SoCollisionShape Class Reference
[libipsa classes, CollisionShape classes]

Defines the base class for Inventor CollisionShape objects. More...

#include <SoCollisionShape.h>

Inheritance diagram for SoCollisionShape:

List of all members.

Public Types

Public Member Functions

virtual SoBaseKit * copy (SbBool copyConnections) const

dGeomID createGeom (const SbMatrix &mm)

void getCOG (SbVec3f &cog)

dGeomID getGeom ()

dSpaceID getSpace ()

SbBool getVisualisationStatus ()

void setSpace (dSpaceID spaceID)

SbBool setUpConnections (SbBool onOff, SbBool doItAlways=FALSE)

void setVisualisationStatus (SbBool onOff)

SoCollisionShape (const SbString &nodeName="")

virtual void updateGeomPosition (const SbMatrix &mm)

void updateOIPosition ()

virtual ~SoCollisionShape ()

Static Public Member Functions

static void initClass ()

static SoCallbackAction::Response InitCollisionShapesCB (void *userdata, SoCallbackAction *action, const SoNode *node)

Public Attributes

SoSFEnum alignment

SoSFBool autoinitialise

SoSFUInt32 category

SoSFUInt32 collisionmask

SoSFEnum surfaceMaterial

Protected Member Functions

virtual dGeomID cGeom (const SbMatrix &mm)

virtual void updateVisualisationAndOdeProperties ()

Protected Attributes

SbVec3f COG

SbMatrix CoinRefTransform

dGeomID geometry

dSpaceID space

SoMatrixTransform * transform

SoFieldSensor updateOdePropertiesSensor

SoSFTrigger updateOdePropertiesTrigger

Private Member Functions

SO_KIT_CATALOG_ENTRY_HEADER (visualisation)

SO_KIT_CATALOG_ENTRY_HEADER (ODETransform)

SO_KIT_CATALOG_ENTRY_HEADER (visDrawStyle)

SO_KIT_CATALOG_ENTRY_HEADER (separator)

SO_KIT_HEADER (SoCollisionShape)

Static Private Member Functions

static void UpdateVisualisationAndOdePropertiesCB (void *data, SoSensor *sensor)

Detailed Description

Defines the base class for Inventor CollisionShape objects.

Geometry objects (or ''geoms'' for short) are the fundamental objects in ODEs collision system and can represent a single rigid shape (such as a sphere or box).
Any geom can collide with any other geom which then yields zero or more contact points.
Normally the collision shape is invisible which can be changed by setting the SoCollisionShape::visDrawStyle member to FILLED in the Inventor file of by calling SoCollisionShape::setVisualisationStatus() with TRUE as parameter. This is usefull if a collision object is necessary which does not have to have any physical properties (like a ground plane for example).

See How to create a new IPSA collision shape for detailed instructions on how to create new IPSA collision shapes.

Definition at line 44 of file SoCollisionShape.h.

Member Enumeration Documentation

enum SoCollisionShape::eAlignment

The different ways the collisionshape can be aligned with the corresponding body.

Enumerator:

STANDARD	Keep the collision shape in the same place as it is.
CENTERED	Align the collision shape with the center of gravity.

Definition at line 77 of file SoCollisionShape.h.

enum SoCollisionShape::eSurfaceMaterial

Enumeration for the different types of surface materials which are used to determine the friction between bodies.

Enumerator:

CLEAN
GREASY
WOOD
GLASS
STEEL
RUBBER
NO_OF_SURFACEMATERIALS

Definition at line 85 of file SoCollisionShape.h.

Constructor & Destructor Documentation

SoCollisionShape::SoCollisionShape ( const SbString & nodeName = "" )

The constructor of SoCollisionShape.

Parameters:

nodeName

name of the node in the Inventor scenegraph

Definition at line 330 of file SoCollisionShape.cpp.

References alignment, autoinitialise, category, CENTERED, CLEAN, collisionmask, GLASS, GREASY, RUBBER, STANDARD, STEEL, surfaceMaterial, transform, updateOdePropertiesSensor, UpdateVisualisationAndOdePropertiesCB(), and WOOD.

SoCollisionShape::~SoCollisionShape ( ) [virtual]

The virtual standard destructor of SoCollisionShape.

Definition at line 437 of file SoCollisionShape.cpp.

References geometry.

Member Function Documentation

dGeomID SoCollisionShape::cGeom ( const SbMatrix & mm ) [protected, virtual]

This method creates a box geom of the given 1/1/1 side lengths, and returns its ID. The point of reference for a box is its center.

Parameters:

mm

the model matrix of the current node

Returns:: dGeomID: The dGeomID of the box geom.

Reimplemented in SoCollisionShapeBox, SoCollisionShapeCylinder, SoCollisionShapePlane, SoCollisionShapeSphere, and SoCollisionShapeTriMesh.

