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

#include <BlRigidBody.h>

Inheritance diagram for BulletAnimatSim::Environment::BlRigidBody:

Collaboration diagram for BulletAnimatSim::Environment::BlRigidBody:

Public Member Functions
btCollisionShape *	CollisionShape ()

btCompoundShape *	CompoundShape ()

virtual BlSimulator *	GetBlSimulator ()

virtual osg::Matrix	GetPhysicsWorldMatrix ()

BlMaterialType *	Material ()

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 ()

Public Attributes
CStdPtrArray< BlContactPoint >	m_aryContactPoints

Protected Member Functions
virtual btAnimatGeneric6DofConstraint *	AddDynamicJoint (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	CalculateVolumeAndAreas ()

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...

Protected Attributes
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

BlBulletData *	m_lpBulletData

BlMaterialType *	m_lpMaterial
	The pointer to the material for this body.

BlSimulator *	m_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

Friends
class	BlJoint

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 BlRigidBody 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 BlBox, BlCylinder, 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 BlBox type of object. And then we would have to dynamic cast it to BlBox. 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 BlRigidBody to get access to the vortex specific data elements.

See also: RigidBody, BlBox, BlPlane, BlCylinder

Definition at line 87 of file BlRigidBody.h.

Member Function Documentation

void BulletAnimatSim::Environment::BlRigidBody::CalculateRotatedAreas ( )

protectedvirtual

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.

Author: David Cofer

Date: 10/20/2013

Definition at line 630 of file BlRigidBody.cpp.

References m_vArea, and m_vRotatedArea.

void BulletAnimatSim::Environment::BlRigidBody::SetupOffsetCOM ( const CStdFPoint & vCom )

protectedvirtual

Changes this body to use a btCompoundShape and adds the btCollision shape offset from -COM.

The reason it does this is because by default bullet always has the center of mass at the center of the object. However, if the user has specified a different COM then we need to move it away from that. The way to do ths is create a new compound shape and add our actual collision shape offset in the negative com direction. Then the motion state will match up this new collision part with the graphics correctly.

Author: David Cofer

Date: 11/17/2013

Parameters

vCom	The com vector that will be used for the offset. Do not add a negative to it. This will be done in the method.

Definition at line 359 of file BlRigidBody.cpp.

Member Data Documentation

CStdFPoint BulletAnimatSim::Environment::BlRigidBody::m_vArea

protected

The area of this rigid body in the each axis direction. This is used to calculate the drag force in this direction.

Definition at line 106 of file BlRigidBody.h.

Referenced by CalculateRotatedAreas().

CStdFPoint BulletAnimatSim::Environment::BlRigidBody::m_vRotatedArea

protected

The area for this part after being rotated like the part is. This basically tells the area that is in the direction that the part is moving.

Definition at line 110 of file BlRigidBody.h.

Referenced by CalculateRotatedAreas().

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Function Documentation

Member Data Documentation