oops::Simulation Class Reference

#include <Simulation.h>

List of all members.

Public Types
enum	STEPFUNCTION { STEPFUNCTION_STEP, STEPFUNCTION_QUICKSTEP, STEPFUNCTION_STEPFAST1 }
Public Member Functions
	Simulation ()
	~Simulation ()
void	activateCollisionDetection ()
void	deactivateCollisionDetection ()
void	setGlobalERP (float erp)
void	setGlobalCFM (float cfm)
void	setGravity (gmtl::Vec3f gravity)
void	setStepFunction (STEPFUNCTION function, unsigned numberOfSteps=1)
void	setStepSize (float stepSize)
void	setGlobalAutoDisable (bool active)
void	setAutoDisableLinearThreshold (float threshold)
void	setAutoDisableAngularThreshold (float threshold)
void	setAutoDisableTime (float time)
void	setObjectsVisible (bool visible)
const dWorldID	getODEWorld ()
const dSpaceID	getODESpace ()
float	getGlobalERP ()
float	getGlobalCFM ()
gmtl::Vec3f	getGravity ()
float	getStepSize ()
bool	addRigidBody (RigidBody *obj)
bool	addJoint (Joint *joint)
bool	addArticulatedBody (ArticulatedBody *obj)
bool	removeRigidBody (RigidBody *obj)
bool	removeRigidBodyWithID (uint64_t id)
bool	removeJoint (Joint *joint)
bool	removeJointWithID (uint64_t id)
bool	removeArticulatedBody (ArticulatedBody *obj, bool leaveRigidBodies=false)
bool	removeArticulatedBodyWithID (uint64_t id, bool leaveRigidBodies=false)
void	registerCollisionListener (CollisionListenerInterface *listener)
void	checkCollisionWithWorld (RigidBody *body, std::vector< ContactData * > &contacts)
void	simulate (float dt)
void	step (float dt)
void	renderObjects ()
RigidBody *	getRigidBodyByID (uint64_t id)
RigidBody *	getRigidBodyByName (std::string name)
Joint *	getJointByID (uint64_t id)
Joint *	getJointByName (std::string name)
ArticulatedBody *	getArticulatedBodyByID (uint64_t id)
ArticulatedBody *	getArticulatedBodyByName (std::string name)
Protected Member Functions
void	checkCollisionWithWorld (dGeomID o1, dGeomID o2, std::vector< ContactData * > *contacts)
void	checkCollision (void *data, dGeomID o1, dGeomID o2)
Static Protected Member Functions
static void	checkCollisionHelp (void *data, dGeomID o1, dGeomID o2)
static void	checkCollisionWithWorldHelp (void *data, dGeomID o1, dGeomID o2)
Private Member Functions
void	applyObjectForces ()
void	updatePosAndRot ()
bool	jointConnectionAvoidsCollision (RigidBody *body1, RigidBody *body2)
Private Attributes
dWorldID	world
dSpaceID	space
dJointGroupID	contactGroup
STEPFUNCTION	function
unsigned	numberOfSteps
float	timestep
gmtl::Vec3f	gravity
bool	doCollisionDetection
bool	objectsVisible
std::vector< RigidBody * >	rigidBodyList
std::vector< Joint * >	jointList
std::vector< ArticulatedBody * >	articulatedBodyList
std::map< uint64_t, RigidBody * >	rigidBodyMap
std::map< uint64_t, Joint * >	jointMap
std::map< uint64_t, ArticulatedBody * >	articulatedBodyMap
std::vector < CollisionListenerInterface * >	collisionListenerList

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Member Enumeration Documentation

enum oops::Simulation::STEPFUNCTION

Enumerator:

STEPFUNCTION_STEP
STEPFUNCTION_QUICKSTEP
STEPFUNCTION_STEPFAST1

---

Constructor & Destructor Documentation

oops::Simulation::Simulation

(

)

oops::Simulation::~Simulation

(

)

---

Member Function Documentation

void oops::Simulation::activateCollisionDetection

(

)

bool oops::Simulation::addArticulatedBody

(

ArticulatedBody *

obj

)

bool oops::Simulation::addJoint

(

Joint *

joint

)

bool oops::Simulation::addRigidBody

(

RigidBody *

obj

)

void oops::Simulation::applyObjectForces

(

)

