AnimatLab  2
Test
BulletAnimatSim::Environment::Bodies::BlEllipsoid Class Reference
+ Inheritance diagram for BulletAnimatSim::Environment::Bodies::BlEllipsoid:
+ Collaboration diagram for BulletAnimatSim::Environment::Bodies::BlEllipsoid:

Public Member Functions

 BlEllipsoid ()
 Default constructor. More...
 
virtual void CreateJoints ()
 Allows the rigid body to create its joints using the chosen physics engine. More...
 
virtual void CreateParts ()
 Allows the rigid body to create its parts using the chosen physics engine. More...
 
- Public Member Functions inherited from AnimatSim::Environment::Bodies::Ellipsoid
 Ellipsoid ()
 Default constructor. More...
 
virtual ~Ellipsoid ()
 Destructor. More...
 
virtual int LatSegments ()
 Gets the number of segments used to draw the ellipsoid in the latitude direction. More...
 
virtual void LatSegments (int iVal)
 Sets the number of segments used to draw the ellipsoid in the latitude direction. More...
 
virtual void Load (CStdXml &oXml)
 
virtual void LongSegments (int iVal)
 Sets the number of segments used to draw the ellipsoid in the longtitude direction. More...
 
virtual int LongSegments ()
 Gets the number of segments used to draw the ellipsoid in the longtitude direction. More...
 
virtual float MajorRadius ()
 Gets the major axis radius. More...
 
virtual void MajorRadius (float fltVal, bool bUseScaling=true)
 Sets the major axis radius. More...
 
virtual float MinorRadius ()
 Gets the minor axis radius. More...
 
virtual void MinorRadius (float fltVal, bool bUseScaling=true)
 Minor axis radius. More...
 
virtual void QueryProperties (CStdPtrArray< TypeProperty > &aryProperties)
 
virtual bool SetData (const std::string &strDataType, const std::string &strValue, bool bThrowError=true)
 
- Public Member Functions inherited from AnimatSim::Environment::RigidBody
 RigidBody ()
 Default constructor. More...
 
virtual ~RigidBody ()
 Destructor. More...
 
virtual void AddExternalNodeInput (int iTargetDataType, float fltInput)
 Adds an external node input. More...
 
virtual void AddForceAtLocalPos (float fltPx, float fltPy, float fltPz, float fltFx, float fltFy, float fltFz, bool bScaleUnits)
 Adds a world-coordinate based force vector to this body at a specified local body position. More...
 
virtual void AddForceAtWorldPos (float fltPx, float fltPy, float fltPz, float fltFx, float fltFy, float fltFz, bool bScaleUnits)
 Adds a world-coordinate based force vector to this body at a specified world-coordinate body position. More...
 
virtual bool AddItem (const std::string &strItemType, const std::string &strXml, bool bThrowError=true, bool bDoNotInit=false)
 Adds a new object to this parent. More...
 
virtual void AddSurfaceContact (RigidBody *lpContactedSurface)
 Increments the surface contact count when this part collides with something in the virtual world. More...
 
virtual void AddTorque (float fltTx, float fltTy, float fltTz, bool bScaleUnits)
 Adds a torque to this body about its center. More...
 
virtual void AfterResetSimulation ()
 Called after a simulation reset for some objects. More...
 
virtual CStdFPoint AngularDrag ()
 Gets the angular drag coefficients for the three axises for the body. More...
 
virtual void AngularDrag (CStdFPoint &oPoint)
 Sets the angular drag coefficients for the three axises for the body. More...
 
virtual void AngularDrag (float fltX, float fltY, float fltZ)
 Sets the angular drag coefficients for the three axises for the body. More...
 
virtual void AngularDrag (std::string strXml)
 Sets the angular drag coefficients for the three axises for the body. This method is primarily used by the GUI to reset the local position using an xml data packet. More...
 
virtual float AngularVelocityDamping ()
 Gets the angular velocity damping. More...
 
virtual void AngularVelocityDamping (float fltVal, bool bUseScaling=true)
 Sets the angular velocity damping. More...
 
virtual CStdFPoint BuoyancyCenter ()
 Gets the relative position to the center of the buoyancy in the body. More...
 
virtual void BuoyancyCenter (CStdFPoint &oPoint, bool bUseScaling=true)
 Sets the relative position to the center of the buoyancy in the body. More...
 
virtual void BuoyancyCenter (float fltX, float fltY, float fltZ, bool bUseScaling=true)
 Sets the relative position to the center of the buoyancy in the body. More...
 
virtual void BuoyancyCenter (std::string strXml, bool bUseScaling=true)
 Sets tthe relative position to the center of the buoyancy in the body. This method is primarily used by the GUI to reset the local position using an xml data packet. More...
 
virtual float BuoyancyScale ()
 Gets the scale used to calculate the buoyancy value. More...
 
virtual void BuoyancyScale (float fltVal)
 Sets the scale used to calculate the buoyancy value. More...
 
virtual CStdFPoint CenterOfMass ()
 Gets the user specified center of mass. More...
 
virtual void CenterOfMass (CStdFPoint &vPoint, bool bUseScaling=true)
 Sets the user specified center of mass for this part. (m_vCenterOfMass). If COM is (0,0,0) then it is not used. More...
 
virtual void CenterOfMass (float fltX, float fltY, float fltZ, bool bUseScaling=true)
 Sets the center of mass position. (m_vCenterOfMass). If COM is (0,0,0) then it is not used. More...
 
virtual void CenterOfMass (std::string strXml, bool bUseScaling=true)
 Sets the center of mass position for the body. (m_vCenterOfMass). This method is primarily used by the GUI to reset the local position using an xml data packet. If COM is (0,0,0) then it is not used. More...
 
virtual CStdFPoint CenterOfMassWithStaticChildren ()
 Gets the center of mass of this part with any static children added. More...
 
virtual CStdPtrArray< RigidBody > * ChildParts ()
 Gets the array of child parts. More...
 
virtual void CreateChildJoints ()
 Loops through all the child parts of this rigid body and call CreateJoints. More...
 