Definition at line 532 of file SoCollisionShape.cpp.

References space.

Referenced by createGeom().

SoBaseKit * SoCollisionShape::copy ( SbBool copyConnections ) const [virtual]

The overwritten copy() method

Parameters:

copyConnections

copy connections if true

Reimplemented in SoCollisionShapeBox, SoCollisionShapeCylinder, SoCollisionShapePlane, SoCollisionShapeSphere, and SoCollisionShapeTriMesh.

Definition at line 386 of file SoCollisionShape.cpp.

References COG, CoinRefTransform, geometry, setUpConnections(), space, and transform.

dGeomID SoCollisionShape::createGeom ( const SbMatrix & mm )

On first time invoke: uses the method SoCollisionShape::cGeom() to initialise SoCollisionShape::geometry via ODE if it is NULL. The dGeomID is used to set the body and data on it, Category and Collisionmask are set. Upon all subsequent calls the ODE-geom is NOT reinitialized. Only SoCollisionShape::category and SoCollisionShape::collisionmask are set on SoCollisionShape::geometry. SoCollisionShape::updateVisualisationAndOdeProperties is called if SoCollisionShape::autoinitialise is set to TRUE.

Parameters:

mm

the model matrix of the current node

Returns:: dGeomID: the ODE internal ID of the collision shape

Definition at line 485 of file SoCollisionShape.cpp.

References category, cGeom(), collisionmask, geometry, and updateVisualisationAndOdeProperties().

Referenced by InitCollisionShapesCB().

void SoCollisionShape::getCOG ( SbVec3f & COM )

Parameters:

COM

the center of gravity vector is stored in this parameter.

Definition at line 570 of file SoCollisionShape.cpp.

References COG.

Referenced by SoPhysics::createOdeBody(), and SoPhysics::updateOdeBodyParameters().

dGeomID SoCollisionShape::getGeom ( )

Returns the dGeomID of the object.

Returns:: dGeomID: The dGeomID of the object.

Definition at line 465 of file SoCollisionShape.cpp.

References geometry.

Referenced by SoPhysics::createOdeBody().

SoCollisionShape::getSpace ( ) [inline]

Returns:: the dSpaceID the collision shape was created in.

Definition at line 68 of file SoCollisionShape.h.

SbBool SoCollisionShape::getVisualisationStatus ( )

Reads the visualisation status and returns it.

Returns:: true if visualisation is visible, false otherwise.

Definition at line 544 of file SoCollisionShape.cpp.

void SoCollisionShape::initClass ( ) [static]

Initialises the class and it's type id variables.

Reimplemented in SoCollisionShapeBox, SoCollisionShapeCylinder, SoCollisionShapePlane, SoCollisionShapeSphere, and SoCollisionShapeTriMesh.

Definition at line 291 of file SoCollisionShape.cpp.

SoCallbackAction::Response SoCollisionShape::InitCollisionShapesCB	(	void *	userdata,
		SoCallbackAction *	action,
		const SoNode *	node
	)			`[static]`

This method traverses the Inventor tree and creates the respective ODE-Geom for each SoCollisionShapes-Node. Additionally it calls SoCollisionShape::setUpConnections() on the instance which can not be done in the constructor since the method SoCollisionShape::setUpConnections() is virtual and can not be called safely inside the constructor.

Parameters:

	userdata	pointer to an SoWorldPhysics object
	action	used to get the model matrix of the current node
	node	node with supertype SoCollisionshape

Definition at line 308 of file SoCollisionShape.cpp.

References autoinitialise, createGeom(), SoWorldPhysics::ownspace, setSpace(), setUpConnections(), updateGeomPosition(), and updateVisualisationAndOdeProperties().

Referenced by SoWorldPhysics::initialiseWorld().

void SoCollisionShape::setSpace ( dSpaceID spaceID )

SoCollisionShape::setSpace(dSpaceID spaceID) Sets the dSpaceID the collision shape should be created in.

Todo:: Allow the collision shape to be moved between spaces???

Parameters:

spaceID

the dSpaceID to set

Definition at line 509 of file SoCollisionShape.cpp.

References space.

Referenced by InitCollisionShapesCB().

SbBool SoCollisionShape::setUpConnections	(	SbBool	onOff,
		SbBool	doItAlways = `FALSE`
	)

Connects the updateOdePropertiesSensor with the updateOdePropertiesTrigger field depending on the parameter onOff.

Parameters:

	onOff	attach sensors if TRUE, detach sensors if FALSE
	doItAlways	always perform attach/detach of sensors if this parameter is TRUE

Returns:: SbBool

Definition at line 410 of file SoCollisionShape.cpp.

References updateOdePropertiesSensor, updateOdePropertiesTrigger, and UpdateVisualisationAndOdePropertiesCB().

