tgCompoundRigidInfo Class Reference

Inheritance diagram for tgCompoundRigidInfo:

Collaboration diagram for tgCompoundRigidInfo:

Public Member Functions
	tgCompoundRigidInfo ()
tgModel *	createModel (tgWorld &world)
virtual	~tgCompoundRigidInfo ()
void	addRigid (tgRigidInfo &rigid)
virtual btVector3	getCenterOfMass () const
btCompoundShape *	createCompoundShape (tgWorld &world) const
virtual btCollisionShape *	getCollisionShape (tgWorld &world) const
virtual btTransform	getTransform () const
virtual double	getMass () const
virtual btRigidBody *	getRigidBody ()
virtual const btRigidBody *	getRigidBody () const
virtual void	setRigidBody (btRigidBody *const rigidBody)
virtual btCollisionObject *	getCollisionObject ()
virtual const btCollisionObject *	getCollisionObject () const
virtual void	setCollisionObject (btCollisionObject *collisionObject)
virtual btVector3	getConnectionPoint (const btVector3 &referencePoint, const btVector3 &) const
virtual tgCompoundRigidInfo *	getCompound ()
virtual const tgCompoundRigidInfo *	getCompound () const
virtual std::set< tgRigidInfo * >	getLeafRigids ()
virtual bool	containsNode (const btVector3 &nodeVector) const
virtual bool	sharesNodesWith (const tgRigidInfo &other) const
std::set< btVector3 >	getContainedNodes () const
virtual tgRigidInfo *	createRigidInfo (const tgNode &node)
virtual tgRigidInfo *	createRigidInfo (const tgPair &pair)
virtual tgRigidInfo *	createRigidInfo (const tgNode &node, const tgTagSearch &tagSearch)
virtual tgRigidInfo *	createRigidInfo (const tgPair &pair, const tgTagSearch &tagSearch)
virtual std::vector < tgRigidInfo * >	createRigidInfos (const tgNodes &nodes, const tgTagSearch &tagSearch)
virtual std::vector < tgRigidInfo * >	createRigidInfos (const tgPairs &pairs, const tgTagSearch &tagSearch)
virtual void	initRigidBody (tgWorld &world)
void	setCollisionShape (btCollisionShape *p_btCollisionShape)
virtual tgRigidInfo *	getRigidInfoGroup ()
virtual const tgRigidInfo *	getRigidInfoGroup () const
virtual void	setRigidInfoGroup (tgRigidInfo *rigidInfoGroup)
virtual btVector3	getConnectionPoint (const btVector3 &referencePoint, const btVector3 &destinationPoint, const double rotation) const
bool	isCompound () const
void	addTags (const std::string &space_separated_tags)
void	addTags (const tgTags &tags)
bool	hasTag (const std::string tag) const
bool	hasAllTags (std::string tags)
bool	hasAnyTags (const std::string tags)
bool	hasNoTags ()
tgTags &	getTags ()
const tgTags &	getTags () const
void	setTags (tgTags tags)
std::string	getTagStr (std::string delim=" ") const

Protected Attributes
std::vector< tgRigidInfo * >	m_rigids
btCompoundShape *	m_compoundShape
btCollisionShape *	m_collisionShape
tgRigidInfo *	m_rigidInfoGroup
btCollisionObject *	m_collisionObject

Detailed Description

Definition at line 36 of file tgCompoundRigidInfo.h.

Constructor & Destructor Documentation

tgCompoundRigidInfo::tgCompoundRigidInfo

(

)

The null constructor is the default constructor.

Todo:

Require both m_rigidBody and m_rigids to be supplied in the constructor. Initialize m_compoundShape, store mass and center of mass in member variables.

Definition at line 28 of file tgCompoundRigidInfo.cpp.

virtual tgCompoundRigidInfo::~tgCompoundRigidInfo ( )

inlinevirtual

The destructor does not own the btRigidBody objects and must not deallocate them. Additionally, collision shapes cannot be deallocated until the world is deleted

Definition at line 56 of file tgCompoundRigidInfo.h.

Member Function Documentation

void tgCompoundRigidInfo::addRigid

(

tgRigidInfo &

rigid

)

Insert a pointer to the supplied tgRigidInfo into a container. The tgCompoundRigidInfo does not assume ownership of the tgRigidInfo, and must not deallocate it.

Parameters

[in,out]

rigit

a tgRigidInfo

Todo:

Get rid of this. Require all m_rigids to be supplied in the constructor.

Definition at line 42 of file tgCompoundRigidInfo.cpp.

bool tgCompoundRigidInfo::containsNode ( const btVector3 &  nodeVector ) const

virtual

Is the given vector a node anywhere in this compound?