virtual void CreateChildParts ()
 Loops through all the child parts of this rigid body and call CreateParts. More...
 
virtual float Density ()
 Gets the uniform density. More...
 
virtual void Density (float fltVal, bool bUseScaling=true)
 Sets the uniform density of this part. More...
 
virtual void DisableCollision (RigidBody *lpBody)
 Disables collision between the past-in object and this object. More...
 
virtual bool DisplayDebugCollisionGraphic ()
 
virtual void DisplayDebugCollisionGraphic (bool bVal)
 
virtual void Eat (float fltBiteSize, long lTimeSlice)
 This item is eating the specified amount of food. More...
 
virtual void EnableCollision (RigidBody *lpBody)
 Enables collision between the past-in object and this object. More...
 
virtual bool EnableFluids ()
 Query if this object has fluid interactions turned on. More...
 
virtual void EnableFluids (bool bVal)
 Sets whether this object has fluid interactions turned on. More...
 
virtual bool FindCollisionExclusionBody (RigidBody *lpBody, bool bThrowError=true)
 Searches the exclusion collision list to see if the specified part is already present. More...
 
virtual float FoodEaten ()
 Gets the amount of food eaten. More...
 
virtual void FoodEaten (float fltVal)
 Sets the amount of food eaten. More...
 
virtual float FoodEnergyContent ()
 Gets the food energy content. More...
 
virtual void FoodEnergyContent (float fltVal)
 Sets the food energy content. More...
 
virtual float FoodQuantity ()
 Gets the food quantity. More...
 
virtual void FoodQuantity (float fltVal)
 Sets the Food quantity. More...
 
virtual float FoodReplenishRate ()
 Gets the food replenish rate. More...
 
virtual void FoodReplenishRate (float fltVal)
 Sets the food replenish rate. More...
 
virtual bool Freeze ()
 Tells if this part is frozen or not. More...
 
virtual void Freeze (bool bVal)
 Freezes. More...
 
virtual ContactSensorGetContactSensor ()
 Gets the receptive field contact sensor. More...
 
virtual float * GetDataPointer (const std::string &strDataType)
 
virtual float GetDensity ()
 Gets the density of this part. More...
 
virtual std::unordered_set< RigidBody * > * GetExclusionCollisionSet ()
 
virtual float GetMass ()
 Gets the mass of this part. More...
 
virtual float GetMassValueWithStaticChildren ()
 Gets the mass of this part and all static children. More...
 
virtual int GetTargetDataTypeIndex (const std::string &strDataType)
 Used to convert a string target data type into an integer index. More...
 
virtual CStdFPoint GetVelocityAtPoint (float x, float y, float z)
 Gets a velocity of this body at specified point in the body. More...
 
virtual float GetVolume ()
 Gets the volume of this part. More...
 
virtual bool HasCollisionGeometry ()
 
virtual bool HasStaticChildren ()
 Query if this rigid body has any static children. More...
 
virtual bool HasStaticJoint ()
 Query if this object has a static joint. More...
 
virtual bool IsCollisionObject ()
 Query if this object is collision object. More...
 
virtual void IsCollisionObject (bool bVal)
 Sets whether this part is a collision object. More...
 
virtual bool IsContactSensor ()
 Query if this object is contact sensor. More...
 
virtual void IsContactSensor (bool bVal)
 Sets whether this is a contact sensor. More...
 
virtual bool IsFoodSource ()
 Query if this object is food source. More...
 
virtual void IsFoodSource (bool bVal)
 Sets if this is a food source. More...
 
virtual bool IsRoot ()
 Query if this is the root rigid body of the structure or not. More...
 
virtual bool IsStickyPart ()
 Query if this object acts as a sticky part. This only applies to contact sensors. If it is set to true and StickOn is true then when this part touches something else it will create a locked joint between those two parts. When StickOn goes to false then that joint will be removed. This allows the contact sensor to act as a kind of sticky pick up pad. More...
 
virtual void IsStickyPart (bool bVal)
 Sets whether this part is a sticky part or not. More...
 
virtual JointJointToParent ()
 Gets the joint to parent. More...
 
virtual void JointToParent (Joint *lpValue)
 Sets the joint to parent. More...
 
virtual void Kill (bool bState=true)
 Kills. More...
 
virtual CStdFPoint LinearDrag ()
 Gets the linear drag coefficients for the three axises for the body. More...
 
virtual void LinearDrag (CStdFPoint &oPoint)
 Sets the linear drag coefficients for the three axises for the body. More...
 
virtual void LinearDrag (float fltX, float fltY, float fltZ)
 Sets the linear drag coefficients for the three axises for the body. More...
 
virtual void LinearDrag (std::string strXml)
 Sets the linear drag coefficients for the three axises for the body. This method is primarily used by the GUI to reset the local position using an xml data packet. More...
 
virtual float LinearVelocityDamping ()
 Gets the linear velocity damping for this body part. More...
 
virtual void LinearVelocityDamping (float fltVal, bool bUseScaling=true)
 Sets the Linear velocity damping. More...
 
virtual float Magnus ()
 Gets the Magnus coefficient for the body. More...
 
virtual void Magnus (float fltVal)
 Sets the Magnus coefficient for the body. More...
 
virtual float Mass ()
 
virtual void Mass (float fltVal, bool bUseScaling=true)
 
virtual float MassWithChildren ()
 
virtual std::string MaterialID ()
 Gets the material ID for this part. More...
 
virtual void MaterialID (std::string strID)
 Sets the Material ID for this part. More...
 
virtual float MaxFoodQuantity ()
 Gets the maximum food quantity. More...
 
virtual void MaxFoodQuantity (float fltVal)
 Sets the maximum Food quantity. More...
 
virtual float MaxHydroForce ()
 Gets the maximum linear hydrodynamic force that can be applied to this part. More...
 
virtual void MaxHydroForce (float fltVal, bool bUseScaling=true)
 Sets the maximum linear hydrodynamic force that can be applied to this part. More...
 
virtual float MaxHydroTorque ()
 Gets the maximum angular hydrodynamic torque that can be applied to this part. More...
 
