cODEGenericBody Class Reference
[Module - ODE Dynamics Engine (Rigid Body Simulation)]

cODEGenericBody is a base class for modeling any ODE dynamic body. More...

#include <CODEGenericBody.h>

Inheritance diagram for cODEGenericBody:

List of all members.

Public Member Functions

cODEGenericBody (cODEWorld *a_world)

Constructor of cODEGenericBody.

virtual ~cODEGenericBody ()

Destructor of cODEGenericBody.

void setPosition (cVector3d &a_position)

Set the position of object.

void setRotation (cMatrix3d &a_rotation)

Set the orientation of object.

void updateBodyPosition (void)

Update position and orientation from ode model to chai model.

void addGlobalForceAtGlobalPos (cVector3d &a_force, cVector3d &a_pos)

Apply an external force at a given position decribed in global coordinates.

void setMass (double a_mass)

Set object mass.

double getMass ()

Read object mass.

void setImageModel (cGenericObject *a_imageModel)

Set a chai3D body image of object.

cGenericObject * getImageModel ()

Get body image.

void enableDynamics ()

Enable object from dynamic update.

void disableDynamics ()

Disable object from dynamic update.

bool isStatic ()

Is the current object static? (cannot move).

virtual void buildDynamicModel ()

Create a dynamic model of the object.

void createDynamicBoundingBox (bool a_staticObject=false)

Create a dynamic box representation.

void createDynamicSphere (const double a_radius, bool a_staticObject=false, const cVector3d &a_offsetPos=cVector3d(0.0, 0.0, 0.0), const cMatrix3d &a_offsetRot=cIdentity3d())

Create a dynamic sphere representation.

void createDynamicBox (const double a_lengthX, const double a_lengthY, const double a_lengthZ, bool a_staticObject=false, const cVector3d &a_offsetPos=cVector3d(0.0, 0.0, 0.0), const cMatrix3d &a_offsetRot=cIdentity3d())

Create a dynamic box representation.

void createDynamicCapsule (const double a_radius, const double a_length, bool a_staticObject=false, const cVector3d &a_offsetPos=cVector3d(0.0, 0.0, 0.0), const cMatrix3d &a_offsetRot=cIdentity3d())

Create a dynamic caped cylinder (capsule) representation.

void createStaticPlane (const cVector3d &a_position, const cVector3d &a_normal)

Create a static plane representation.

void createDynamicMesh (bool a_staticObject=false, const cVector3d &a_offsetPos=cVector3d(0.0, 0.0, 0.0), const cMatrix3d &a_offsetRot=cIdentity3d())

Create a triangle mesh representation.

void updateGlobalPositions (const bool a_frameOnly)

Update global position frames.

void render (const int a_renderMode)

Render object in OpenGL.

void setShowDynamicCollisionModel (const bool a_show)

Show collision model.

bool getShowDynamicCollisionModel ()

Read show collision model status.

Public Attributes

cODEWorld * m_ODEWorld

Parent world.

cGenericObject * m_imageModel

Object used to represent the geometry and graphical properties of the object.

Detailed Description

cODEGenericBody is a base class for modeling any ODE dynamic body.

Member Function Documentation

void cODEGenericBody::addGlobalForceAtGlobalPos	(	cVector3d &	a_force,
		cVector3d &	a_pos
	)

Apply an external force at a given position decribed in global coordinates.

Apply an external force at a given position. Position and force are expressed in global coordinates.

Parameters:

	a_force	Force vector to apply on body
	a_pos	Position (in global coordinates) when force is applied.

void cODEGenericBody::createDynamicBoundingBox ( bool a_staticObject = false )

Create a dynamic box representation.

Uses the bounding box of the geometric representation of the object to generate a dynamic box.

Parameters:

a_staticObject

If true, then object is static had no dynamic component is created.

void cODEGenericBody::createDynamicBox	(	const double	a_lengthX,
		const double	a_lengthY,
		const double	a_lengthZ,
		bool	a_staticObject = `false`,
		const cVector3d &	a_offsetPos = `cVector3d(0.0, 0.0, 0.0)`,
		const cMatrix3d &	a_offsetRot = `cIdentity3d()`
	)

Create a dynamic box representation.