Return values

true	if nodeVector is a node anywhere in this compound
false	if nodeVector is not a node anywhere in this compound

Todo:

Use std::find_if()

Implements tgRigidInfo.

Definition at line 167 of file tgCompoundRigidInfo.cpp.

btCompoundShape * tgCompoundRigidInfo::createCompoundShape

(

tgWorld &

world

)

const

Return a pointer to the corresponding btCollisionShape, lazily creating it if it does not exist..

Returns

a pointer to the corresponding btCollisionShape

Definition at line 61 of file tgCompoundRigidInfo.cpp.

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btVector3 tgCompoundRigidInfo::getCenterOfMass ( ) const

virtual

Return the center of mass of all the tgRigidInfo objects in the tree.

Returns

the center of mass of all the tgRigidInfo objects in the tree

Return values

a	zero vector if the mass is zero

Todo:

Make this const here and in all base classes and derived classes.

Make rigid const when tgCompoundRigidInfo::getCenterOfMass() is const.

If all m_rigids are supplied in the constructor, this can be calculated in the constructor and cashed as a const member variable.

Implements tgRigidInfo.

Definition at line 47 of file tgCompoundRigidInfo.cpp.

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virtual btCollisionObject* tgCompoundRigidInfo::getCollisionObject ( )

inlinevirtual

Return a pointer to the collisionObject without upcasting

Returns

a pointer to the corresponding btCollisionObject

Reimplemented from tgRigidInfo.

Definition at line 131 of file tgCompoundRigidInfo.h.

virtual const btCollisionObject* tgCompoundRigidInfo::getCollisionObject ( ) const

inlinevirtual

Return a pointer to the collisionObject without upcasting

Returns

a pointer to the corresponding btCollisionObject

Reimplemented from tgRigidInfo.

Definition at line 140 of file tgCompoundRigidInfo.h.

btCollisionShape * tgCompoundRigidInfo::getCollisionShape ( tgWorld &  world ) const

virtual

Return a pointer to the corresponding btCollisionShape.

Returns

a pointer to the corresponding btCollisionShape

Implements tgRigidInfo.

Definition at line 86 of file tgCompoundRigidInfo.cpp.

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virtual tgCompoundRigidInfo* tgCompoundRigidInfo::getCompound ( )

inlinevirtual

Return a non-const pointer to this object.

Todo:

What is the purpose? The caller must already have the object, a reference or a pointer to be able to call this.

Implements tgRigidInfo.

Definition at line 169 of file tgCompoundRigidInfo.h.

virtual const tgCompoundRigidInfo* tgCompoundRigidInfo::getCompound ( ) const

inlinevirtual

Return a const pointer to this object.

Todo:

What is the purpose? The caller must already have the object, a reference or a pointer to be able to call this.

Add this to the base classes and derived classes.

Implements tgRigidInfo.

Definition at line 177 of file tgCompoundRigidInfo.h.

virtual btVector3 tgCompoundRigidInfo::getConnectionPoint ( const btVector3 &  referencePoint, const btVector3 &    ) const

inlinevirtual

By default this should look for the object that has the closest connectionPoint to the destination or something. That may change, or we might provide a strategy-based object here?

Implements tgRigidInfo.

Definition at line 157 of file tgCompoundRigidInfo.h.

virtual btVector3 tgRigidInfo::getConnectionPoint ( const btVector3 &  referencePoint, const btVector3 &  destinationPoint, const double  rotation  ) const

inlinevirtualinherited

Virtual version of getConnectionPoint quietly ignores rotation information for non-rod objects

Reimplemented in tgBoxInfo, tgRodInfo, and tgSphereInfo.

Definition at line 260 of file tgRigidInfo.h.

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std::set< btVector3 > tgCompoundRigidInfo::getContainedNodes ( ) const

virtual

Return a set of the nodes contained anywhere in this compound.

Returns

a set of the nodes contained anywhere in this compound

Todo:

Use std::accumulate()

Implements tgRigidInfo.

Definition at line 192 of file tgCompoundRigidInfo.cpp.

std::set< tgRigidInfo * > tgCompoundRigidInfo::getLeafRigids ( )

virtual

Todo:

This function can't be const unless the return value is std::set<const tgRigidInfo*>.

Implements tgRigidInfo.

Definition at line 147 of file tgCompoundRigidInfo.cpp.

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double tgCompoundRigidInfo::getMass ( ) const

virtual

Return the compound's mass. The mass is the sum of the masses of all the tgRigidInfo objects in the compound.

Todo:

Do this in the constructor and cache the result as a member variable.

Todo:

Use std::accumulate()

Implements tgRigidInfo.

Definition at line 103 of file tgCompoundRigidInfo.cpp.