virtual void MaxHydroTorque (float fltVal, bool bUseScaling=true)
 Sets the maximum angular hydrodynamic torque that can be applied to this part. More...
 
virtual RigidBodyParentWithCollisionGeometry ()
 Gets a parent that has collision geometry. More...
 
virtual CStdFPoint Position ()
 Gets the local position. (m_oPosition) More...
 
virtual void Position (CStdFPoint &oPoint, bool bUseScaling=true, bool bFireChangeEvent=false, bool bUpdateMatrix=true)
 
virtual bool RemoveItem (const std::string &strItemType, const std::string &strID, bool bThrowError=true)
 Removes a child item from this parent. More...
 
virtual void RemoveSurfaceContact (RigidBody *lpContactedSurface)
 Decrements the surface contact count when this part stops colliding with something in the virtual world. More...
 
virtual void ResetSimulation ()
 Resets the simulation back to time 0. More...
 
virtual void SetSurfaceContactCount (int iCount)
 Direclty sets the surface contact count for when this part is contacting another rigid body part. More...
 
virtual void SimPausing ()
 Called just before the simulation pauses. More...
 
virtual float StaticChildrenMass ()
 Gets the mass of all static children. More...
 
virtual void StepSimulation ()
 Step the simulation for this object. More...
 
virtual RigidBodyStickyChild ()
 Gets the child body part we are stuck to for a sticky part. More...
 
virtual void StickyChild (RigidBody *lpChild)
 Sets the child part that we are stuck to if this is a sticky part. More...
 
virtual float StickyOn ()
 Query if this stickyness is turned on or not. This only applies to contact sensors that also have IsStickyPart true. More...
 
virtual void StickyOn (float fltVal)
 Sets whether this part has sticky on or not. More...
 
virtual float SurfaceContactCount ()
 Gets the surface contact count. More...
 
virtual void UpdateChildPhysicsPosFromGraphics ()
 
virtual void UpdatePhysicsPosFromGraphics ()
 Updates the physics position from graphics. More...
 
virtual int VisualSelectionType ()
 Gets the visual selection type for this part. More...
 
virtual float Volume ()
 
virtual void Volume (float fltVal, bool bUseScaling=true)
 
- Public Member Functions inherited from AnimatSim::Environment::BodyPart
 BodyPart (void)
 Default constructor. More...
 
virtual ~BodyPart (void)
 Destructor. More...
 
virtual void AddBodyClicked (float fltPosX, float fltPosY, float fltPosZ, float fltNormX, float fltNormY, float fltNormZ)
 Called when the user clicks on this object while the AddBody mode is active. More...
 
virtual void AddRobotPartInterface (RobotPartInterface *lpPart)
 
virtual int FindRobotPartListIndex (std::string strID, bool bThrowError=true)
 Finds the index of a robot part attached to this body part with the matching ID. More...
 
virtual CStdArray< RobotPartInterface * > * GetRobotPartInterfaces ()
 Gets a pointer to the roboto part interface associated with this body part. More...
 
virtual void Initialize ()
 Initializes this object. More...
 
virtual bool NeedsRobotSynch ()
 
virtual IPhysicsBodyPhysicsBody ()
 Gets the physics body interface pointer. This is an interface reference to the Vs version of this object. It will allow us to call methods directly in the Vs (OSG) version of the object directly without having to overload a bunch of methods in each box, sphere, etc.. More...
 
virtual void PhysicsBody (IPhysicsBody *lpBody)
 Sets the physics body interface pointer. This is an interface reference to the Vs version of this object. It will allow us to call methods directly in the Vs (OSG) version of the object directly without having to overload a bunch of methods in each box, sphere, etc.. More...
 
virtual void RemoveRobotPartInterface (RobotPartInterface *lpPart)
 
virtual void Resize ()
 Called when this object has been resized. More...
 
virtual void Selected (bool bValue, bool bSelectMultiple)
 
virtual void SetSystemPointers (Simulator *lpSim, Structure *lpStructure, NeuralModule *lpModule, Node *lpNode, bool bVerify)
 
virtual float SynchUpdateInterval ()
 This is how often we need to update this particular adapter. More...
 
virtual void SynchUpdateInterval (float fltVal)
 Determines how often we need to update this particular adapter. More...
 
virtual bool SynchWithRobot ()
 Gets whether the m_bRobotAdpaterSynch flag applies to this adapter. More...
 
virtual void SynchWithRobot (bool bVal)
 Determines whether the m_bRobotAdpaterSynch flag applies to this adapter. More...
 
virtual void TimeStepModified ()
 If the time step is modified then we need to recalculate the length of the delay buffer. More...
 
virtual void UpdateExtraData ()
 UpdateData is called during this body parts sim update call, and before any of its child updates because those children may need import information like this parts position. However, there are a number of pieces of information that are not critical to the part itself, but that a user may have asked for. I do not want to collect that info for every part if it is not needed. So instead, if a user asks for it then this part is added to a list on the simulation. After all parts have been updated for a simulation step then we loop through the list of just the necessary parts and call UpdateExtraData to collect this additional data. It is important that this be done after all parts have stepped becasue some of this data will only be correct at the end. An example of this is force applied to a part. Forces can be added by any child parts, so it is only at the end that these values are valid. More...
 
virtual void VisualSelectionModeChanged (int iNewMode)
 Called when the visual selection mode changed in GUI. More...
 
virtual void WakeDynamics ()
 
- Public Member Functions inherited from AnimatSim::Node
 Node ()
 Default constructor. More...
 
virtual ~Node ()
 Destructor. More...
 
virtual void Copy (CStdSerialize *lpSource)
 
virtual bool Enabled ()
 Tells whether this node is enabled. More...
 
virtual void Enabled (bool bValue)
 Enables the node. More...
 
virtual void SetSystemPointers (Simulator *lpSim, Structure *lpStructure, NeuralModule *lpModule, Node *lpNode, bool bVerify)
 Sets the system pointers. More...
 
virtual void VerifySystemPointers ()
 Verify that system pointers have been set correctly. More...
 
