include/IPSA/SoPhysics.h

Go to the documentation of this file.

#ifndef IPSA_SOPHYSICS_H
#define IPSA_SOPHYSICS_H
/*
 * Copyright (c) 2004, University of Braunschweig (for members see AUTHORS file)
 * Copyright (c) 2007, 2008, 2009 University of Karlsruhe (for members see AUTHORS file)
 * Copyright (c) 2011, Karlsruhe Institute of Technology (for members see AUTHORS file)
 *
 * ISC License
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 */

#include "IPSA.h"

#include <Inventor/actions/SoCallbackAction.h>
#include <Inventor/nodekits/SoBaseKit.h>
#include <Inventor/SbLinear.h>
#include <Inventor/fields/SoSFFloat.h>
#include <Inventor/fields/SoSFVec3f.h>
#include <Inventor/fields/SoMFVec3f.h>
#include <Inventor/fields/SoMFNode.h>
#include <Inventor/fields/SoSFBool.h>
#include <Inventor/fields/SoSFEnum.h>
#include <Inventor/fields/SoSFTrigger.h>
#include <Inventor/sensors/SoFieldSensor.h>

#include <ode/ode.h>

class SoSensor;
class SoMatrixTransform;

class IPSA_IMPORT_EXPORT SoPhysics : public SoBaseKit
{

SO_KIT_HEADER(SoPhysics);

// Defines fields for the new parts in the catalog
SO_KIT_CATALOG_ENTRY_HEADER(separator);
SO_KIT_CATALOG_ENTRY_HEADER(reset);
SO_KIT_CATALOG_ENTRY_HEADER(collisionShape);
SO_KIT_CATALOG_ENTRY_HEADER(ODETransform);
SO_KIT_CATALOG_ENTRY_HEADER(visualisationShape);

public:
                // Constructor
                SoPhysics(const SbString& nodeName = "");

                // Destructor
                virtual ~SoPhysics();

                virtual SoBaseKit* copy(SbBool copyConnections) const;
                virtual SbBool setUpConnections(SbBool onOff, SbBool doItAlways = FALSE);
                static void initClass();
                static SoCallbackAction::Response InitialiseOdeBodiesCB(void* userdata, SoCallbackAction*, const SoNode* node);
                static SoCallbackAction::Response UpdateOdeBodiesCB(void*, SoCallbackAction* action, const SoNode* node);
                static SoCallbackAction::Response ResetOdeBodiesCB(void* userdata, SoCallbackAction* action, const SoNode* node);

                void setCollisionShapeVisibility(SbBool visible);

                void setForce(const SbVec3f& force);
                void setRelForce(const SbVec3f& force);
                void setForceAtPosition(const SbVec3f& force, const SbVec3f& position);
                void setRelForceAtPosition(const SbVec3f& force, const SbVec3f& position);

                void setLinearVel(const SbVec3f& vel);
                void setTorque(const SbVec3f& torque);

                void createOdeBody(SoCallbackAction* action);
                void updateOdeBody(SoCallbackAction* action);
                void resetOdeBody(SoCallbackAction* action);
                void setWorld(dWorldID w);
                dWorldID getWorld();

                SoSFVec3f getCurrentForce();
                SoSFVec3f getCurrentTorque();
                SoSFVec3f getCurrentLinearVel();
                SoSFVec3f getCurrentPosition();
                SbMatrix getMatrixTransform();
                SbMatrix getOIMatrixTransform();
                dBodyID getBody();

                SoSFBool AUTO_UPDATE_COLLISION_SHAPE;
                SoSFFloat mass;
                SoSFVec3f linVelocity;
                SoSFVec3f angVelocity;
                SoMFNode jointList;
                SoMFVec3f torqueField;
                SoMFVec3f forceField;
                SoMFVec3f forcePos;
                SoMFVec3f inertia;

                SoSFVec3f scale;

                SoSFBool drawCollisionShape;
                SoSFBool measureContactForces;

protected:
                virtual dMass getInitialMass();
                virtual void updateOIPosition();
                virtual void updateDependentObjects() {;}

                SoMatrixTransform* transform;
                SbMatrix CoinRefTransform;

                bool isInitialised;

                dWorldID myWorld;
                dBodyID body;
                dGeomID geom;

                SoSFTrigger fieldUpdateTrigger;
                SoFieldSensor fieldUpdateSensor;
                SoSFTrigger updateDependentObjectsTrigger;
                SoFieldSensor updateDependentObjectsSensor;

                // reset / re-init values
                SbVec3f init_linVelocity;
                SbVec3f init_angVelocity;

private:
                static void UpdateDependentObjectsCB(void* data, SoSensor* sensor);
                static void FieldChangedCB(void* data, SoSensor*);
                void updateOdeBodyParameters(const SbMatrix& actionModelMatrix);
};

#endif

---