Referenced by SoCollisionShapeTriMesh::copy(), SoCollisionShapeSphere::copy(), SoCollisionShapePlane::copy(), SoCollisionShapeCylinder::copy(), SoCollisionShapeBox::copy(), copy(), and InitCollisionShapesCB().

void SoCollisionShape::setVisualisationStatus ( SbBool onOff )

Sets the visibility of the visualisation.

Parameters:

onOff

enables the visualisation if true, disables it otherwise.

Definition at line 558 of file SoCollisionShape.cpp.

Referenced by SoPhysics::createOdeBody(), and SoPhysics::FieldChangedCB().

SoCollisionShape::SO_KIT_CATALOG_ENTRY_HEADER ( visualisation ) [private]

SoCollisionShape::SO_KIT_CATALOG_ENTRY_HEADER ( ODETransform ) [private]

SoCollisionShape::SO_KIT_CATALOG_ENTRY_HEADER ( visDrawStyle ) [private]

SoCollisionShape::SO_KIT_CATALOG_ENTRY_HEADER ( separator ) [private]

SoCollisionShape::SO_KIT_HEADER ( SoCollisionShape ) [private]

void SoCollisionShape::updateGeomPosition ( const SbMatrix & mm ) [virtual]

This function sets the ODE transformation from the open inventor transformation and aligns the Inventor visualisation with ODE. It is used for static collisionshapes (geoms without bodies) only.

Parameters:

mm

The open inventor transformation matrix.

Reimplemented in SoCollisionShapePlane.

Definition at line 598 of file SoCollisionShape.cpp.

References alignment, CENTERED, COG, CoinRefTransform, geometry, and STANDARD.

Referenced by InitCollisionShapesCB().

void SoCollisionShape::updateOIPosition ( )

This function sets the open inventor position. It may be overridden for derived classed.

Definition at line 636 of file SoCollisionShape.cpp.

References CoinRefTransform, geometry, and transform.

void SoCollisionShape::updateVisualisationAndOdeProperties ( ) [protected, virtual]

Updates the default visualisation shape of the collsionshape and creates it if it isn't present. There are no properties which need to be updated

Reimplemented in SoCollisionShapeBox, SoCollisionShapeCylinder, SoCollisionShapePlane, SoCollisionShapeSphere, and SoCollisionShapeTriMesh.

Definition at line 450 of file SoCollisionShape.cpp.

Referenced by createGeom(), InitCollisionShapesCB(), and UpdateVisualisationAndOdePropertiesCB().

void SoCollisionShape::UpdateVisualisationAndOdePropertiesCB	(	void *	data,
		SoSensor *	sensor
	)			`[static, private]`

This method is called whenever a size property of the collisionshape changes. It sets the new values on the dependent visualisation shape by calling updateVisualisationAndOdeProperties() on the passed in data object.

Parameters:

	data	void pointer to an SoPhysics object on which updateDependentObjects is called
	sensor	currently unused

Definition at line 582 of file SoCollisionShape.cpp.

References updateVisualisationAndOdeProperties().

Referenced by setUpConnections(), and SoCollisionShape().

Member Data Documentation

SoCollisionShape::alignment

Alignment of current SoCollisionShape (default = SoCollisionShape::STANDARD).

Definition at line 83 of file SoCollisionShape.h.

Referenced by SoCollisionShape(), updateGeomPosition(), and SoPhysics::updateOdeBodyParameters().

SoCollisionShape::autoinitialise

If this value is true the SoCollisionShape::updateVisualisationAndOdeProperties() method is called in SoCollisionShape::InitCollisionShapesCB(void*, SoCallbackAction*, const SoNode*).

Definition at line 100 of file SoCollisionShape.h.

Referenced by InitCollisionShapesCB(), and SoCollisionShape().

SoCollisionShape::category

Current collision category. This is used in ODE to distinguish different object categories for collision.

Definition at line 98 of file SoCollisionShape.h.

Referenced by createGeom(), and SoCollisionShape().

SoCollisionShape::COG [protected]

The center of gravity (cog) of the collision shape (default = { 0.0f, 0.0f, 0.0f}).

Definition at line 112 of file SoCollisionShape.h.

Referenced by SoCollisionShapeTriMesh::cGeom(), copy(), getCOG(), and updateGeomPosition().

SoCollisionShape::CoinRefTransform [protected]

Definition at line 109 of file SoCollisionShape.h.

Referenced by copy(), updateGeomPosition(), and updateOIPosition().

SoCollisionShape::collisionmask

Collisionmask used by the ODE engine.

Definition at line 99 of file SoCollisionShape.h.

Referenced by createGeom(), and SoCollisionShape().

dGeomID SoCollisionShape::geometry [protected]

The ID of the SoCollisionShape object (default = NULL).