- Public Member Functions inherited from AnimatSim::AnimatBase
 AnimatBase ()
 Constructs an AnimatBase object. More...
 
virtual ~AnimatBase ()
 Destroys the AnimatBase object.. More...
 
virtual long CalculateSnapshotByteSize ()
 Calculates the snapshot byte size. More...
 
virtual NeuralModuleGetNeuralModule ()
 Gets the neural module. More...
 
virtual NodeGetNode ()
 Gets the node. More...
 
virtual SimulatorGetSimulator ()
 Gets the simulator pointer. More...
 
virtual StructureGetStructure ()
 Gets the structure for this node. More...
 
virtual bool HasProperty (const std::string &strName)
 Queries this object if it has a property with the given name. More...
 
virtual std::string ID ()
 Gets the unique GUID ID of this object. More...
 
virtual void ID (std::string strValue)
 Sets the unique GUID ID of the object. More...
 
virtual void Load (StdUtils::CStdXml &oXml)
 Loads the item using an XML data packet. More...
 
virtual void LoadKeyFrameSnapshot (byte *aryBytes, long &lIndex)
 Loads a key frame snapshot. More...
 
virtual std::string Name ()
 Gets the name of this object. More...
 
virtual void Name (std::string strValue)
 Sets the name of the object. Blank is acceptable. More...
 
virtual AnimatPropertyType PropertyType (const std::string &strName)
 
virtual void ReInitialize ()
 Re-initialize this object. More...
 
virtual void Reset ()
 Resets this object. More...
 
virtual void RigidBodyAdded (std::string strID)
 
virtual void RigidBodyRemoved (std::string strID)
 
virtual void SaveKeyFrameSnapshot (byte *aryBytes, long &lIndex)
 Saves a key frame snapshot. More...
 
virtual bool Selected ()
 Tells if this items is selected or not. More...
 
virtual bool SetData (const std::string &strDataType, const float fltValue, bool bThrowError=true)
 Set a variable based on a string data type name. More...
 
virtual bool SetData (const std::string &strDataType, const long lValue, bool bThrowError=true)
 Set a variable based on a string data type name. More...
 
virtual void SimStarting ()
 Called just before the simulation starts. More...
 
virtual void SimStopping ()
 Called just before the simulation stops. More...
 
virtual std::string Type ()
 returns the string type name of this object. More...
 
virtual void Type (std::string strValue)
 Sets the class type for this object. More...
 
- Public Member Functions inherited from AnimatSim::Environment::MovableItem
 MovableItem (void)
 Default constructor. More...
 
virtual ~MovableItem (void)
 Destructor. More...
 
virtual CStdFPoint AbsolutePosition ()
 Gets the absolute position of this body part. More...
 
virtual void AbsolutePosition (CStdFPoint &oPoint)
 Sets the absolute position of this body part. (m_oAbsPosition) More...
 
virtual void AbsolutePosition (float fltX, float fltY, float fltZ)
 Sets the absolute position of this body part. (m_oAbsPosition) More...
 
virtual bool AllowMouseManipulation ()
 Tells if a given part can be manipulated using the mouse and draggers. More...
 
virtual bool AllowRotateDragX ()
 Gets whether this body part can be rotated along the x-axis by the user with the drag handlers. More...
 
virtual bool AllowRotateDragY ()
 Gets whether this body part can be rotated along the y-axis by the user with the drag handlers. More...
 
virtual bool AllowRotateDragZ ()
 Gets whether this body part can be rotated along the z-axis by the user with the drag handlers. More...
 
virtual bool AllowTranslateDragX ()
 Gets whether this body part can be translated along the x-axis by the user with the drag handlers. More...
 
virtual bool AllowTranslateDragY ()
 Gets whether this body part can be translated along the y-axis by the user with the drag handlers. More...
 
virtual bool AllowTranslateDragZ ()
 Gets whether this body part can be translated along the z-axis by the user with the drag handlers. More...
 
virtual float Alpha ()
 Gets the current alpha. More...
 
virtual void Alpha (float fltAlpha)
 Sets the current alpha. More...
 
virtual CStdColorAmbient ()
 Gets the ambient color value. More...
 
virtual void Ambient (CStdColor &aryColor)
 
virtual void Ambient (float *aryColor)
 Sets the Ambient color. More...
 
virtual void Ambient (std::string strXml)
 Loads the Ambient color from an XML data packet. More...
 
virtual bool CalculateLocalPosForWorldPos (float fltWorldX, float fltWorldY, float fltWorldZ, CStdFPoint &vLocalPos)
 Calculates the local position values for matrix transform for the part to be in a specific world position. More...
 
virtual IMovableItemCallbackCallback ()
 Gets the callback interface pointer. This is an interface pointer to a callback class that allows us to notify the GUI of events that occur within the simulation. More...
 
virtual void Callback (IMovableItemCallback *lpCallback)
 Sets the callback interface pointer. This is an interface pointer to a callback class that allows us to notify the GUI of events that occur within the simulation. More...
 
virtual float CollisionsAlpha ()
 Gets the collisions alpha. More...
 
virtual void CollisionsAlpha (float fltVal)
 Sets the collisions alpha. More...
 
virtual CStdColorDiffuse ()
 Gets the diffuse color. More...
 
virtual void Diffuse (CStdColor &aryColor)
 
virtual void Diffuse (float *aryColor)
 Sets the Diffuse color. More...
 
virtual void Diffuse (std::string strXml)
 Loads the Diffuse color from an XML data packet. More...
 
virtual BoundingBox GetBoundingBox ()
 Gets the bounding box for this part. More...
 
virtual float GetBoundingRadius ()
 Gets the bounding radius of this part. More...
 
virtual CStdFPoint GetCurrentPosition ()
 Gets the current position of this part. More...
 
virtual float GraphicsAlpha ()
 Gets the graphics alpha. More...
 
virtual void GraphicsAlpha (float fltVal)
 Sets the graphics alpha. More...
 
virtual bool IsSelected ()
 Query if this object is selected. More...
 
virtual bool IsVisible ()
 Query if this object is visible. More...
 
virtual void IsVisible (bool bVal)
 Sets whether this part is visible or not. More...
 
virtual float JointsAlpha ()
 Gets the joints alpha. More...
 
virtual void JointsAlpha (float fltVal)
 Sets the joints alpha. More...
 
virtual std::string LocalTransformationMatrixString ()
 Returns a string representation of the transformation matrix of this object. This is primarily used to save off the transform matrix into the project file. More...
 
virtual void OrientNewPart (float fltXPos, float fltYPos, float fltZPos, float fltXNorm, float fltYNorm, float fltZNorm)
 Orients a new part based on where the parent was clicked and the normal of the surface face. More...
 
