Physics::Geom Class Reference

Enhanced wrapper for physical geometries. More...

#include <Geom.h>

Inheritance diagram for Physics::Geom:

List of all members.

Public Member Functions

Geom (GeometryHandler *pGeometryHandler, const SurfaceParams &surfaceParams=Materials::DEFAULT)

Builds a geom by giving a GeometryHandler which will describe the geometry, and a SurfaceParams that will describe the surface.

Geom (const Geom &v, UINT opts=COPY_ALL, IGeomCollisionContainer *pContainer=NULL, TDuplicatedBodiesMap *pDuplicatedBodies=NULL)

virtual Geom * asGeom ()

virtual const Geom * asGeom () const

GeometryHandler * getHandler ()

Used to manipulate the geometry.

const GeometryHandler * getHandler () const

void setBody (Body *pBody)

Set a physical body to this geometry.

Body * getBody ()

const Body * getBody () const

void resetAndApplyHints ()

If attached to a body, sets the auto-disables parameters to the world's default, and applies the geometry handler's auto-disable hints.

virtual void accept (Visitor &v)

virtual void traverse (Visitor &v)

Traverse children.

operator dGeomID ()

operator const dGeomID () const

Position and orientation

If attached to a body, setting these parameters will also set those of the body, and vice-versa.
If the geom has an offset (or is under a transform (deprecated)), then the methods will take into account the offset.

void translate (const osg::Vec3 &vec)

void rotate (const osg::Quat &quat)

void rotate (const osg::Quat &quat, const osg::Vec3 &center)

Rotates the geom around a given point.

void setMatrix (const osg::Matrix &matrix)

Convinience method for setting position and rotation at once.

osg::Matrix getMatrix () const

Convinience method for getting position and rotation at once.

Offset from body

These methods can only be called if attached to a body, because an offset is computed from the body.
Please note that setting an offset will add a slight CPU overhead (computation is needed), so when offset becomes useless, call clearOffset() insetad of setting the offset position and rotation to identity.

void translateOffset (const osg::Vec3 &offset)

Adds an offset translation from the body (or set it if the geom has no offset).

void rotateOffset (const osg::Quat &offsetQuat)

Adds an offset rotation from the body (or set it if the geom has no offset).

void setOffsetMatrix (const osg::Matrix &offsetMatrix)

Convinience method for setting offset position and rotation at once.

void setOffsetMatrixWorld (const osg::Matrix &worldMatrix)

Convinience method for setting offset position and rotation at once by giving the geom new position and rotation in world coordinates.

void multOffset (const osg::Matrix &offsetMatrix)

Convinience method for adding offset position and rotation at once.

osg::Matrix getOffsetMatrix () const

Convinience method for getting offset position and rotation at once.

Collision methods

UINT collide (Geom *pGeom, UINT nbMaxContacts, Contact *pContacts)

Do the collision detection (Used only by the main "near callback").

void addCategoryBits (ULONG mask)

Convinience method for adding bits.

void removeCategoryBits (ULONG mask)

Convinience method for removing bits.

void addCollideBits (ULONG mask)

Convinience method for adding bits.

void removeCollideBits (ULONG mask)

Convinience method for removing bits.

Protected Member Functions

void applyHints ()

Applies the geometry handler's auto-disable hints.

Protected Attributes

osg::ref_ptr< Body > pBody

Attached body.

osg::ref_ptr< GeometryHandler > pGeomH

IGeomCollisionContainer * pContainer

float gameplayDensity

PVLE's specific

SurfaceParams surface

Surface parameters used on collision. These parameters are "merged" with others to determine the surface params of the contact.

IGeomCollisionContainer * getCollisionContainer ()

Gets the collision container if it exists, or NULL otherwise.

void setCollisionContainer (IGeomCollisionContainer *pContainer)

Gets the collision container if it exists, or NULL otherwise.

void setGameplayDensity (float density)

Sets a 'purely gameplay' density.

float getGameplayDensity ()

Detailed Description

Enhanced wrapper for physical geometries.