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btRigidBody * tgCompoundRigidInfo::getRigidBody ( )

virtual

Return a pointer to the corresponding btRigidBody.

Returns

a pointer to the corresponding btRigidBody

Reimplemented from tgRigidInfo.

Definition at line 114 of file tgCompoundRigidInfo.cpp.

const btRigidBody * tgCompoundRigidInfo::getRigidBody ( ) const

virtual

Return a const pointer to the corresponding btRigidBody.

Returns

a pointer to the corresponding btRigidBody

Reimplemented from tgRigidInfo.

Definition at line 120 of file tgCompoundRigidInfo.cpp.

virtual tgRigidInfo* tgRigidInfo::getRigidInfoGroup ( )

inlinevirtualinherited

Get the tgRigidInfo that represents the compound rigid that this rigid belongs to. If it doesn't share nodes with any other rigids (determined during auto-compounding), it will point to itself.

Definition at line 149 of file tgRigidInfo.h.

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btTransform tgCompoundRigidInfo::getTransform ( ) const

virtual

Return an identity btTransform with the origin being the center of mass.

Returns

an identity btTransform with the origin being the center of mass

Implements tgRigidInfo.

Definition at line 95 of file tgCompoundRigidInfo.cpp.

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bool tgRigidInfo::isCompound ( ) const

inlineinherited

Is this tgRigidInfo a compound?

Return values

true	if this tgRigidInfo is a compound
false	if this tgRigidInfo is not a compound

Todo:

Is this necessary?

Definition at line 273 of file tgRigidInfo.h.

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void tgCompoundRigidInfo::setCollisionObject ( btCollisionObject *  collisionObject )

virtual

Set the collision object to a new collision object

Returns

a pointer to the corresponding btCollisionObject

Todo:

Use std::for_each()

Reimplemented from tgRigidInfo.

Definition at line 136 of file tgCompoundRigidInfo.cpp.

void tgRigidInfo::setCollisionShape ( btCollisionShape *  p_btCollisionShape )

inlineinherited

Set the corresponding btCollisionShape.

Parameters

[in,out]

a

pointer to a btCollisionShape

Todo:

Does this leak any previous value of m_collisionShape?

Definition at line 137 of file tgRigidInfo.h.

void tgCompoundRigidInfo::setRigidBody ( btRigidBody *const  rigidBody )

virtual

Set the corresponding btRigidBody.

Parameters

[in,out]

a

pointer to a btRigidBody

Todo:

Use std::for_each()

Reimplemented from tgRigidInfo.

Definition at line 126 of file tgCompoundRigidInfo.cpp.

virtual void tgRigidInfo::setRigidInfoGroup ( tgRigidInfo *  rigidInfoGroup )

inlinevirtualinherited

Set the tgRigidInfo that represents the compound rigid that this may belong to. This will be set during auto-compounding.

Definition at line 163 of file tgRigidInfo.h.

bool tgCompoundRigidInfo::sharesNodesWith ( const tgRigidInfo &  other ) const

virtual

Todo:

Make this const in all base classes and all derived classes.

Make other const in all base classes and all derived classes.

Todo:

Use std::find_if()

Reimplemented from tgRigidInfo.

Definition at line 180 of file tgCompoundRigidInfo.cpp.

Member Data Documentation

btCollisionObject* tgRigidInfo::m_collisionObject

mutableprotectedinherited

A pointer to the corresponding btCollisionObject. Typically a btRigidBody, but can also be a btGhostObject

Definition at line 347 of file tgRigidInfo.h.

btCollisionShape* tgRigidInfo::m_collisionShape

mutableprotectedinherited

A pointer to the corresponding btCollisionShape.

Definition at line 332 of file tgRigidInfo.h.

btCompoundShape* tgCompoundRigidInfo::m_compoundShape

mutableprotected

The btCompoundShape that represents this compound to Bullet.

Definition at line 216 of file tgCompoundRigidInfo.h.

tgRigidInfo* tgRigidInfo::m_rigidInfoGroup

mutableprotectedinherited

A pointer to a group of rigids to which this rigid belongs. This is set during the rigid grouping step by a StructureInfo. If this is not set, getRigidGroup() will return a pointer to this (effectively, "I'm in my own group")

Definition at line 341 of file tgRigidInfo.h.

std::vector<tgRigidInfo*> tgCompoundRigidInfo::m_rigids

protected

A collection of tgRigidInfo pointers, each supplied by the client.

Todo:

Change this to std::set to prevent duplication.

Make this const and initialize it in the constructor.

Definition at line 211 of file tgCompoundRigidInfo.h.

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

• tgcreator/tgCompoundRigidInfo.h
• tgcreator/tgCompoundRigidInfo.cpp