RigidBodyParent ()
 Gets the parent RigidBody of this part. More...
 
void Parent (RigidBody *lpValue)
 Sets the parent RigidBody of this part. More...
 
virtual IPhysicsMovableItemPhysicsMovableItem ()
 Gets the physics body interface pointer. This is an interface reference to the Vs version of this object. It will allow us to call methods directly in the Vs (OSG) version of the object directly without having to overload a bunch of methods in each box, sphere, etc.. More...
 
virtual void PhysicsMovableItem (IPhysicsMovableItem *lpBase)
 Sets the physics body interface pointer. This is an interface reference to the Vs version of this object. It will allow us to call methods directly in the Vs (OSG) version of the object directly without having to overload a bunch of methods in each box, sphere, etc.. More...
 
virtual void Position (float fltX, float fltY, float fltZ, bool bUseScaling=true, bool bFireChangeEvent=false, bool bUpdateMatrix=true)
 Sets the local position. (m_oPosition) More...
 
virtual void Position (std::string strXml, bool bUseScaling=true, bool bFireChangeEvent=false, bool bUpdateMatrix=true)
 Sets the local position. (m_oPosition). This method is primarily used by the GUI to reset the local position using an xml data packet. More...
 
virtual float ReceptiveFieldsAlpha ()
 Gets the receptive fields alpha. More...
 
virtual void ReceptiveFieldsAlpha (float fltVal)
 Sets the receptive fields alpha. More...
 
virtual CStdFPoint ReportPosition ()
 Gets the reported local position. (m_oReportPosition). More...
 
virtual void ReportPosition (CStdFPoint &oPoint)
 Sets the reported local position. (m_oReportPosition). More...
 
virtual void ReportPosition (float fltX, float fltY, float fltZ)
 Sets the reported local position. (m_oReportPosition). More...
 
virtual CStdFPoint ReportRotation ()
 Gets the reported rotation of this part. (m_oReportRotation) More...
 
virtual void ReportRotation (CStdFPoint &oPoint)
 Sets the reported rotation of this part. (m_oReportRotation) More...
 
virtual void ReportRotation (float fltX, float fltY, float fltZ)
 Sets the reported rotation of this part. (m_oReportRotation) More...
 
virtual CStdFPoint ReportWorldPosition ()
 Gets the reported world position. (m_oReportWorldPosition) More...
 
virtual void ReportWorldPosition (CStdFPoint &oPoint)
 Sets the reported world position (m_oReportWorldPosition) More...
 
virtual void ReportWorldPosition (float fltX, float fltY, float fltZ)
 Sets the reported world position (m_oReportWorldPosition) More...
 
virtual CStdFPoint Rotation ()
 Gets the rotation of this body in radians. More...
 
virtual void Rotation (CStdFPoint &oPoint, bool bFireChangeEvent=false, bool bUpdateMatrix=true)
 Sets the rotation of this body in radians. (m_oRotation) More...
 
virtual void Rotation (float fltX, float fltY, float fltZ, bool bFireChangeEvent=false, bool bUpdateMatrix=true)
 Sets the rotation of this body in radians. (m_oRotation) More...
 
virtual void Rotation (std::string strXml, bool bFireChangeEvent=false, bool bUpdateMatrix=true)
 Sets the rotation of this body in radians. (m_oRotation). This method is primarily used by the GUI to reset the rotation using an xml data packet. More...
 
virtual CStdFPoint SelectedVertex ()
 Gets the relative position of the selected vertex. (m_vSelectedVertex) More...
 
virtual void SelectedVertex (CStdFPoint &vPoint, bool bFireChangeEvent=false, bool bUpdatePhysics=true)
 Sets the relative position of the selected vertex. (m_vSelectedVertex) More...
 
virtual void SelectedVertex (float fltX, float fltY, float fltZ, bool bFireChangeEvent=false, bool bUpdatePhysics=true)
 Sets the relative position of the selected vertex. (m_vSelectedVertex) More...
 
virtual void SetBoundingBox (int iIdx, float fltVal)
 Sets one dimension of the bounding box. This does nothing for all parts except a mesh. More...
 
virtual float Shininess ()
 Gets the shininess. More...
 
virtual void Shininess (float fltVal)
 Sets the shininess value. More...
 
virtual float SimulationAlpha ()
 Gets the simulation alpha. More...
 
virtual void SimulationAlpha (float fltVal)
 Sets the simulation alpha. More...
 
virtual CStdColorSpecular ()
 Gets the specular color. More...
 
virtual void Specular (CStdColor &aryColor)
 
virtual void Specular (float *aryColor)
 Sets the Specular color. More...
 
virtual void Specular (std::string strXml)
 Loads the Specular color from an XML data packet. More...
 
virtual std::string Texture ()
 Gets the texture filename. More...
 
virtual void Texture (std::string strValue)
 Sets the Texture filename. More...
 
virtual CStdFPoint UpdateAbsolutePosition ()
 
virtual void UserDefinedDraggerRadius (float fltRadius)
 User defined dragger radius. More...
 
virtual float UserDefinedDraggerRadius ()
 Gets the user defined dragger radius. More...
 