[private]

void oops::Simulation::checkCollision	(	void *	data,
		dGeomID	o1,
		dGeomID	o2
	)			[protected]

void oops::Simulation::checkCollisionHelp	(	void *	data,
		dGeomID	o1,
		dGeomID	o2
	)			[static, protected]

void oops::Simulation::checkCollisionWithWorld	(	dGeomID	o1,
		dGeomID	o2,
		std::vector< ContactData * > *	contacts
	)			[protected]

void oops::Simulation::checkCollisionWithWorld	(	RigidBody *	body,
		std::vector< ContactData * > &	contacts
	)

void oops::Simulation::checkCollisionWithWorldHelp	(	void *	data,
		dGeomID	o1,
		dGeomID	o2
	)			[static, protected]

void oops::Simulation::deactivateCollisionDetection

(

)

ArticulatedBody * oops::Simulation::getArticulatedBodyByID

(

uint64_t

id

)

ArticulatedBody * oops::Simulation::getArticulatedBodyByName

(

std::string

name

)

float oops::Simulation::getGlobalCFM

(

)

float oops::Simulation::getGlobalERP

(

)

gmtl::Vec3f oops::Simulation::getGravity

(

)

Joint * oops::Simulation::getJointByID

(

uint64_t

id

)

Joint * oops::Simulation::getJointByName

(

std::string

name

)

const dSpaceID oops::Simulation::getODESpace

(

)

const dWorldID oops::Simulation::getODEWorld

(

)

RigidBody * oops::Simulation::getRigidBodyByID

(

uint64_t

id

)

RigidBody * oops::Simulation::getRigidBodyByName

(

std::string

name

)

float oops::Simulation::getStepSize

(

)

bool oops::Simulation::jointConnectionAvoidsCollision	(	RigidBody *	body1,
		RigidBody *	body2
	)			[private]

void oops::Simulation::registerCollisionListener

(

CollisionListenerInterface *

listener

)

bool oops::Simulation::removeArticulatedBody	(	ArticulatedBody *	obj,
		bool	leaveRigidBodies = false
	)

bool oops::Simulation::removeArticulatedBodyWithID	(	uint64_t	id,
		bool	leaveRigidBodies = false
	)

bool oops::Simulation::removeJoint

(

Joint *

joint

)

bool oops::Simulation::removeJointWithID

(

uint64_t

id

)

bool oops::Simulation::removeRigidBody

(

RigidBody *

obj

)

bool oops::Simulation::removeRigidBodyWithID

(

uint64_t

id

)

void oops::Simulation::renderObjects

(

)

void oops::Simulation::setAutoDisableAngularThreshold

(

float

threshold

)

void oops::Simulation::setAutoDisableLinearThreshold

(

float

threshold

)

void oops::Simulation::setAutoDisableTime

(

float

time

)

void oops::Simulation::setGlobalAutoDisable

(

bool

active

)

void oops::Simulation::setGlobalCFM

(

float

cfm

)

void oops::Simulation::setGlobalERP

(

float

erp

)

void oops::Simulation::setGravity

(

gmtl::Vec3f

gravity

)

void oops::Simulation::setObjectsVisible

(

bool

visible

)

void oops::Simulation::setStepFunction	(	STEPFUNCTION	function,
		unsigned	numberOfSteps = 1
	)

void oops::Simulation::setStepSize

(

float

stepSize

)

void oops::Simulation::simulate

(

float

dt

)

void oops::Simulation::step

(

float

dt

)

void oops::Simulation::updatePosAndRot

(

)

[private]

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Member Data Documentation

std::vector<ArticulatedBody*> oops::Simulation::articulatedBodyList [private]

std::map<uint64_t, ArticulatedBody*> oops::Simulation::articulatedBodyMap [private]

std::vector<CollisionListenerInterface*> oops::Simulation::collisionListenerList [private]

dJointGroupID oops::Simulation::contactGroup [private]

bool oops::Simulation::doCollisionDetection [private]

STEPFUNCTION oops::Simulation::function [private]

gmtl::Vec3f oops::Simulation::gravity [private]

std::vector<Joint*> oops::Simulation::jointList [private]

std::map<uint64_t, Joint*> oops::Simulation::jointMap [private]

unsigned oops::Simulation::numberOfSteps [private]

bool oops::Simulation::objectsVisible [private]

std::vector<RigidBody*> oops::Simulation::rigidBodyList [private]

std::map<uint64_t, RigidBody*> oops::Simulation::rigidBodyMap [private]

dSpaceID oops::Simulation::space [private]

float oops::Simulation::timestep [private]

dWorldID oops::Simulation::world [private]

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

• tools/libraries/oops/include/oops/Simulation.h
• tools/libraries/oops/src/oops/Simulation.cpp