Definition at line 111 of file SoCollisionShape.h.

Referenced by copy(), createGeom(), getGeom(), updateGeomPosition(), updateOIPosition(), SoCollisionShapeSphere::updateVisualisationAndOdeProperties(), SoCollisionShapeCylinder::updateVisualisationAndOdeProperties(), SoCollisionShapeBox::updateVisualisationAndOdeProperties(), and ~SoCollisionShape().

SoCollisionShape::space [protected]

The ID of the ODE space the collision shape is created in.

Definition at line 110 of file SoCollisionShape.h.

Referenced by SoCollisionShapeTriMesh::cGeom(), SoCollisionShapeSphere::cGeom(), SoCollisionShapePlane::cGeom(), SoCollisionShapeCylinder::cGeom(), SoCollisionShapeBox::cGeom(), cGeom(), copy(), and setSpace().

SoCollisionShape::surfaceMaterial

Current surface material for the SoCollisionShape (default = SoCollisionShape::GREASY).

Definition at line 96 of file SoCollisionShape.h.

Referenced by SoWorldPhysics::NearCallback(), and SoCollisionShape().

SoCollisionShape::transform [protected]

Definition at line 108 of file SoCollisionShape.h.

Referenced by SoCollisionShapePlane::cGeom(), copy(), SoCollisionShape(), and updateOIPosition().

SoCollisionShape::updateOdePropertiesSensor [protected]

This sensor is attached to SoCollisionShape::updateOdePropertiesTrigger and calls SoCollsisionShape::UpdateVisualisationAndOdePropertiesCB() when the field changes.

Definition at line 107 of file SoCollisionShape.h.

Referenced by setUpConnections(), and SoCollisionShape().

SoCollisionShape::updateOdePropertiesTrigger [protected]

The SoCollisionShape::updateOdePropertiesSensor is attached to this field to automatically update the ODE propertries and the visualisation shape if any object property changes. To make a property field property1 trigger an update of the visualisation shape use the following code in the constructor:

 updateOdePropertiesTrigger.appendConnection(&property1);

Definition at line 106 of file SoCollisionShape.h.

Referenced by setUpConnections(), SoCollisionShapeBox::SoCollisionShapeBox(), SoCollisionShapeCylinder::SoCollisionShapeCylinder(), SoCollisionShapePlane::SoCollisionShapePlane(), SoCollisionShapeSphere::SoCollisionShapeSphere(), and SoCollisionShapeTriMesh::SoCollisionShapeTriMesh().

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

include/IPSA/SoCollisionShape.h
source/SoCollisionShape.cpp


Public Types
Public Member Functions
virtual SoBaseKit *	copy (SbBool copyConnections) const
dGeomID	createGeom (const SbMatrix &mm)
void	getCOG (SbVec3f &cog)
dGeomID	getGeom ()
dSpaceID	getSpace ()
SbBool	getVisualisationStatus ()
void	setSpace (dSpaceID spaceID)
SbBool	setUpConnections (SbBool onOff, SbBool doItAlways=FALSE)
void	setVisualisationStatus (SbBool onOff)
	SoCollisionShape (const SbString &nodeName="")
virtual void	updateGeomPosition (const SbMatrix &mm)
void	updateOIPosition ()
virtual	~SoCollisionShape ()
Static Public Member Functions
static void	initClass ()
static SoCallbackAction::Response	InitCollisionShapesCB (void userdata, SoCallbackAction action, const SoNode *node)
Public Attributes
SoSFEnum	alignment
SoSFBool	autoinitialise
SoSFUInt32	category
SoSFUInt32	collisionmask
SoSFEnum	surfaceMaterial
Protected Member Functions
virtual dGeomID	cGeom (const SbMatrix &mm)
virtual void	updateVisualisationAndOdeProperties ()
Protected Attributes
SbVec3f	COG
SbMatrix	CoinRefTransform
dGeomID	geometry
dSpaceID	space
SoMatrixTransform *	transform
SoFieldSensor	updateOdePropertiesSensor
SoSFTrigger	updateOdePropertiesTrigger
Private Member Functions
	SO_KIT_CATALOG_ENTRY_HEADER (visualisation)
	SO_KIT_CATALOG_ENTRY_HEADER (ODETransform)
	SO_KIT_CATALOG_ENTRY_HEADER (visDrawStyle)
	SO_KIT_CATALOG_ENTRY_HEADER (separator)
	SO_KIT_HEADER (SoCollisionShape)
Static Private Member Functions
static void	UpdateVisualisationAndOdePropertiesCB (void data, SoSensor sensor)

SoCollisionShape Class Reference [libipsa classes, CollisionShape classes]

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Static Private Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

SoCollisionShape Class Reference
[libipsa classes, CollisionShape classes]