oops::RigidBody Class Reference

#include <RigidBody.h>

Inherits oops::SimulationObjectInterface.

Collaboration diagram for oops::RigidBody:


Public Member Functions
	RigidBody (Geometry *geometry)
	RigidBody (Geometry geometry, TransformationWriterInterface transformWriter)
	RigidBody (Geometry geometry, RendererInterface renderer)
	RigidBody (Geometry geometry, TransformationWriterInterface transformWriter, RendererInterface *renderer)
virtual	~RigidBody ()
virtual RigidBody *	clone ()
virtual void	addCollisionListener (CollisionListenerInterface *listener)
virtual bool	removeCollisionListener (CollisionListenerInterface *listener)
virtual void	setTransformationWriter (TransformationWriterInterface *writer)
virtual void	setRenderer (RendererInterface *renderer)
virtual void	setOffsetTransformation (TransformationData &offset)
virtual void	setUserData (void *data)
virtual void	finalizeIntialization ()
virtual bool	isActive ()
virtual bool	isVisible ()
virtual bool	isFixed ()
virtual TransformationData &	getTransformation (TransformationData &dst)
virtual const TransformationData &	getTransformation ()
virtual const TransformationData &	getOffsetTransformation ()
virtual TransformationWriterInterface *	getTransformationWriter ()
virtual float	getMass ()
virtual gmtl::Matrix33f	getInertiaTensor ()
virtual gmtl::Vec3f &	getStaticForce (gmtl::Vec3f &dst)
virtual const gmtl::Vec3f &	getStaticForce ()
virtual gmtl::Vec3f &	getStaticTorque (gmtl::Vec3f &dst)
virtual const gmtl::Vec3f &	getStaticTorque ()
virtual gmtl::Vec3f &	getLinearVelocity (gmtl::Vec3f &dst)
virtual gmtl::Vec3f &	getAngularVelocity (gmtl::Vec3f &dst)
virtual gmtl::Vec3f &	getForce (gmtl::Vec3f &dst)
virtual gmtl::Vec3f &	getTorque (gmtl::Vec3f &dst)
virtual gmtl::Vec3f &	getBodyPositionInWorld (gmtl::Vec3f &dst, gmtl::Vec3f &src)
virtual gmtl::Vec3f &	getWorldPositionInBody (gmtl::Vec3f &dst, gmtl::Vec3f &src)
virtual gmtl::Vec3f &	getPointVelocity (gmtl::Vec3f &dst, gmtl::Vec3f &position, bool relative=false)
virtual gmtl::Vec3f &	convertWorldToBody (gmtl::Vec3f &src, gmtl::Vec3f &dst)
virtual gmtl::Vec3f &	convertBodyToWorld (gmtl::Vec3f &src, gmtl::Vec3f &dst)
virtual bool	getGravityMode ()
virtual void *	getUserData ()
virtual Geometry *	getGeometry ()
virtual dBodyID	getODEBody ()
virtual dGeomID	getODEGeometry ()
virtual std::string	getType ()
virtual void	collideWithRigidBody (RigidBody *obj)
virtual void	dontCollideWithRigidBody (RigidBody *obj)
virtual void	setActive (bool active)
virtual void	setVisible (bool visible)
virtual void	setTransformation (TransformationData &trans, bool forwardToWriter=false)
virtual void	setMass (float mass)
virtual void	addForce (gmtl::Vec3f &force, bool relative=false)
virtual void	addTorque (gmtl::Vec3f &torque, bool relative=false)
virtual void	addForceAtPosition (gmtl::Vec3f &force, gmtl::Vec3f &position, bool relativeForce=false, bool relativePosition=false)
virtual void	setForce (gmtl::Vec3f &force)
virtual void	setTorque (gmtl::Vec3f &torque)
virtual void	setStaticForce (gmtl::Vec3f &force)
