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

#include <VsRigidBody.h>

Inheritance diagram for VortexAnimatSim::Environment::VsRigidBody:

Collaboration diagram for VortexAnimatSim::Environment::VsRigidBody:

Public Member Functions
virtual void	BuildLocalMatrix ()
	Builds the local matrix. More...

Vx::VxCollisionGeometry *	CollisionGeometry ()

virtual void	CollisionGeometry (Vx::VxCollisionGeometry *vxGeometry)

virtual int	GetPartIndex (VxPart vxP0, VxPart vxP1)

Vx::VxNode	GraphicsNode ()

virtual void	Initialize ()

virtual osg::Group *	ParentOSG ()
	Gets the parent osg node. More...

Vx::VxPart *	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_CollectData ()

virtual void	Physics_CollectExtraData ()

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_Resize ()

virtual void	Physics_ResizeSelectedReceptiveFieldVertex ()

virtual void	Physics_SelectedVertex (float fltXPos, float fltYPos, float fltZPos)

virtual void	Physics_SetCenterOfMass (float fltTx, float fltTy, float fltTz)

virtual void	Physics_SetColor ()

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_TextureChanged ()

virtual void	Physics_UpdateMatrix ()

virtual void	Physics_UpdateNode ()

virtual void	Physics_WakeDynamics ()

Vx::VxCollisionSensor *	Sensor ()

virtual void	SetBody ()

virtual void	SetupPhysics ()

Public Member Functions inherited from VortexAnimatSim::Environment::VsBody
	VsBody ()
	Default constructor. More...

virtual	~VsBody ()
	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_StepHydrodynamicSimulation ()

Public Member Functions inherited from VortexAnimatSim::Environment::VsMovableItem
virtual void	BuildLocalMatrix (CStdFPoint localPos, CStdFPoint localRot, std::string strName)

virtual void	CreateItem ()

virtual void	EndGripDrag ()

virtual osg::Matrix	FinalMatrix ()

virtual osg::MatrixTransform *	GetCameraMatrixTransform ()
	Gets the matrix transform used by the camera for the mouse spring. More...

virtual osg::MatrixTransform *	GetMatrixTransform ()

virtual CStdFPoint	GetOSGWorldCoords ()

virtual osg::Matrix	GetOSGWorldMatrix (bool bUpdate=false)

virtual osg::Matrix	GetParentWorldMatrix ()

virtual VsSimulator *	GetVsSimulator ()

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 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_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	SetVisible (bool bVisible)

virtual void	SetVisible (osg::Node *osgNode, bool bVisible)

virtual VsMovableItem *	VsParent ()

virtual void	WorldToBodyCoords (VxReal3 vWorldPos, StdVector3 &vLocalPos)

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_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

Protected Member Functions
virtual void	CalculateEstimatedMassAndVolume ()

virtual void	CreateDynamicPart ()

virtual void	CreateSensorPart ()

virtual void	CreateStaticPart ()

virtual void	DeletePhysics ()

virtual void	GetBaseValues ()

virtual void	HideSelectedVertex ()

CStdFPoint	Physics_GetCurrentPosition ()

virtual void	ProcessContacts ()

virtual void	RemoveStaticPart ()

virtual void	ResetSensorCollisionGeom ()

virtual void	ResetStaticCollisionGeom ()

virtual void	SetFollowEntity (VsRigidBody *lpEntity)

virtual void	SetThisPointers ()

virtual void	ShowSelectedVertex ()

virtual void	UpdatePositionAndRotationFromMatrix ()

Protected Member Functions inherited from VortexAnimatSim::Environment::VsMovableItem
virtual void	AttachedPartMovedOrRotated (std::string strID)

virtual void	CreateDragger (std::string strName)

virtual void	CreateGeometry ()

virtual void	CreateGraphicsGeometry ()

virtual void	CreatePhysicsGeometry ()

virtual void	CreateSelectedGraphics (std::string strName)

virtual void	CreateSelectedVertex (std::string strName)

virtual void	DeleteGraphics ()

virtual void	DeleteSelectedVertex ()

virtual void	GeometryRotationMatrix (osg::Matrix osgGeometryMT)

virtual void	LocalMatrix (osg::Matrix osgLocalMT)

virtual void	ResizePhysicsGeometry ()

virtual void	SetupGraphics ()

virtual void	UpdatePositionAndRotationFromMatrix (osg::Matrix osgMT)

virtual void	UpdateWorldMatrix ()

Protected Attributes
float	m_fltBlank

float	m_fltEstimatedMass

float	m_fltEstimatedVolume
	The estimated volume. See m_fltEstimatedMass desciption.

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]

VxCollisionGeometry *	m_vxCollisionGeometry

VxGeometry *	m_vxGeometry

VxNode	m_vxGraphicNode

VxPart *	m_vxPart

VxCollisionSensor *	m_vxSensor

Protected Attributes inherited from VortexAnimatSim::Environment::VsBody
Vx::VxEntity::EntityControlTypeEnum	m_eControlType

BodyPart *	m_lpThisBP

Protected Attributes inherited from VortexAnimatSim::Environment::VsMovableItem
bool	m_bCullBackfaces

osg::StateAttribute::GLMode	m_eTextureMode

float	m_fltNullReport
	This is used to report back 0 from GetDataPointer for items that are not supported in vortex.

VsMovableItem *	m_lpParentVsMI

AnimatBase *	m_lpThisAB

MovableItem *	m_lpThisMI

VsMovableItem *	m_lpThisVsMI

osg::ref_ptr< osg::CullFace >	m_osgCull

osg::ref_ptr< VsDragger >	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::Group >	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 VsRigidBody 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 VsRigidBody to get access to the vortex specific data elements.

See also: RigidBody, VsBox, VsPlane, VsCylinder

Definition at line 55 of file VsRigidBody.h.

Member Function Documentation

void VortexAnimatSim::Environment::VsRigidBody::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 VortexAnimatSim::Environment::VsMovableItem.

Definition at line 346 of file VsRigidBody.cpp.

osg::Group * VortexAnimatSim::Environment::VsRigidBody::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 VortexAnimatSim::Environment::VsMovableItem.

Definition at line 370 of file VsRigidBody.cpp.

Member Data Documentation

float VortexAnimatSim::Environment::VsRigidBody::m_fltBlank

protected

Used to send back 0 for variables that are supported in other physics engines but not in this one.

Definition at line 96 of file VsRigidBody.h.

float VortexAnimatSim::Environment::VsRigidBody::m_fltEstimatedMass

protected

Static parts do not have their mass/volume computed for them by vortex. This presents a problem when trying to convert them to another physics engine like bullet that uses mass instead. When we are saving out the mass of the part then we need to be able to get some reliable estimate of what it is if it is static. We use these estimations for that purpose.

Definition at line 89 of file VsRigidBody.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

Member Data Documentation