Create an ODE dynamic box model. This model is independent from the body image which also needs to be defined by the user. It is possible to visualize the actual ODE physical model by calling setShowDynamicCollisionModel() method.

Parameters:

	a_lengthX	Size of box along x axis.
	a_lengthY	Size of box along y axis.
	a_lengthZ	Size of box along z axis.
	a_staticObject	If true, then object is static had no dynamic component is created.
	a_offsetPos	Offset position in respect current object position.
	a_offsetRot	Offset position in respect current object rotation.

void cODEGenericBody::createDynamicCapsule	(	const double	a_radius,
		const double	a_length,
		bool	a_staticObject = `false`,
		const cVector3d &	a_offsetPos = `cVector3d(0.0, 0.0, 0.0)`,
		const cMatrix3d &	a_offsetRot = `cIdentity3d()`
	)

Create a dynamic caped cylinder (capsule) representation.

Create an ODE dynamic cylinder model (capsule). This model is independent from the body image which also needs to be defined by the user. It is possible to visualize the actual ODE physical model by calling setShowDynamicCollisionModel() method.

Parameters:

	a_radius	Radius of capsule.
	a_length	Length of capsule.
	a_staticObject	If true, then object is static had no dynamic component is created.
	a_offsetPos	Offset position in respect current object position.
	a_offsetRot	Offset position in respect current object rotation.

void cODEGenericBody::createDynamicMesh	(	bool	a_staticObject = `false`,
		const cVector3d &	a_offsetPos = `cVector3d(0.0, 0.0, 0.0)`,
		const cMatrix3d &	a_offsetRot = `cIdentity3d()`
	)

Create a triangle mesh representation.

Create an ODE dynamic model of a mesh. This model requires the body image to be a mesh and uses it triangles to build its physical model.

Parameters:

	a_staticObject	If true, then object is static had no dynamic component is created.
	a_offsetPos	Offset position in respect current object position.
	a_offsetRot	Offset position in respect current object rotation.

void cODEGenericBody::createDynamicSphere	(	const double	a_radius,
		bool	a_staticObject = `false`,
		const cVector3d &	a_offsetPos = `cVector3d(0.0, 0.0, 0.0)`,
		const cMatrix3d &	a_offsetRot = `cIdentity3d()`
	)

Create a dynamic sphere representation.

Create an ODE dynamic sphere model. This model is independent from the body image which also needs to be defined by the user. It is possible to visualize the actual ODE physical model by calling setShowDynamicCollisionModel() method.

Parameters:

	a_radius	Radius of sphere.
	a_staticObject	If true, then object is static had no dynamic component is created.
	a_offsetPos	Offset position in respect current object position.
	a_offsetRot	Offset position in respect current object rotation.

void cODEGenericBody::createStaticPlane	(	const cVector3d &	a_position,
		const cVector3d &	a_normal
	)

Create a static plane representation.

Create an ODE static model of a plane. This model is independent from the body image which also needs to be defined by the user. It is possible to visualize the actual ODE physical model by calling setShowDynamicCollisionModel() method.

Parameters:

	a_position	Position of a point located on the plane.
	a_normal	Surface normal of the plane.

void cODEGenericBody::enableDynamics ( )

Enable object from dynamic update.

Enable object from being updated within the dynamics simulation.

Disable object from being updated within the dynamics simulation.

void cODEGenericBody::render ( const int a_renderMode ) [virtual]

Render object in OpenGL.

Render this deformable mesh in OpenGL.

Parameters:

a_renderMode

Rendering mode (see cGenericObject).

Reimplemented from cGenericObject.

void cODEGenericBody::setImageModel ( cGenericObject * a_imageModel )

Set a chai3D body image of object.

Define a generic object such as a mesh or a shape which is used to model the geometry of this current ODE object.

Parameters:

a_imageModel

CHAI 3D graphical image model.

void cODEGenericBody::setMass ( double a_mass )

Set object mass.

Set the mass of current object

Parameters:

a_mass

New object mass.

void cODEGenericBody::setPosition ( cVector3d & a_position )

Set the position of object.