virtual void	setStaticTorque (gmtl::Vec3f &torque)
virtual void	setLinearVelocity (gmtl::Vec3f velocity, bool relative=false)
virtual void	setAngularVelocity (gmtl::Vec3f velocity, bool relative=false)
virtual void	setFixed (bool fixed)
virtual void	setGravityMode (bool onOff)
virtual void	setActive_unchecked (bool active)
virtual void	setVisible_unchecked (bool visible)
virtual void	setTransformation_unchecked (TransformationData &trans, bool forwardToWriter=false)
virtual void	setMass_unchecked (float mass)
virtual void	addForce_unchecked (gmtl::Vec3f &force, bool relative=false)
virtual void	addTorque_unchecked (gmtl::Vec3f &torque, bool relative=false)
virtual void	addForceAtPosition_unchecked (gmtl::Vec3f &force, gmtl::Vec3f &position, bool relativeForce=false, bool relativePosition=false)
virtual void	setForce_unchecked (gmtl::Vec3f &force)
virtual void	setTorque_unchecked (gmtl::Vec3f &torque)
virtual void	setStaticForce_unchecked (gmtl::Vec3f &force)
virtual void	setStaticTorque_unchecked (gmtl::Vec3f &torque)
virtual void	setLinearVelocity_unchecked (gmtl::Vec3f velocity, bool relative=false)
virtual void	setAngularVelocity_unchecked (gmtl::Vec3f velocity, bool relative=false)
virtual void	setFixed_unchecked (bool fixed)
virtual void	setGravityMode_unchecked (bool onOff)
virtual void	setColliding (bool doesCollide)
virtual void	updateVisualRepresentation ()
Static Public Member Functions
static void	setInputListener (SimulationObjectInputListener *listener)
static SimulationObjectInputListener *	getInputListener ()
Protected Member Functions
virtual void	initialize (Geometry geometry, TransformationWriterInterface transformWriter, RendererInterface *renderer)
virtual void	updateTransformationData ()
virtual void	setODETransformation ()
virtual void	setODEMass ()
virtual void	build (dWorldID world, dSpaceID space=0)
virtual void	destroy ()
virtual void	applyForce ()
virtual void	updateTransformation ()
virtual bool	canCollideWith (RigidBody *obj)
virtual bool	render ()
virtual void	collideWithRigidBodyInternal (RigidBody *obj)
virtual void	dontCollideWithRigidBodyInternal (RigidBody *obj)
virtual void	collisionOccured (RigidBody *opponent, std::vector< ContactData > &contacts)
Protected Attributes
std::string	className
bool	built
bool	active
bool	visible
bool	fixed
bool	staticForceSet
bool	ignoreTransformation
bool	gravityMode
bool	colliding
float	mass
Geometry *	geometry
RendererInterface *	renderer
TransformationData	transformation
TransformationData	offsetTransformation
TransformationWriterInterface *	transformWriter
gmtl::Vec3f	staticForce
gmtl::Vec3f	staticTorque
gmtl::Vec3f	initialLinVel
gmtl::Vec3f	initialAngVel
dWorldID	world
dSpaceID	space
dBodyID	body
std::vector< RigidBody * >	collisionList
std::vector< RigidBody * >	ignoreCollisionList
void *	userData
std::vector < CollisionListenerInterface * >	collisionListener
Static Protected Attributes
static SimulationObjectInputListener *	inputListener = NULL
Friends
class	Simulation
class	ArticulatedBody