- Public Member Functions inherited from BulletAnimatSim::Environment::BlRigidBody
btCollisionShape * CollisionShape ()
 
btCompoundShape * CompoundShape ()
 
virtual BlSimulatorGetBlSimulator ()
 
virtual osg::Matrix GetPhysicsWorldMatrix ()
 
BlMaterialTypeMaterial ()
 
virtual void MaterialTypeModified ()
 
osgbDynamics::MotionState * MotionState ()
 
virtual bool NeedCollision (BlRigidBody *lpTest)
 
btRigidBody * Part ()
 
virtual void Physics_AddBodyForceAtLocalPos (float fltPx, float fltPy, float fltPz, float fltFx, float fltFy, float fltFz, bool bScaleUnits)
 
virtual void Physics_AddBodyForceAtWorldPos (float fltPx, float fltPy, float fltPz, float fltFx, float fltFy, float fltFz, bool bScaleUnits)
 
virtual void Physics_AddBodyTorque (float fltTx, float fltTy, float fltTz, bool bScaleUnits)
 
virtual void Physics_ChildBodyAdded (RigidBody *lpChild)
 
virtual void Physics_ChildBodyRemoved (bool bHasStaticJoint)
 
virtual void Physics_CollectData ()
 
virtual void Physics_CollectExtraData ()
 
virtual void Physics_ContactSensorAdded (ContactSensor *lpSensor)
 
virtual void Physics_ContactSensorRemoved ()
 
virtual void Physics_DeleteStickyLock ()
 
virtual void Physics_DisableCollision (RigidBody *lpBody)
 
virtual void Physics_EnableCollision (RigidBody *lpBody)
 
virtual void Physics_FluidDataChanged ()
 
virtual float * Physics_GetDataPointer (const std::string &strDataType)
 
virtual float Physics_GetDensity ()
 
virtual float Physics_GetMass ()
 
virtual CStdFPoint Physics_GetVelocityAtPoint (float x, float y, float z)
 
virtual bool Physics_HasCollisionGeometry ()
 
virtual bool Physics_IsDefined ()
 
virtual bool Physics_IsGeometryDefined ()
 
virtual void Physics_ResetSimulation ()
 
virtual void Physics_SetCenterOfMass (float fltTx, float fltTy, float fltTz)
 
virtual void Physics_SetFreeze (bool bVal)
 
virtual void Physics_SetMass (float fltVal)
 
virtual void Physics_SetMaterialID (std::string strID)
 
virtual void Physics_SetVelocityDamping (float fltLinear, float fltAngular)
 
virtual void Physics_StepHydrodynamicSimulation ()
 
virtual void Physics_UpdateNode ()
 
virtual void Physics_WakeDynamics ()
 
virtual void SetSurfaceContactCount ()
 

Protected Member Functions

virtual void CalculateVolumeAndAreas ()
 
virtual void CreateGraphicsGeometry ()
 
virtual void CreatePhysicsGeometry ()
 
- Protected Member Functions inherited from AnimatSim::Environment::RigidBody
virtual void AddContactSensor (std::string strXml)
 Creates and adds a ContactSensor. More...
 
virtual void AddOdor (Odor *lpOdor)
 Adds an odor source to this body part. More...
 
virtual void AddOdor (std::string strXml, bool bDoNotInit)
 
virtual RigidBodyAddRigidBody (std::string strXml)
 Creates and adds a rigid body. More...
 
virtual void CenterOfMass (CStdFPoint &vPoint, bool bUseScaling, bool bPhysicsCallback)
 
virtual int FindChildListPos (std::string strID, bool bThrowError=true)
 Finds the array index for the child part with the specified ID. More...
 
virtual void Freeze (bool bVal, bool bPhysicsCallback)
 
virtual void LoadContactSensor (CStdXml &oXml)
 
virtual JointLoadJoint (CStdXml &oXml)
 Loads a child joint. More...
 
virtual OdorLoadOdor (CStdXml &oXml)
 Loads an odor source. More...
 
virtual void LoadPosition (CStdXml &oXml)
 Loads the items position. More...
 
virtual RigidBodyLoadRigidBody (CStdXml &oXml)
 Loads a child rigid body. More...
 
virtual void Mass (float fltVal, bool bUseScaling, bool bPhysicsCallback)
 
virtual void RemoveCollisionExclusions ()
 Called by the desctructor. It removes this object from all other collision exclusion lists. This prevents any attempt to reference this deleted object while looping through collision exclusions. More...
 
virtual void RemoveContactSensor (std::string strID, bool bThrowError=true)
 Removes the ContactSensor. More...
 
virtual void RemoveOdor (std::string strID, bool bThrowError=true)
 
virtual void RemoveRigidBody (std::string strID, bool bThrowError=true)
 Removes the rigid body with the specified ID. More...
 
- Protected Member Functions inherited from AnimatSim::Environment::BodyPart
virtual void UpdateData ()
 Called to collect any body data for this part. More...
 
- Protected Member Functions inherited from AnimatSim::Environment::MovableItem
virtual void LoadRotation (CStdXml &oXml)
 Loads the items rotation. More...
 
- Protected Member Functions inherited from BulletAnimatSim::Environment::BlRigidBody
virtual btAnimatGeneric6DofConstraintAddDynamicJoint (BlRigidBody *lpParent, BlRigidBody *lpChild)
 
virtual void AddStaticGeometry (BlRigidBody *lpChild, btCompoundShape *btCompound, const CStdFPoint &vCom)
 
virtual void CalculateRotatedAreas ()
 Rotates the axis area values by the amount that this part is rotated by. This is used by the hydrodynamics to calculate the drag. To do that we need to know what the surface area is in the direction of movement. We calculate the area for each axis in world coordinates, but the part can be rotated at will, so we need to do the same rotation to find the actual area in world axis coordinates to use. More...
 
virtual void CreateDynamicPart ()
 
virtual void CreateSensorPart ()
 
virtual void CreateStaticChildren (const CStdFPoint &vCom)
 
virtual void CreateStickyLock ()
 
virtual void DeleteAttachedJointPhysics ()
 
virtual void DeleteChildPhysics ()
 
virtual void DeleteCollisionGeometry ()
 
virtual void DeleteDynamicPart ()
 
virtual void DeletePhysics (bool bIncludeChildren)
 
virtual void DeleteSensorPart ()
 
virtual void GetBaseValues ()
 