Set a desired position.

Parameters:

a_position

New desired position.

void cODEGenericBody::setRotation ( cMatrix3d & a_rotation )

Set the orientation of object.

Parameters:

a_rotation

New desired orientation.

void cODEGenericBody::updateBodyPosition ( void )

Update position and orientation from ode model to chai model.

Update position and orientation from ODE models to chai models.

void cODEGenericBody::updateGlobalPositions ( const bool a_frameOnly ) [virtual]

Update global position frames.

Compute globalPos and globalRot given the localPos and localRot of this object and its parents. Optionally propagates to children.

If a_frameOnly is set to false, additional global positions such as vertex positions are computed (which can be time-consuming).

Parameters:

a_frameOnly

If true then only the global frame is computed

Reimplemented from cGenericObject.

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

D:/CHAI3D/build-2-0-0/2.0.0/win32/modules/ODE/CODEGenericBody.h
D:/CHAI3D/build-2-0-0/2.0.0/win32/modules/ODE/CODEGenericBody.cpp


Public Member Functions
	cODEGenericBody (cODEWorld *a_world)
	Constructor of cODEGenericBody.
virtual	~cODEGenericBody ()
	Destructor of cODEGenericBody.
void	setPosition (cVector3d &a_position)
	Set the position of object.
void	setRotation (cMatrix3d &a_rotation)
	Set the orientation of object.
void	updateBodyPosition (void)
	Update position and orientation from ode model to chai model.
void	addGlobalForceAtGlobalPos (cVector3d &a_force, cVector3d &a_pos)
	Apply an external force at a given position decribed in global coordinates.
void	setMass (double a_mass)
	Set object mass.
double	getMass ()
	Read object mass.
void	setImageModel (cGenericObject *a_imageModel)
	Set a chai3D body image of object.
cGenericObject *	getImageModel ()
	Get body image.
void	enableDynamics ()
	Enable object from dynamic update.
void	disableDynamics ()
	Disable object from dynamic update.
bool	isStatic ()
	Is the current object static? (cannot move).
virtual void	buildDynamicModel ()
	Create a dynamic model of the object.
void	createDynamicBoundingBox (bool a_staticObject=false)
	Create a dynamic box representation.
void	createDynamicSphere (const double a_radius, bool a_staticObject=false, const cVector3d &a_offsetPos=cVector3d(0.0, 0.0, 0.0), const cMatrix3d &a_offsetRot=cIdentity3d())
	Create a dynamic sphere representation.
void	createDynamicBox (const double a_lengthX, const double a_lengthY, const double a_lengthZ, bool a_staticObject=false, const cVector3d &a_offsetPos=cVector3d(0.0, 0.0, 0.0), const cMatrix3d &a_offsetRot=cIdentity3d())
	Create a dynamic box representation.
void	createDynamicCapsule (const double a_radius, const double a_length, bool a_staticObject=false, const cVector3d &a_offsetPos=cVector3d(0.0, 0.0, 0.0), const cMatrix3d &a_offsetRot=cIdentity3d())
	Create a dynamic caped cylinder (capsule) representation.
void	createStaticPlane (const cVector3d &a_position, const cVector3d &a_normal)
	Create a static plane representation.
void	createDynamicMesh (bool a_staticObject=false, const cVector3d &a_offsetPos=cVector3d(0.0, 0.0, 0.0), const cMatrix3d &a_offsetRot=cIdentity3d())
	Create a triangle mesh representation.
void	updateGlobalPositions (const bool a_frameOnly)
	Update global position frames.
void	render (const int a_renderMode)
	Render object in OpenGL.
void	setShowDynamicCollisionModel (const bool a_show)
	Show collision model.
bool	getShowDynamicCollisionModel ()
	Read show collision model status.
Public Attributes
cODEWorld *	m_ODEWorld
	Parent world.
cGenericObject *	m_imageModel
	Object used to represent the geometry and graphical properties of the object.

cODEGenericBody Class Reference [Module - ODE Dynamics Engine (Rigid Body Simulation)]

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

cODEGenericBody Class Reference
[Module - ODE Dynamics Engine (Rigid Body Simulation)]