A geom is a physical geometry (used to perform collision detection), which can be attached to a body (In that case, it is a full physical object). Geoms in PVLE are generic, so you must provide a handler to create it. The handler is a class that will give you access to specific methods, such as setting the radius of the sphere (if the geom is a sphere), or the size of the box, etc. PVLE's geoms are specific (comparing to the ones they wrap) in the way they also :

define surface parameters that will be used to compute other parameters on collision.
have the knowledge of their collision container (ie. they know if they're the physical part of a unit)
define a gameplay parameter (gameplay density)
Author:
Sukender

See also:
GeometryHandler, Body, IGeomCollisionContainer

Version:
0.2.0 - Based on ODE, enhanced for gameplay

Definition at line 87 of file Geom.h.

Constructor & Destructor Documentation

Physics::Geom::Geom	(	GeometryHandler *	pGeometryHandler,
		const SurfaceParams &	surfaceParams = `Materials::DEFAULT`
	)

Builds a geom by giving a GeometryHandler which will describe the geometry, and a SurfaceParams that will describe the surface.

Definition at line 39 of file Geom.cpp.

References pGeomH.

Physics::Geom::Geom	(	const Geom &	v,
		UINT	opts = `COPY_ALL`,
		IGeomCollisionContainer *	pContainer = `NULL`,
		TDuplicatedBodiesMap *	pDuplicatedBodies = `NULL`
	)

Definition at line 58 of file Geom.cpp.

References ASSERT, Physics::AbstractGeom::COPY_BODIES, dGeomGetPositionV(), dGeomGetQuaternionV(), dGeomSetPosition(), dGeomSetQuaternion(), gameplayDensity, getMatrix(), getOffsetMatrix(), pBody, pGeomH, setBody(), setMatrix(), setOffsetMatrix(), and surface.

Member Function Documentation

void Physics::Geom::accept ( Visitor & v ) [virtual]

Reimplemented from Physics::AbstractGeom.

Definition at line 46 of file Geom.cpp.

References Physics::Visitor::apply().

Referenced by C3DPhy::accept().

void Physics::Geom::addCategoryBits ( ULONG mask ) [inline]

Convinience method for adding bits.

Definition at line 243 of file Geom.h.

void Physics::Geom::addCollideBits ( ULONG mask ) [inline]

Convinience method for adding bits.

Definition at line 256 of file Geom.h.

void Physics::Geom::applyHints ( ) [protected]

Applies the geometry handler's auto-disable hints.

Definition at line 132 of file Geom.cpp.

References Physics::GeometryHandler::AD_ANGULAR, Physics::GeometryHandler::AD_FLAG, Physics::GeometryHandler::AD_LINEAR, Physics::GeometryHandler::AD_SAMPLES_COUNT, Physics::GeometryHandler::AD_STEPS, Physics::GeometryHandler::AD_TIME, ASSERT, pBody, and pGeomH.

Referenced by resetAndApplyHints(), and setBody().

virtual const Geom* Physics::Geom::asGeom ( ) const [inline, virtual]

Reimplemented from Physics::AbstractGeom.

Definition at line 96 of file Geom.h.

virtual Geom* Physics::Geom::asGeom ( ) [inline, virtual]

Reimplemented from Physics::AbstractGeom.

Definition at line 95 of file Geom.h.

UINT Physics::Geom::collide	(	Geom *	pGeom,
		UINT	nbMaxContacts,
		Contact *	pContacts
	)

Do the collision detection (Used only by the main "near callback").

Definition at line 145 of file Geom.cpp.

References Physics::AbstractGeom::id.

Referenced by Physics::NearCallback::operator()().

const Body* Physics::Geom::getBody ( ) const [inline]

Definition at line 116 of file Geom.h.

Body* Physics::Geom::getBody ( ) [inline]

Definition at line 115 of file Geom.h.