CStdFPoint Physics_GetCurrentPosition ()
 
virtual void ProcessContacts ()
 
virtual void RecreateAttachedJointPhysics ()
 
virtual void RemoveStaticGeometry (BlRigidBody *lpChild, btCompoundShape *btCompound)
 
virtual void ResetDynamicCollisionGeom ()
 
virtual void ResetSensorCollisionGeom ()
 
virtual void ResetStaticCollisionGeom ()
 
virtual void ResizePhysicsGeometry ()
 
virtual void SetupOffsetCOM (const CStdFPoint &vCom)
 Changes this body to use a btCompoundShape and adds the btCollision shape offset from -COM. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from AnimatSim::Environment::Bodies::Ellipsoid
static EllipsoidCastToDerived (AnimatBase *lpBase)
 
- Static Public Member Functions inherited from AnimatSim::Environment::RigidBody
static RigidBodyCastToDerived (AnimatBase *lpBase)
 
- Static Public Member Functions inherited from AnimatSim::Environment::BodyPart
static BodyPartCastToDerived (AnimatBase *lpBase)
 
- Static Public Member Functions inherited from AnimatSim::Node
static NodeCastToDerived (AnimatBase *lpBase)
 
- Public Attributes inherited from BulletAnimatSim::Environment::BlRigidBody
CStdPtrArray< BlContactPointm_aryContactPoints
 
- Protected Attributes inherited from AnimatSim::Environment::Bodies::Ellipsoid
float m_fltMajorRadius
 The radius of the major axis of the ellipsoid.
 
float m_fltMinorRadius
 The radius of the minor axis of the ellipsoid.
 
int m_iLatSegments
 The number of segments used to draw in the latitude direction.
 
int m_iLongSegments
 The number of segments used to draw in the longtitude direction.
 
- Protected Attributes inherited from AnimatSim::Environment::RigidBody
CStdPtrArray< RigidBodym_aryChildParts
 
std::unordered_set< RigidBody * > m_aryExcludeCollisionSet
 This is the list of other parts that this part is excluded from colliding with.
 
CStdPtrMap< std::string, Odorm_aryOdorSources
 The array odor sources attached to this part.
 
bool m_bDisplayDebugCollisionGraphic
 
bool m_bEnableFluids
 true to enable fluid interactions.
 
bool m_bFoodSource
 Tells if this body is considered a food source.
 
bool m_bFreeze
 
bool m_bIsCollisionObject
 This determines whether the object is a collision geometry object.
 
bool m_bIsContactSensor
 
bool m_bIsStickyPart
 
bool m_bUsesJoint
 
float m_fltAngularVelocityDamping
 The angular velocity damping for this part.
 
float m_fltBuoyancyScale
 
float m_fltDensity
 Uniform density for the rigid body.
 
float m_fltFoodEaten
 Tells how much food is being eaten.
 
float m_fltFoodEnergyContent
 The energy content of the food in calories.
 
float m_fltFoodQuantity
 The quantity of food that this part contains.
 
float m_fltFoodQuantityInit
 The initial food quantity to use when simulation is reset.
 
float m_fltFoodReplenishRate
 The rate at which food is replenished.
 
float m_fltLinearVelocityDamping
 The linear velocity damping for this body part.
 
float m_fltMagnus
 The Magnus coefficient for the body. This is defaulted to zero because it almost always negligble for most body parts.
 
float m_fltMass
 The mass of the object.
 
float m_fltMaxFoodQuantity
 The maximum food quantity that this part can contain.
 
float m_fltMaxHydroForce
 The maximum hyrdodynamic force that can be applied.
 
float m_fltMaxHydroTorque
 The maximum hyrdodynamic torque that can be applied.
 
float m_fltReportDensity
 The density value reported to the GUI.
 
float m_fltReportMass
 The mass of the object to report to GUI.
 
float m_fltReportVolume
 The volume of the object to report to GUI.
 
float m_fltStickyOn
 If this is a suction part then this controls when stickness is on.
 
float m_fltSurfaceContactCount
 
float m_fltVolume
 The volume for the rigid body.
 
long m_lEatTime
 Keeps track of how many time slices this part can eat.
 
ContactSensorm_lpContactSensor
 
Jointm_lpJointToParent
 
RigidBodym_lpStickyChild
 If we are doing a sticky lock then this is the child part that was locked on.
 
std::string m_strMaterialID
 Identifier for the material type this part will use.
 
CStdFPoint m_vAngularDrag
 This is the drag coefficients for the three axises for the body.
 
CStdFPoint m_vBuoyancyCenter
 This is the relative position to the center of the buoyancy in the body.
 
CStdFPoint m_vCenterOfMass
 
CStdFPoint m_vLinearDrag
 This is the drag coefficients for the three axises for the body.
 
- Protected Attributes inherited from AnimatSim::Environment::BodyPart
CStdArray< RobotPartInterface * > m_aryRobotParts
 Array of pointers to robot part interfaces connected to this body part.
 
bool m_bSynchWithRobot
 
float m_fltSynchUpdateInterval
 This is how often we need to update this particular adapter.
 
int m_iSynchCount
 Keeps track of the last time we did a synch for the robot.
 
int m_iSynchUpdateInterval
 The number of ticks between each call to update for this adapter till the next update time.
 
IPhysicsBodym_lpPhysicsBody
 
- Protected Attributes inherited from AnimatSim::Node
bool m_bInitEnabled
 Keeps track of the enabled state at sim startup.
 
float m_fltEnabled
 This is used for reporting the enabled state in a GetDataPointer call.
 
Organism * m_lpOrganism
 The pointer to this node's organism.
 
- Protected Attributes inherited from AnimatSim::AnimatBase
bool m_bEnabled
 Tells if this item is enabled or not. If it is not enabled then it is not run.
 
bool m_bSelected
 Tells whether the object is selected or not.
 
AnimatSim::Behavior::NeuralModulem_lpModule
 The pointer to this items parentNeuralModule. If this is not relevant for this object then this is NULL.
 
Nodem_lpNode
 The pointer to this items parent Node. If this is not relevant for this object then this is NULL.
 
Simulatorm_lpSim
 The pointer to a Simulation.
 