Constructor & Destructor Documentation

RigidBody::RigidBody ( Geometry * geometry )

RigidBody::RigidBody	(	Geometry *	geometry,
		TransformationWriterInterface *	transformWriter
	)

RigidBody::RigidBody	(	Geometry *	geometry,
		RendererInterface *	renderer
	)

RigidBody::RigidBody	(	Geometry *	geometry,
		TransformationWriterInterface *	transformWriter,
		RendererInterface *	renderer
	)

RigidBody::~RigidBody ( ) [virtual]

Member Function Documentation

void RigidBody::addCollisionListener ( CollisionListenerInterface * listener ) [virtual]

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

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

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

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

void RigidBody::addTorque	(	gmtl::Vec3f &	torque,
		bool	relative = `false`
	)			`[virtual]`

void RigidBody::addTorque_unchecked	(	gmtl::Vec3f &	torque,
		bool	relative = `false`
	)			`[virtual]`

void RigidBody::applyForce ( ) [protected, virtual]

void RigidBody::build	(	dWorldID	world,
		dSpaceID	space = `0`
	)			`[protected, virtual]`

bool RigidBody::canCollideWith ( RigidBody * obj ) [protected, virtual]

RigidBody * RigidBody::clone ( ) [virtual]

void RigidBody::collideWithRigidBody ( RigidBody * obj ) [virtual]

void RigidBody::collideWithRigidBodyInternal ( RigidBody * obj ) [protected, virtual]

void RigidBody::collisionOccured	(	RigidBody *	opponent,
		std::vector< ContactData > &	contacts
	)			`[protected, virtual]`

gmtl::Vec3f & RigidBody::convertBodyToWorld	(	gmtl::Vec3f &	src,
		gmtl::Vec3f &	dst
	)			`[virtual]`

gmtl::Vec3f & RigidBody::convertWorldToBody	(	gmtl::Vec3f &	src,
		gmtl::Vec3f &	dst
	)			`[virtual]`

void RigidBody::destroy ( ) [protected, virtual]

void RigidBody::dontCollideWithRigidBody ( RigidBody * obj ) [virtual]

void RigidBody::dontCollideWithRigidBodyInternal ( RigidBody * obj ) [protected, virtual]

void RigidBody::finalizeIntialization ( ) [virtual]

gmtl::Vec3f & RigidBody::getAngularVelocity ( gmtl::Vec3f & dst ) [virtual]

gmtl::Vec3f & RigidBody::getBodyPositionInWorld	(	gmtl::Vec3f &	dst,
		gmtl::Vec3f &	src
	)			`[virtual]`

gmtl::Vec3f & RigidBody::getForce ( gmtl::Vec3f & dst ) [virtual]

Geometry * RigidBody::getGeometry ( ) [virtual]

bool RigidBody::getGravityMode ( ) [virtual]

gmtl::Matrix33f RigidBody::getInertiaTensor ( ) [virtual]

SimulationObjectInputListener * RigidBody::getInputListener ( ) [static]

gmtl::Vec3f & RigidBody::getLinearVelocity ( gmtl::Vec3f & dst ) [virtual]

float RigidBody::getMass ( ) [virtual]

dBodyID RigidBody::getODEBody ( ) [virtual]

dGeomID RigidBody::getODEGeometry ( ) [virtual]

const TransformationData & RigidBody::getOffsetTransformation ( ) [virtual]

gmtl::Vec3f & RigidBody::getPointVelocity	(	gmtl::Vec3f &	dst,
		gmtl::Vec3f &	position,
		bool	relative = `false`
	)			`[virtual]`

const gmtl::Vec3f & RigidBody::getStaticForce ( ) [virtual]

gmtl::Vec3f & RigidBody::getStaticForce ( gmtl::Vec3f & dst ) [virtual]

const gmtl::Vec3f & RigidBody::getStaticTorque ( ) [virtual]

gmtl::Vec3f & RigidBody::getStaticTorque ( gmtl::Vec3f & dst ) [virtual]

gmtl::Vec3f & RigidBody::getTorque ( gmtl::Vec3f & dst ) [virtual]

const TransformationData & RigidBody::getTransformation ( ) [virtual]

TransformationData & RigidBody::getTransformation ( TransformationData & dst ) [virtual]

TransformationWriterInterface * RigidBody::getTransformationWriter ( ) [virtual]

std::string RigidBody::getType ( ) [virtual]

void * RigidBody::getUserData ( ) [virtual]

gmtl::Vec3f & RigidBody::getWorldPositionInBody	(	gmtl::Vec3f &	dst,
		gmtl::Vec3f &	src
	)			`[virtual]`

void RigidBody::initialize	(	Geometry *	geometry,
		TransformationWriterInterface *	transformWriter,
		RendererInterface *	renderer
	)			`[protected, virtual]`

bool RigidBody::isActive ( ) [virtual]

bool RigidBody::isFixed ( ) [virtual]

bool RigidBody::isVisible ( ) [virtual]

bool RigidBody::removeCollisionListener ( CollisionListenerInterface * listener ) [virtual]

bool RigidBody::render ( ) [protected, virtual]

void RigidBody::setActive ( bool active ) [virtual]

void RigidBody::setActive_unchecked ( bool active ) [virtual]

void RigidBody::setAngularVelocity	(	gmtl::Vec3f	velocity,
		bool	relative = `false`
	)			`[virtual]`

void RigidBody::setAngularVelocity_unchecked	(	gmtl::Vec3f	velocity,
		bool	relative = `false`
	)			`[virtual]`

void RigidBody::setColliding ( bool doesCollide ) [virtual]

void RigidBody::setFixed ( bool fixed ) [virtual]

void RigidBody::setFixed_unchecked ( bool fixed ) [virtual]

void RigidBody::setForce ( gmtl::Vec3f & force ) [virtual]

