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tgRigidInfo Class Referenceabstract

#include <tgRigidInfo.h>

Inherits tgTaggable.

Inherited by tgBoxInfo, tgCompoundRigidInfo, tgRodInfo, and tgSphereInfo.

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Public Member Functions

 tgRigidInfo (tgTags tags)
 
 tgRigidInfo (const std::string &space_separated_tags)
 
virtual ~tgRigidInfo ()
 
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)
 
virtual tgModel * createModel (tgWorld &world)=0
 
virtual btCollisionShape * getCollisionShape (tgWorld &world) const =0
 
void setCollisionShape (btCollisionShape *p_btCollisionShape)
 
virtual tgRigidInfo * getRigidInfoGroup ()
 
virtual const tgRigidInfo * getRigidInfoGroup () const
 
virtual void setRigidInfoGroup (tgRigidInfo *rigidInfoGroup)
 
virtual btRigidBody * getRigidBody ()
 
virtual const btRigidBody * getRigidBody () const
 
virtual void setRigidBody (btRigidBody *rigidBody)
 
virtual btCollisionObject * getCollisionObject ()
 
virtual const btCollisionObject * getCollisionObject () const
 
virtual void setCollisionObject (btCollisionObject *collisionObject)
 
virtual btTransform getTransform () const =0
 
virtual double getMass () const =0
 
virtual btVector3 getCenterOfMass () const =0
 
virtual btVector3 getConnectionPoint (const btVector3 &referencePoint, const btVector3 &destinationPoint) const =0
 
virtual btVector3 getConnectionPoint (const btVector3 &referencePoint, const btVector3 &destinationPoint, const double rotation) const
 
bool isCompound () const
 
virtual tgCompoundRigidInfo * getCompound ()=0
 
virtual const tgCompoundRigidInfo * getCompound () const =0
 
virtual std::set< tgRigidInfo * > getLeafRigids ()=0
 
virtual bool containsNode (const btVector3 &nodeVector) const =0
 
virtual std::set< btVector3 > getContainedNodes () const =0
 
virtual bool sharesNodesWith (const tgRigidInfo &other) 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

btCollisionShape * m_collisionShape
 
tgRigidInfo * m_rigidInfoGroup
 
btCollisionObject * m_collisionObject
 

Detailed Description

A collector for keeping track of all of the necessary components of a rigid model during the build process. Information is filled in in the following order:

  1. Structural information (different for each subclass) that is necessary for subsequent steps (e.g. radius, density, and end points for a rod)
  2. m_collisionShape – the information from #1 is used to create an appropriate btCollisionShape. Note that a btCollisionShape does not have mass or placement info, it's just a shape.
  3. m_rigidGroup – this is usually filled in by a tgStructureInfo object during the groupRigids() operation that is required for auto-compounding. If the group is not set, a pointer to self is returned. If you know your rigid does not share any nodes with other rigids, you can skip setting this and things will still work.
  4. m_rigidBody – This is the actual representation of the rigid for Bullet Physics to use. We keep a pointer to it here so that tgConnectorInfo objects that point to this can be translated into tgModels.

Note: A tgRigidInfo is a tree. If it is not compound, the tree has one node.

Definition at line 75 of file tgRigidInfo.h.

Constructor & Destructor Documentation

virtual tgRigidInfo::~tgRigidInfo ( )
inlinevirtual

The destructor has nothing to do.

Definition at line 100 of file tgRigidInfo.h.

Member Function Documentation

virtual bool tgRigidInfo::containsNode ( const btVector3 &  nodeVector) const
pure virtual

Is the given vector a node anywhere in this rigid body?

Return values
trueif nodeVector is a node anywhere in this rigid body
falseif nodeVector is not a node anywhere in this rigid body

Implemented in tgBoxInfo, tgRodInfo, tgSphereInfo, tgCompoundRigidInfo, and tgBoxMoreAnchorsInfo.

virtual btVector3 tgRigidInfo::getCenterOfMass ( ) const
pure virtual

Return the rigid body's center of mass.

Returns
the rigid body's center of mass.

Implemented in tgBoxInfo, tgRodInfo, tgSphereInfo, and tgCompoundRigidInfo.

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virtual btCollisionObject* tgRigidInfo::getCollisionObject ( )
inlinevirtual

Return a pointer to the collisionObject without upcasting

Returns
a pointer to the corresponding btCollisionObject

Reimplemented in tgCompoundRigidInfo.

Definition at line 190 of file tgRigidInfo.h.

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virtual const btCollisionObject* tgRigidInfo::getCollisionObject ( ) const
inlinevirtual

Return a pointer to the collisionObject without upcasting

Returns
a pointer to the corresponding btCollisionObject

Reimplemented in tgCompoundRigidInfo.

Definition at line 199 of file tgRigidInfo.h.

virtual btCollisionShape* tgRigidInfo::getCollisionShape ( tgWorld &  world) const
pure virtual

Return a pointer to the corresponding btCollisionShape.

Returns
a pointer to the corresponding btCollisionShape

Implemented in tgBoxInfo, tgRodInfo, tgSphereInfo, and tgCompoundRigidInfo.

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virtual tgCompoundRigidInfo* tgRigidInfo::getCompound ( )
pure virtual

If this tgRigidInfo is a tgCompoundRigidInfo, return a pointer to it; otherwise return NULL.

Return values
NULLif this tgRigidInfo is not a tgCompoundRigidInfo
thethis pointer if this tgRigidInfo is a tgCompoundRigidInfo
Todo:
Is this necessary?