AnimatSim::Environment::Structurem_lpStructure
 The pointer to this items parent Structure. If this is not relevant for this object then this is NULL.
 
std::string m_strID
 The unique Id for this object.
 
std::string m_strName
 The name for this object.
 
std::string m_strType
 The type for this object. Examples are Box, Plane, Neuron, etc..
 
- Protected Attributes inherited from AnimatSim::Environment::MovableItem
bool m_bIsSelected
 Keeps track of whether this movable item has been selected or not.
 
bool m_bIsVisible
 
float m_fltAlpha
 The current alpha transparency for this body part.
 
float m_fltCollisionsAlpha
 The alpha transparency used in the Collisions VisualSelectionMode.
 
float m_fltGraphicsAlpha
 The alpha transparency used in the Graphics VisualSelectionMode.
 
float m_fltJointsAlpha
 The alpha transparency used in the Joints VisualSelectionMode.
 
float m_fltReceptiveFieldsAlpha
 The alpha transparency used in the Receptive Fields VisualSelectionMode.
 
float m_fltReportIsVisible
 
float m_fltShininess
 The shininess of the part. A value between 0 and 128.
 
float m_fltSimulationAlpha
 The alpha transparency used in the Simulation VisualSelectionMode.
 
float m_fltUserDefinedDraggerRadius
 User defined drag handle radius. If this is -1 then the user has not set the value and the default is used.
 
IMovableItemCallbackm_lpCallback
 
Simulatorm_lpMovableSim
 The pointer to a Simulation.
 
RigidBodym_lpParent
 
IPhysicsMovableItemm_lpPhysicsMovableItem
 
CStdFPoint m_oAbsPosition
 
CStdFPoint m_oPosition
 These are rotation and position coords relative to the parent if this is a body part.
 
CStdFPoint m_oReportPosition
 This is used for reporting the position back to the GUI. It is the position scaled for distance units.
 
CStdFPoint m_oReportRotation
 
CStdFPoint m_oReportWorldPosition
 This is used for reporting the position back to the GUI. It is the world position scaled for distance units.
 
CStdFPoint m_oRotation
 
std::string m_strTexture
 An optional texture to apply to the rigid body.
 
CStdColor m_vAmbient
 The ambient color to apply to this part. It is specified as red, green, blue, and alpha.
 
CStdColor m_vDiffuse
 The diffuse color to apply to this part. It is specified as red, green, blue, and alpha.
 
CStdFPoint m_vSelectedVertex
 The relative position of the selected vertex.
 
CStdColor m_vSpecular
 The specular color to apply to this part. It is specified as red, green, blue, and alpha.
 
- Protected Attributes inherited from BulletAnimatSim::Environment::BlRigidBody
CStdPtrArray< btCollisionShape > m_aryCompoundChildShapes
 
btCollisionObject * m_btCollisionObject
 
btCollisionShape * m_btCollisionShape
 
btCompoundShape * m_btCompoundShape
 
btRigidBody * m_btPart
 
btAnimatGeneric6DofConstraint * m_btStickyLock
 
btAnimatGeneric6DofConstraint * m_btStickyLock2
 
BroadphaseNativeTypes m_eBodyType
 
float m_fltBuoyancy
 The buoyancy force applied to this part.
 
float m_fltReportBuoyancy
 The buoyancy force reported to the GUI.
 
float m_fltStaticMasses
 
BlBulletDatam_lpBulletData
 
BlMaterialTypem_lpMaterial
 The pointer to the material for this body.
 
BlSimulatorm_lpVsSim
 
osgbDynamics::MotionState * m_osgbMotion
 
float m_vAngularDragTorque [3]
 This is the drag forces applied to this body.
 
CStdFPoint m_vArea
 
float m_vLinearDragForce [3]
 This is the drag forces applied to this body.
 
CStdFPoint m_vRotatedArea
 

Detailed Description

Definition at line 16 of file BlEllipsoid.h.

Constructor & Destructor Documentation

BulletAnimatSim::Environment::Bodies::BlEllipsoid::BlEllipsoid ( )

Default constructor.

Author
dcofer
Date
6/12/2011

Definition at line 27 of file BlEllipsoid.cpp.

Member Function Documentation

void BulletAnimatSim::Environment::Bodies::BlEllipsoid::CreateJoints ( )
virtual

Allows the rigid body to create its joints using the chosen physics engine.

This function can not be truly implemented in the Animat library. It must be implemented in the next layer sitting above it. The reason for this is that the Animat library was made to be generalized so it could work with a number of different physics engines. Therefore it is not tightly coupled with any one engine. This in turn means that we can not implement the code in this library neccessary to create a part or joint in the chosen engine. Several overridable functions have been provided that allow you to do this. The two that will always have to be overridden are the CreateParts and CreateJoints methods. CreateJoints makes the API calls to the physics engine to create the joint and constraints and motors. You should still call the base class method at the end of your overridden method so the rigid body can walk down the tree and create the joints for its children.

Author
dcofer
Date
3/2/2011

Reimplemented from AnimatSim::Environment::RigidBody.

Definition at line 81 of file BlEllipsoid.cpp.

References AnimatSim::Environment::Joint::CreateJoint(), and AnimatSim::Environment::RigidBody::m_lpJointToParent.

+ Here is the call graph for this function:

void BulletAnimatSim::Environment::Bodies::BlEllipsoid::CreateParts ( )
virtual

Allows the rigid body to create its parts using the chosen physics engine.

This function can not be truly implemented in the Animat library. It must be implemented in the next layer sitting above it. The reason for this is that the Animat library was made to be generalized so it could work with a number of different physics engines. Therefore it is not tightly coupled with any one engine. This in turn means that we can not implement the code in this library neccessary to create a part or joint in the chosen engine. Several overridable functions have been provided that allow you to do this. The two that will always have to be overridden are the CreateParts and CreateJoints methods. CreateParts makes the API calls to the physics engine to create the collision models, graphics models and so on. You should still call the base class method at the end of your overridden method so the rigid body can walk down the tree and create the parts for its children.

Author
dcofer
Date
3/2/2011

Reimplemented from AnimatSim::Environment::RigidBody.

Definition at line 73 of file BlEllipsoid.cpp.


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