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

cODEWorld implements a virtual world to handle ODE based objects (cODEGenericBody). More...

#include <CODEWorld.h>

Inheritance diagram for cODEWorld:

[legend]

List of all members.

Public Member Functions
	cODEWorld (cWorld *a_parentWorld)
	Constructor of cODEWorld.
	~cODEWorld ()
	Destructor of cODEWorld.
void	setGravity (cVector3d a_gravity)
	Set gravity field.
cVector3d	getGravity ()
	Read gravity field.
void	setLinearDamping (double a_value)
	Set linear damping.
void	setAngularDamping (double a_value)
	Set angular damping.
void	setMaxAngularSpeed (double a_value)
	Set max angular speed.
void	updateDynamics (double a_interval)
	compute dynamic simulation.
void	updateBodyPositions (void)
	update position and orientation from ode models to chai models.
void	updateGlobalPositions (const bool a_frameOnly)
Public Attributes
list< cODEGenericBody * >	m_bodies
	List of ODE dynamic bodies.
dWorldID	m_ode_world
	ODE dynamics world.
dSpaceID	m_ode_space
	ODE collision space.
dJointGroupID	m_ode_contactgroup
	ODE contact group.

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Detailed Description

cODEWorld implements a virtual world to handle ODE based objects (cODEGenericBody).

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Constructor & Destructor Documentation

cODEWorld::cODEWorld

(

cWorld *

a_parentWorld

)

Constructor of cODEWorld.

Constructor of cODEWorld.

Parameters:

a_parentWorld

Pointer to parent CHAI 3D world.

Returns:

Return pointer to new cODEWorld instance.

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Member Function Documentation

cVector3d cODEWorld::getGravity

(

)

Read gravity field.

Read the current gravity field.

Returns:

Return current gravity field.

void cODEWorld::setGravity

(

cVector3d

a_gravity

)

Set gravity field.

Define a gravity field.

Parameters:

a_gravity

Gravity field.

void cODEWorld::updateBodyPositions

(

void

)

update position and orientation from ode models to chai models.

Update position and orientation from ode models to chai models.

void cODEWorld::updateDynamics

(

double

a_interval

)

compute dynamic simulation.

Compute simulation for a_time time interval.

Parameters:

a_interval

Time increment.

void cODEWorld::updateGlobalPositions

(

const bool

a_frameOnly

)

[virtual]

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.

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

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