void RigidBody::setForce_unchecked ( gmtl::Vec3f & force ) [virtual]

void RigidBody::setGravityMode ( bool onOff ) [virtual]

void RigidBody::setGravityMode_unchecked ( bool onOff ) [virtual]

void RigidBody::setInputListener ( SimulationObjectInputListener * listener ) [static]

void RigidBody::setLinearVelocity	(	gmtl::Vec3f	velocity,
		bool	relative = `false`
	)			`[virtual]`

void RigidBody::setLinearVelocity_unchecked	(	gmtl::Vec3f	velocity,
		bool	relative = `false`
	)			`[virtual]`

void RigidBody::setMass ( float mass ) [virtual]

void RigidBody::setMass_unchecked ( float mass ) [virtual]

void RigidBody::setODEMass ( ) [protected, virtual]

void RigidBody::setODETransformation ( ) [protected, virtual]

void RigidBody::setOffsetTransformation ( TransformationData & offset ) [virtual]

void RigidBody::setRenderer ( RendererInterface * renderer ) [virtual]

void RigidBody::setStaticForce ( gmtl::Vec3f & force ) [virtual]

void RigidBody::setStaticForce_unchecked ( gmtl::Vec3f & force ) [virtual]

void RigidBody::setStaticTorque ( gmtl::Vec3f & torque ) [virtual]

void RigidBody::setStaticTorque_unchecked ( gmtl::Vec3f & torque ) [virtual]

void RigidBody::setTorque ( gmtl::Vec3f & torque ) [virtual]

void RigidBody::setTorque_unchecked ( gmtl::Vec3f & torque ) [virtual]

void RigidBody::setTransformation	(	TransformationData &	trans,
		bool	forwardToWriter = `false`
	)			`[virtual]`

void RigidBody::setTransformation_unchecked	(	TransformationData &	trans,
		bool	forwardToWriter = `false`
	)			`[virtual]`

void RigidBody::setTransformationWriter ( TransformationWriterInterface * writer ) [virtual]

void RigidBody::setUserData ( void * data ) [virtual]

void RigidBody::setVisible ( bool visible ) [virtual]

void RigidBody::setVisible_unchecked ( bool visible ) [virtual]

void RigidBody::updateTransformation ( ) [protected, virtual]

void RigidBody::updateTransformationData ( ) [protected, virtual]

void RigidBody::updateVisualRepresentation ( ) [virtual]

Friends And Related Function Documentation

friend class ArticulatedBody [friend]

friend class Simulation [friend]

Reimplemented from oops::SimulationObjectInterface.

Member Data Documentation

bool oops::RigidBody::active [protected]

dBodyID oops::RigidBody::body [protected]

bool oops::RigidBody::built [protected]

std::string oops::RigidBody::className [protected]

bool oops::RigidBody::colliding [protected]

std::vector<RigidBody*> oops::RigidBody::collisionList [protected]

std::vector<CollisionListenerInterface*> oops::RigidBody::collisionListener [protected]

bool oops::RigidBody::fixed [protected]

Geometry* oops::RigidBody::geometry [protected]

bool oops::RigidBody::gravityMode [protected]

std::vector<RigidBody*> oops::RigidBody::ignoreCollisionList [protected]

bool oops::RigidBody::ignoreTransformation [protected]

gmtl::Vec3f oops::RigidBody::initialAngVel [protected]

gmtl::Vec3f oops::RigidBody::initialLinVel [protected]

SimulationObjectInputListener * RigidBody::inputListener = NULL [static, protected]

float oops::RigidBody::mass [protected]

TransformationData oops::RigidBody::offsetTransformation [protected]

RendererInterface* oops::RigidBody::renderer [protected]

dSpaceID oops::RigidBody::space [protected]

gmtl::Vec3f oops::RigidBody::staticForce [protected]

bool oops::RigidBody::staticForceSet [protected]

gmtl::Vec3f oops::RigidBody::staticTorque [protected]

TransformationData oops::RigidBody::transformation [protected]

TransformationWriterInterface* oops::RigidBody::transformWriter [protected]

void* oops::RigidBody::userData [protected]

bool oops::RigidBody::visible [protected]

dWorldID oops::RigidBody::world [protected]

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

tools/libraries/oops/include/oops/RigidBody.h
tools/libraries/oops/src/oops/RigidBody.cpp

inVRs

inVRs

oops::RigidBody Class Reference

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation