OsgAnimatSim::Environment::OsgRigidBody Class Reference

A common class for all rigid body data specific to vortex. More...

#include <OsgRigidBody.h>

Inheritance diagram for OsgAnimatSim::Environment::OsgRigidBody:

Collaboration diagram for OsgAnimatSim::Environment::OsgRigidBody:

Public Member Functions
virtual bool	AddOsgNodeToParent ()
virtual void	BuildLocalMatrix ()
	Builds the local matrix. More...
virtual void	EndGripDrag ()
virtual osg::Matrix	GetComMatrix (bool bInvert=false)
virtual void	Initialize ()
virtual osg::MatrixTransform *	ParentOSG ()
	Gets the parent osg node. More...
virtual float *	Physics_GetDataPointer (const std::string &strDataType)
virtual void	Physics_Resize ()
virtual void	Physics_ResizeSelectedReceptiveFieldVertex ()
virtual void	Physics_SelectedVertex (float fltXPos, float fltYPos, float fltZPos)
virtual void	Physics_SetColor ()
virtual void	Physics_TextureChanged ()
virtual void	Physics_UpdateMatrix ()
virtual void	SetupPhysics ()
virtual void	StartGripDrag ()
Public Member Functions inherited from OsgAnimatSim::Environment::OsgBody
	OsgBody ()
	Default constructor. More...
virtual	~OsgBody ()
	Destructor. More...
virtual void	Physics_ChildBodyAdded (RigidBody *lpChild)
virtual void	Physics_ChildBodyRemoved (bool bHasStaticJoint)
virtual void	Physics_ContactSensorAdded (ContactSensor *lpSensor)
virtual void	Physics_ContactSensorRemoved ()
virtual void	Physics_DeleteStickyLock ()
virtual void	Physics_FluidDataChanged ()
virtual float	Physics_GetDensity ()
virtual float	Physics_GetMass ()
virtual bool	Physics_HasCollisionGeometry ()
virtual void	Physics_SetCenterOfMass (float fltTx, float fltTy, float fltTz)
virtual void	Physics_SetDensity (float fltVal)
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 ()
Public Member Functions inherited from OsgAnimatSim::Environment::OsgMovableItem
virtual void	BuildLocalMatrix (CStdFPoint vLocalOffset)
virtual void	BuildLocalMatrix (CStdFPoint localPos, CStdFPoint vLocalOffset, CStdFPoint localRot, std::string strName)
virtual void	CreateItem ()
virtual void	DeleteGraphics ()
virtual void	DeletePhysics (bool bIncludeChildren)=0
virtual osg::Matrix	FinalMatrix ()
virtual void	FinalMatrix (osg::Matrix vFinal)
virtual osg::MatrixTransform *	GetCameraMatrixTransform ()
	Gets the matrix transform used by the camera for the mouse spring. More...
virtual osg::MatrixTransform *	GetMatrixTransform ()
virtual OsgSimulator *	GetOsgSimulator ()
virtual CStdFPoint	GetOSGWorldCoords ()
virtual osg::Matrix	GetOSGWorldMatrix (bool bUpdate=false)
virtual osg::Matrix	GetParentComMatrix (bool bInvert=false)
virtual osg::Matrix	GetParentPhysicsWorldMatrix ()
virtual osg::Matrix	GetParentWorldMatrix ()
virtual osg::Matrix	GetPhysicsWorldMatrix ()
virtual osg::Matrix	GetWorldMatrix ()
virtual osg::Matrix	LocalMatrix ()
virtual osg::Group *	NodeGroup ()
virtual void	Physics_AfterResetSimulation ()
virtual bool	Physics_CalculateLocalPosForWorldPos (float fltWorldX, float fltWorldY, float fltWorldZ, CStdFPoint &vLocalPos)
virtual void	Physics_CollectData ()
virtual void	Physics_CollectExtraData ()
virtual BoundingBox	Physics_GetBoundingBox ()
virtual float	Physics_GetBoundingRadius ()
virtual std::string	Physics_GetLocalTransformMatrixString ()
virtual std::string	Physics_ID ()
virtual void	Physics_LoadLocalTransformMatrix (CStdXml &oXml)
virtual void	Physics_OrientNewPart (float fltXPos, float fltYPos, float fltZPos, float fltXNorm, float fltYNorm, float fltZNorm)
virtual void	Physics_PositionChanged ()
virtual void	Physics_ResetGraphicsAndPhysics ()
virtual void	Physics_ResetSimulation ()
virtual void	Physics_ResizeDragHandler (float fltRadius)
virtual void	Physics_RotationChanged ()
virtual void	Physics_SaveLocalTransformMatrix (CStdXml &oXml)
virtual void	Physics_Selected (bool bValue, bool bSelectMultiple)
virtual void	Physics_SetChild (MovableItem *lpParent)
virtual void	Physics_SetParent (MovableItem *lpParent)
virtual void	Physics_UpdateAbsolutePosition ()
virtual osg::Group *	RootGroup ()
virtual void	SetAlpha ()
virtual void	SetColor (CStdColor &vAmbient, CStdColor &vDiffuse, CStdColor &vSpecular, float fltShininess)
virtual void	SetCulling ()
virtual void	SetMaterialAlpha (osg::Material *osgMat, osg::StateSet *ss, float fltAlpha)
virtual void	SetTexture (std::string strTexture)
virtual void	SetupGraphics ()
virtual void	SetVisible (bool bVisible)
virtual void	SetVisible (osg::Node *osgNode, bool bVisible)
virtual OsgMovableItem *	VsParent ()
Public Member Functions inherited from AnimatSim::Environment::IPhysicsMovableItem
virtual void	Physics_SetChild (MovableItem *lpChild)=0
virtual void	Physics_SetParent (MovableItem *lpParent)=0
Public Member Functions inherited from AnimatSim::Environment::IPhysicsBody
virtual void	Physics_AddBodyForceAtLocalPos (float fltPx, float fltPy, float fltPz, float fltFx, float fltFy, float fltFz, bool bScaleUnits)=0
virtual void	Physics_AddBodyForceAtWorldPos (float fltPx, float fltPy, float fltPz, float fltFx, float fltFy, float fltFz, bool bScaleUnits)=0
virtual void	Physics_AddBodyTorque (float fltTx, float fltTy, float fltTz, bool bScaleUnits)=0
virtual void	Physics_ChildBodyAdded (RigidBody *lpChild)=0
virtual void	Physics_ContactSensorAdded (ContactSensor *lpSensor)=0
virtual void	Physics_DisableCollision (RigidBody *lpBody)=0
virtual void	Physics_EnableCollision (RigidBody *lpBody)=0
virtual CStdFPoint	Physics_GetVelocityAtPoint (float x, float y, float z)=0
virtual bool	Physics_IsDefined ()=0
virtual bool	Physics_IsGeometryDefined ()=0

Protected Member Functions
virtual void	CreateDynamicPart ()=0
virtual void	CreateGeometry (bool bOverrideStatic=false)
virtual void	CreateSensorPart ()=0
virtual void	DeleteChildGraphics (bool bRoot)
virtual void	GetBaseValues ()=0
virtual void	HideSelectedVertex ()
virtual void	ProcessContacts ()=0
virtual void	SetThisPointers ()
virtual void	SetupChildGraphics (bool bRoot)
virtual void	ShowSelectedVertex ()
virtual void	UpdatePositionAndRotationFromMatrix ()
Protected Member Functions inherited from OsgAnimatSim::Environment::OsgMovableItem
virtual void	AttachedPartMovedOrRotated (std::string strID)
virtual osg::Matrix	CalculateTransformRelativeToParent (osg::Matrix osgLocalMatrix)
virtual void	CreateDragger (std::string strName)
virtual void	CreateGraphicsGeometry ()
virtual void	CreatePhysicsGeometry ()
virtual void	CreateSelectedGraphics (std::string strName)
virtual void	CreateSelectedVertex (std::string strName)
virtual void	DeleteSelectedVertex ()
virtual void	GeometryRotationMatrix (osg::Matrix osgGeometryMT)
virtual void	InitializeGraphicsGeometry ()
virtual void	LocalMatrix (osg::Matrix osgLocalMT)
virtual void	ResetPhyiscsAndChildJoints ()
virtual void	ResizePhysicsGeometry ()
virtual void	UpdatePositionAndRotationFromMatrix (osg::Matrix osgMT)
virtual void	UpdateWorldMatrix ()

Protected Attributes
RigidBody *	m_lpThisRB
float	m_vAngularAcceleration [3]
float	m_vAngularVelocity [3]
float	m_vForce [3]
float	m_vLinearAcceleration [3]
float	m_vLinearVelocity [3]
CStdFPoint	m_vPos
float	m_vTorque [3]
Protected Attributes inherited from OsgAnimatSim::Environment::OsgBody
DynamicsControlType	m_eControlType
BodyPart *	m_lpThisBP
Protected Attributes inherited from OsgAnimatSim::Environment::OsgMovableItem
bool	m_bCullBackfaces
osg::StateAttribute::GLMode	m_eTextureMode
OsgSimulator *	m_lpOsgSim
OsgMovableItem *	m_lpParentVsMI
AnimatBase *	m_lpThisAB
MovableItem *	m_lpThisMI
OsgMovableItem *	m_lpThisVsMI
osg::ref_ptr< osg::CullFace >	m_osgCull
osg::ref_ptr< osg::Node >	m_osgDebugNode
osg::ref_ptr< OsgDragger >	m_osgDragger
osg::Matrix	m_osgFinalMatrix
osg::ref_ptr< osg::Geometry >	m_osgGeometry
osg::ref_ptr< osg::MatrixTransform >	m_osgGeometryRotationMT
osg::Matrix	m_osgLocalMatrix
osg::ref_ptr< osg::Material >	m_osgMaterial
osg::ref_ptr< osgManipulator::Selection >	m_osgMT
osg::ref_ptr< osg::Node >	m_osgNode
osg::ref_ptr< osg::Group >	m_osgNodeGroup
osg::ref_ptr< osg::MatrixTransform >	m_osgParent
osg::ref_ptr< osg::Group >	m_osgRoot
osg::ref_ptr< osg::Group >	m_osgSelectedGroup
osg::ref_ptr< osg::MatrixTransform >	m_osgSelVertexMT
osg::ref_ptr< osg::Geode >	m_osgSelVertexNode
osg::ref_ptr< osg::StateSet >	m_osgStateSet
osg::ref_ptr< osg::Texture2D >	m_osgTexture
osg::Matrix	m_osgWorldMatrix

Detailed Description

A common class for all rigid body data specific to vortex.

Remarks

This is a common class for the rigid body objects that specifically holds vortex data and methods. I had hoped to not have this class. However, it proved necessary. The reason is that rigid bodies like the box and cylinder all had common data items asociated with them like the m_iBodyID that need to be used in various places in order to get things done. When we are in one of the overridden virtual functions we need a way to get at these data members for a rigid body. If we have this class then we can just do a dynamic cast to convert it into a OsgRigidBody and access those items that way. If we do not have this common class and instead just duplicated these items in each of the different VsBox, VsCylinder, etc. classes then we have a problem. If we put virtual accessor functions for those items in the RigidBody class then that is not appropriate because the animat library is not supposed to know anything about data elements specific to vortex. What happens if you move to a different physics engine? Do you put data elements for that one in RigidBody also. Clearly that will not work as a solution. The only other way would be to try and determine the actual type of object you have and do a specific cast to that one. So if we are looking at the parent of the current rigid body and we have it as a RigidBody pointer then we would have to find some way to determine that it was say a VsBox type of object. And then we would have to dynamic cast it to VsBox. Again, this would be horribly messy with switches and other stuff. This was the cleanest solution that I could see. With this we just always cast the RigidBody to a OsgRigidBody to get access to the vortex specific data elements.

See also

RigidBody, VsBox, VsPlane, VsCylinder

Definition at line 50 of file OsgRigidBody.h.

Member Function Documentation

void OsgRigidBody::BuildLocalMatrix ( )

virtual

Builds the local matrix.

If this is the root object then use the world coordinates of the structure instead of the local coordinates of the rigid body.

Author

dcofer

Date

5/11/2011

Reimplemented from OsgAnimatSim::Environment::OsgMovableItem.

Definition at line 321 of file OsgRigidBody.cpp.

osg::MatrixTransform * OsgRigidBody::ParentOSG ( )

virtual

Gets the parent osg node.

If this is the root object then attach it directly to the OSG root node because we are building its local matrix using the structures absolute position. This is so the vortex stuff works correctly, and so that you can move the structure by moving the root body.

Author

dcofer

Date

5/11/2011

Returns

Pointer to the OSG group node of the parent.

Implements OsgAnimatSim::Environment::OsgMovableItem.

Definition at line 345 of file OsgRigidBody.cpp.

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

• OsgRigidBody.h
• OsgRigidBody.cpp