody *	getRigidBody ()
virtual void	getRigidBodies (std::vector< oops::RigidBody * > &rigidBodyList)
virtual void	getJoints (std::vector< oops::Joint * > &jointList)
virtual PhysicsObjectID	getPhysicsObjectID ()
virtual void	setEnvironment (Environment *env)
virtual void	setWorldTransformation (TransformationData trans)
Static Public Attributes
static const unsigned	SIMPLEPHYSICSENTITY_CLASSID = 1
Protected Member Functions
virtual void	setRigidBody (oops::RigidBody *obj, bool useBodyTransformation=false)
virtual bool	calculatePhysicsTransformation ()
Protected Attributes
bool	addedToSimulation
	Function calls which have to be distributed to server.
bool	rigidBodyInitialized
	Indicating if the RigidBody is already initialized with the Entity-transformation.
oops::RigidBody *	rigidBody
	Pointer to the physical representation of the Entity.
PhysicsObjectID	physicsObjectID
	ID of the PhysicsObject.
Friends
class	SimplePhysicsEntityController
class	SimplePhysicsEntityType
class	ArticulatedPhysicsEntity
class	CursorSpringConnector

Detailed Description

Entity with single RigidBody as physical representation. This class can be used for Entities which can be represented by one single RigidBody.

Constructor & Destructor Documentation

SimplePhysicsEntity::SimplePhysicsEntity	(	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

SimplePhysicsEntity::~SimplePhysicsEntity ( ) [virtual]

Destructor removes Object from Physics Module.

Member Function Documentation

void SimplePhysicsEntity::addForce	(	gmtl::Vec3f &	force,
		bool	relative = `false`
	)			`[virtual]`

Adds a force to the RigidBody. The method just calls the addForce-method on the contained RigidBody. The distribution from this input to other hosts is done by the SynchronisationModel which has a Listener on such method calls.

Parameters:

	force	Force that should be added
	relative	indicating if force is relative to RigidBody

bool SimplePhysicsEntity::calculatePhysicsTransformation ( ) [protected, virtual]

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

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

virtual void SimplePhysicsEntity::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 SimplePhysicsEntity::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 SimplePhysicsEntity::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.

oops::RigidBody * SimplePhysicsEntity::getRigidBody ( ) [virtual]

Returns the RigidBody used by the Entity

Returns:: RigidBody of the Entity

void SimplePhysicsEntity::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 SimplePhysicsEntity::setRigidBody	(	oops::RigidBody *	obj,
		bool	useBodyTransformation = `false`
	)			`[protected, virtual]`

Sets the RigidBody. The method sets the RigidBody to the PhysicsEntity. It is called by the SimplePhysicsEntityType-class in the createInstance method.

Parameters:

	obj	RigidBody representing the SimplePhysicsEntity
	useBodyTransformation	define if RigidBody transformation should be applied to Entity

void SimplePhysicsEntity::setWorldTransformation ( TransformationData trans ) [virtual]

Sets the Transformation of the Entity in World-coordinates!!! It also calls the update-method to write the new Entity-Transformation to the SceneGraph.

Parameters:

trans

the Transformation of the Entity in World-coordinates

Reimplemented from Entity.

Friends And Related Function Documentation

friend class ArticulatedPhysicsEntity [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.