Implemented in tgBoxInfo, tgRodInfo, tgSphereInfo, and tgCompoundRigidInfo.

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virtual const tgCompoundRigidInfo* tgRigidInfo::getCompound ( ) const
pure virtual

If this tgRigidInfo is a tgCompoundRigidInfo, return a pointer to it; otherwise return NULL.

Return values
NULLif this tgRigidInfo is not a tgCompoundRigidInfo
thethis pointer if this tgRigidInfo is a tgCompoundRigidInfo
Todo:
Is this necessary?

Implemented in tgBoxInfo, tgRodInfo, tgSphereInfo, and tgCompoundRigidInfo.

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

Add this (for determining, for instance, an edge connection point for a cylinder, a surface point on a ball, etc.) Usually the referencePoint is something like the node at the end of a cylinder or the center point of a sphere, and the destinationPoint is a point on the other object that we'll be connecting to. In the case of a cylinder, this function might return the edge point closest to the destinationPoint.

Or for an irregular surface (or any shape for that matter), you could keep a list of surface points and have this function select the closest one to the destination.

Todo:

: For the generic tgRigidInfo implementation, allow people to provide a delegate object to find the connection point.

: Should this return a reference instead of a value? Possibility of change indicates a reference, but do we want to allow this to be changeable?

Implemented in tgCompoundRigidInfo, tgBoxInfo, tgRodInfo, and tgSphereInfo.

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

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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virtual std::set<btVector3> tgRigidInfo::getContainedNodes ( ) const
pure virtual

Return the set of nodes contained anywhere in the rigid body. For instance, a tgRod would return a set containing its 'from' and 'to' points.

Implemented in tgBoxInfo, tgRodInfo, tgSphereInfo, and tgCompoundRigidInfo.

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virtual std::set<tgRigidInfo*> tgRigidInfo::getLeafRigids ( )
pure virtual

Return a set of all non-compound tgRigidInfo objects in the tgRigidInfo tree.

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

Implemented in tgBoxInfo, tgRodInfo, tgSphereInfo, tgCompoundRigidInfo, and tgBoxMoreAnchorsInfo.

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virtual double tgRigidInfo::getMass ( ) const
pure virtual

Return the rigid body's mass.

Returns
the rigid bddy's mass

Implemented in tgBoxInfo, tgRodInfo, tgSphereInfo, and tgCompoundRigidInfo.

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btRigidBody * tgRigidInfo::getRigidBody ( )
virtual

Return a pointer to the corresponding btRigidBody.

Returns
a pointer to the corresponding btRigidBody

Reimplemented in tgCompoundRigidInfo.

Definition at line 124 of file tgRigidInfo.cpp.

const btRigidBody * tgRigidInfo::getRigidBody ( ) const
virtual

Return a const pointer to the corresponding btRigidBody.

Returns
a pointer to the corresponding btRigidBody

Reimplemented in tgCompoundRigidInfo.

Definition at line 130 of file tgRigidInfo.cpp.

virtual tgRigidInfo* tgRigidInfo::getRigidInfoGroup ( )
inlinevirtual

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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virtual btTransform tgRigidInfo::getTransform ( ) const
pure virtual

Return a btTransform.

Returns
a btTransform

Implemented in tgBoxInfo, tgRodInfo, tgSphereInfo, and tgCompoundRigidInfo.

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bool tgRigidInfo::isCompound ( ) const
inline

Is this tgRigidInfo a compound?

Return values
trueif this tgRigidInfo is a compound
falseif this tgRigidInfo is not a compound
Todo:
Is this necessary?

Definition at line 273 of file tgRigidInfo.h.

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virtual void tgRigidInfo::setCollisionObject ( btCollisionObject *  collisionObject)
inlinevirtual

Set the collision object to a new collision object

Returns
a pointer to the corresponding btCollisionObject
Todo:
Does this leak any previous value of m_collisionObject?

Reimplemented in tgCompoundRigidInfo.

Definition at line 208 of file tgRigidInfo.h.

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void tgRigidInfo::setCollisionShape ( btCollisionShape *  p_btCollisionShape)
inline

Set the corresponding btCollisionShape.

Parameters
[in,out]apointer to a btCollisionShape
Todo:
Does this leak any previous value of m_collisionShape?

Definition at line 137 of file tgRigidInfo.h.

void tgRigidInfo::setRigidBody ( btRigidBody *  rigidBody)
virtual

Set the corresponding btRigidBody.

Parameters
[in,out]apointer to a btRigidBody
Todo:
Does this leak any previous value of m_collisionObject?

Reimplemented in tgCompoundRigidInfo.

Definition at line 135 of file tgRigidInfo.cpp.

virtual void tgRigidInfo::setRigidInfoGroup ( tgRigidInfo *  rigidInfoGroup)
inlinevirtual

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 tgRigidInfo::sharesNodesWith ( const tgRigidInfo &  other) const
virtual

Does this rigid have any nodes in common with the given tgRigidInfo object?

Parameters
in]other a reference to a tgRigidInfo object
Return values
trueif any node in this sphere is also in other
falseif no node in this sphere is also in other

Reimplemented in tgCompoundRigidInfo.

Definition at line 141 of file tgRigidInfo.cpp.

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Member Data Documentation

btCollisionObject* tgRigidInfo::m_collisionObject
mutableprotected

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
mutableprotected

A pointer to the corresponding btCollisionShape.

Definition at line 332 of file tgRigidInfo.h.

tgRigidInfo* tgRigidInfo::m_rigidInfoGroup
mutableprotected

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.

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