Referenced by C3DPhy::clearBodyContactPos(), Ammo::hitBefore(), Physics::NearCallback::operator()(), FindBodiesCopy::operator()(), and PhysicsDebugUpdateCB::operator()().

IGeomCollisionContainer* Physics::Geom::getCollisionContainer ( ) [inline]

Gets the collision container if it exists, or NULL otherwise.

Definition at line 217 of file Geom.h.

Referenced by C3DPhy::addGeom(), Ammo::hitAfter(), Explosion::hitBefore(), Ammo::hitBefore(), Dummy3DPhy::hitBefore(), and Physics::NearCallback::operator()().

float Physics::Geom::getGameplayDensity ( ) [inline]

Definition at line 224 of file Geom.h.

Referenced by Ammo::hitBefore().

const GeometryHandler* Physics::Geom::getHandler ( ) const [inline]

Definition at line 100 of file Geom.h.

GeometryHandler* Physics::Geom::getHandler ( ) [inline]

Used to manipulate the geometry.

Definition at line 99 of file Geom.h.

Referenced by C3DPhy::createPhysicsDebugView(), Physics::NearCallback::operator()(), and PhysicsDebugUpdateCB::operator()().

osg::Matrix Physics::Geom::getMatrix ( ) const [inline]

Convinience method for getting position and rotation at once.

Definition at line 156 of file Geom.h.

References Physics::toGraphMatRotationPosition().

Referenced by Geom(), PhysicsUpdateCB::getLTWCamMatrix(), PhysicsUpdateCB::getWTLCamMatrix(), PhysicsUpdateCB::operator()(), and PhysicsDebugUpdateCB::operator()().

osg::Matrix Physics::Geom::getOffsetMatrix ( ) const [inline]

Convinience method for getting offset position and rotation at once.

Definition at line 200 of file Geom.h.

References Physics::toGraphMatRotationPosition().

Referenced by Geom().

void Physics::Geom::multOffset ( const osg::Matrix & offsetMatrix ) [inline]

Convinience method for adding offset position and rotation at once.

Definition at line 198 of file Geom.h.

Physics::Geom::operator const dGeomID ( ) const [inline]

Definition at line 265 of file Geom.h.

Physics::Geom::operator dGeomID ( ) [inline]

Definition at line 264 of file Geom.h.

void Physics::Geom::removeCategoryBits ( ULONG mask ) [inline]

Convinience method for removing bits.

Definition at line 245 of file Geom.h.

void Physics::Geom::removeCollideBits ( ULONG mask ) [inline]

Convinience method for removing bits.

Definition at line 258 of file Geom.h.

void Physics::Geom::resetAndApplyHints ( )

If attached to a body, sets the auto-disables parameters to the world's default, and applies the geometry handler's auto-disable hints.

If not attached to a body, calling this method will do nothing.

Definition at line 125 of file Geom.cpp.

References applyHints(), and pBody.

void Physics::Geom::rotate	(	const osg::Quat &	quat,
		const osg::Vec3 &	center
	)			`[inline]`

Rotates the geom around a given point.

Definition at line 143 of file Geom.h.

void Physics::Geom::rotate ( const osg::Quat & quat ) [inline]

Todo:: Optimize this by avoiding ODE/OSG conversions.

Definition at line 141 of file Geom.h.

Referenced by GeomRotateVisitor::apply(), and C3DPhy::rotate().

void Physics::Geom::rotateOffset ( const osg::Quat & offsetQuat ) [inline]

Adds an offset rotation from the body (or set it if the geom has no offset).

Todo:: Optimize this by avoiding ODE/OSG conversions.

Definition at line 185 of file Geom.h.

void Physics::Geom::setBody ( Body * pBody )

Set a physical body to this geometry.

Once set, moving the body will move the geometry and vice versa. Also note that when setting a body, the geom will automatically modify the body so that it will match geometry handler's auto-disable hints.

Composite objects: Composite objects can easily be created by setting more than one geom attached to the same body, and using offsets.

: There is one caveat with composite objects: You should never create a composite object that will result in collision points being generated very close together. For example, consider a table that is made up of a box for the top and four boxes for the legs. If the legs are flush with the top, and the table is lying on the ground on its side, then the contact points generated for the boxes may coincide where the legs join to the top.

Note that geometry handler's auto-disable hints are CUMULATED for composite objects ! For example, if you set 2 geoms (let's say A and B) having the same body ; if A has a step hint and a time hint, and B has a linear threshold hint and a step hint ; then setting A then B will:

Apply A's step and time hints to the body
Apply B's linear threshold hint and overwrite A's step hint... Anyway, you should set body's parameters yourself after if needed, or call resetAndApplyHints().

Definition at line 113 of file Geom.cpp.

References applyHints(), and Physics::Body::id.

Referenced by Physics::createCanonicalBox(), Physics::createCanonicalCapsule(), Physics::createCanonicalCylinder(), Physics::createCanonicalSphere(), and Geom().

void Physics::Geom::setCollisionContainer ( IGeomCollisionContainer * pContainer ) [inline]

Gets the collision container if it exists, or NULL otherwise.

Definition at line 219 of file Geom.h.

Referenced by C3DPhy::addGeom().

void Physics::Geom::setGameplayDensity ( float density ) [inline]

Sets a 'purely gameplay' density.

This parameter only inlfuences perforant ammunition.

See also:: Physical densities of various materials for indicative values.

Definition at line 223 of file Geom.h.

void Physics::Geom::setMatrix ( const osg::Matrix & matrix ) [inline]

Convinience method for setting position and rotation at once.

Definition at line 148 of file Geom.h.

References dGeomSetPosition(), and dGeomSetRotation().

Referenced by Geom().

void Physics::Geom::setOffsetMatrix ( const osg::Matrix & offsetMatrix ) [inline]

Convinience method for setting offset position and rotation at once.

Definition at line 188 of file Geom.h.

References dGeomSetOffsetPosition(), and dGeomSetOffsetRotation().

Referenced by Geom().

void Physics::Geom::setOffsetMatrixWorld ( const osg::Matrix & worldMatrix ) [inline]

Convinience method for setting offset position and rotation at once by giving the geom new position and rotation in world coordinates.

Definition at line 193 of file Geom.h.

References dGeomSetOffsetWorldPosition(), and dGeomSetOffsetWorldRotation().

void Physics::Geom::translate ( const osg::Vec3 & vec ) [inline]

Definition at line 134 of file Geom.h.

References dGeomSetPosition().

Referenced by GeomTranslateVisitor::apply(), and C3DPhy::translate().

void Physics::Geom::translateOffset ( const osg::Vec3 & offset ) [inline]

Adds an offset translation from the body (or set it if the geom has no offset).

Definition at line 173 of file Geom.h.

void Physics::Geom::traverse ( Visitor & v ) [virtual]

Traverse children.

Reimplemented from Physics::AbstractGeom.

Definition at line 47 of file Geom.cpp.

References Physics::Visitor::apply(), and pBody.

Member Data Documentation

float Physics::Geom::gameplayDensity [protected]

Definition at line 278 of file Geom.h.

Referenced by Geom().

osg::ref_ptr<Body> Physics::Geom::pBody [protected]

Attached body.

Definition at line 274 of file Geom.h.

Referenced by applyHints(), Geom(), resetAndApplyHints(), and traverse().

IGeomCollisionContainer* Physics::Geom::pContainer [protected]

Definition at line 277 of file Geom.h.

osg::ref_ptr<GeometryHandler> Physics::Geom::pGeomH [protected]

Definition at line 275 of file Geom.h.

Referenced by applyHints(), and Geom().

SurfaceParams Physics::Geom::surface

Surface parameters used on collision. These parameters are "merged" with others to determine the surface params of the contact.

Definition at line 214 of file Geom.h.

Referenced by Geom(), and Physics::NearCallback::operator()().

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


Public Member Functions
	Geom (GeometryHandler *pGeometryHandler, const SurfaceParams &surfaceParams=Materials::DEFAULT)
	Builds a geom by giving a GeometryHandler which will describe the geometry, and a SurfaceParams that will describe the surface.
	Geom (const Geom &v, UINT opts=COPY_ALL, IGeomCollisionContainer pContainer=NULL, TDuplicatedBodiesMap pDuplicatedBodies=NULL)
virtual Geom *	asGeom ()
virtual const Geom *	asGeom () const
GeometryHandler *	getHandler ()
	Used to manipulate the geometry.
const GeometryHandler *	getHandler () const
void	setBody (Body *pBody)
	Set a physical body to this geometry.
Body *	getBody ()
const Body *	getBody () const
void	resetAndApplyHints ()
	If attached to a body, sets the auto-disables parameters to the world's default, and applies the geometry handler's auto-disable hints.
virtual void	accept (Visitor &v)
virtual void	traverse (Visitor &v)
	Traverse children.
	operator dGeomID ()
	operator const dGeomID () const
Position and orientation
If attached to a body, setting these parameters will also set those of the body, and vice-versa. If the geom has an offset (or is under a transform (deprecated)), then the methods will take into account the offset.
void	translate (const osg::Vec3 &vec)
void	rotate (const osg::Quat &quat)
void	rotate (const osg::Quat &quat, const osg::Vec3 &center)
	Rotates the geom around a given point.
void	setMatrix (const osg::Matrix &matrix)
	Convinience method for setting position and rotation at once.
osg::Matrix	getMatrix () const
	Convinience method for getting position and rotation at once.
Offset from body
These methods can only be called if attached to a body, because an offset is computed from the body. Please note that setting an offset will add a slight CPU overhead (computation is needed), so when offset becomes useless, call clearOffset() insetad of setting the offset position and rotation to identity.
void	translateOffset (const osg::Vec3 &offset)
	Adds an offset translation from the body (or set it if the geom has no offset).
void	rotateOffset (const osg::Quat &offsetQuat)
	Adds an offset rotation from the body (or set it if the geom has no offset).
void	setOffsetMatrix (const osg::Matrix &offsetMatrix)
	Convinience method for setting offset position and rotation at once.
void	setOffsetMatrixWorld (const osg::Matrix &worldMatrix)
	Convinience method for setting offset position and rotation at once by giving the geom new position and rotation in world coordinates.
void	multOffset (const osg::Matrix &offsetMatrix)
	Convinience method for adding offset position and rotation at once.
osg::Matrix	getOffsetMatrix () const
	Convinience method for getting offset position and rotation at once.
Collision methods
UINT	collide (Geom pGeom, UINT nbMaxContacts, Contact pContacts)
	Do the collision detection (Used only by the main "near callback").
void	addCategoryBits (ULONG mask)
	Convinience method for adding bits.
void	removeCategoryBits (ULONG mask)
	Convinience method for removing bits.
void	addCollideBits (ULONG mask)
	Convinience method for adding bits.
void	removeCollideBits (ULONG mask)
	Convinience method for removing bits.
Protected Member Functions
void	applyHints ()
	Applies the geometry handler's auto-disable hints.
Protected Attributes
osg::ref_ptr< Body >	pBody
	Attached body.
osg::ref_ptr< GeometryHandler >	pGeomH
IGeomCollisionContainer *	pContainer
float	gameplayDensity
PVLE's specific
SurfaceParams	surface
	Surface parameters used on collision. These parameters are "merged" with others to determine the surface params of the contact.
IGeomCollisionContainer *	getCollisionContainer ()
	Gets the collision container if it exists, or `NULL` otherwise.
void	setCollisionContainer (IGeomCollisionContainer *pContainer)
	Gets the collision container if it exists, or `NULL` otherwise.
void	setGameplayDensity (float density)
	Sets a 'purely gameplay' density.
float	getGameplayDensity ()