tgRigidInfo Class Reference

#include <tgRigidInfo.h>

Inherits tgTaggable.

Inherited by tgCompoundRigidInfo, and tgRodInfo.

Collaboration diagram for tgRigidInfo:

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 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 =0
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
btRigidBody *	m_rigidBody

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

true	if nodeVector is a node anywhere in this rigid body
false	if nodeVector is not a node anywhere in this rigid body

Implemented in tgRodInfo, and tgCompoundRigidInfo.

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 tgRodInfo, and tgCompoundRigidInfo.

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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 tgRodInfo, 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

NULL	if this tgRigidInfo is not a tgCompoundRigidInfo
the	this pointer if this tgRigidInfo is a tgCompoundRigidInfo

Todo:

Is this necessary?

Implemented in tgRodInfo, 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

NULL	if this tgRigidInfo is not a tgCompoundRigidInfo
the	this pointer if this tgRigidInfo is a tgCompoundRigidInfo

Todo:

Is this necessary?

Implemented in tgRodInfo, 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 tgRodInfo, and tgCompoundRigidInfo.

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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 tgRodInfo.

Definition at line 243 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 tgRodInfo, 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 tgRodInfo, and tgCompoundRigidInfo.

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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 tgRodInfo, and tgCompoundRigidInfo.

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virtual btRigidBody* tgRigidInfo::getRigidBody ( )

inlinevirtual

Return a pointer to the corresponding btRigidBody.

Returns

a pointer to the corresponding btRigidBody

Reimplemented in tgCompoundRigidInfo.

Definition at line 174 of file tgRigidInfo.h.

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virtual const btRigidBody* tgRigidInfo::getRigidBody ( ) const

inlinevirtual

Return a const pointer to the corresponding btRigidBody.

Returns

a pointer to the corresponding btRigidBody

Reimplemented in tgCompoundRigidInfo.

Definition at line 183 of file tgRigidInfo.h.

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 151 of file tgRigidInfo.h.

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virtual btTransform tgRigidInfo::getTransform ( ) const

pure virtual

Return a btTransform.

Returns

a btTransform

Implemented in tgRodInfo, and tgCompoundRigidInfo.

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bool tgRigidInfo::isCompound ( ) const

inline

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 256 of file tgRigidInfo.h.

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void tgRigidInfo::setCollisionShape ( btCollisionShape *  p_btCollisionShape )

inline

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 139 of file tgRigidInfo.h.

virtual void tgRigidInfo::setRigidBody ( btRigidBody *  rigidBody )

inlinevirtual

Set the corresponding btRigidBody.

Parameters

[in,out]

a

pointer to a btRigidBody

Todo:

Does this leak any previous value of m_rigidBody?

Reimplemented in tgCompoundRigidInfo.

Definition at line 191 of file tgRigidInfo.h.

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 165 of file tgRigidInfo.h.

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

pure virtual

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

Parameters

in]	other a reference to a tgRigidInfo object

Return values

true	if any node in this rigid body is also in other
false	if no node in this rigid body is also in other

Implemented in tgRodInfo, and tgCompoundRigidInfo.

Member Data Documentation

btCollisionShape* tgRigidInfo::m_collisionShape

mutableprotected

A pointer to the corresponding btCollisionShape.

Definition at line 316 of file tgRigidInfo.h.

btRigidBody* tgRigidInfo::m_rigidBody

mutableprotected

A pointer to the corresponding btRigidBody.

Definition at line 330 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 325 of file tgRigidInfo.h.

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

• tgcreator/tgRigidInfo.h
• tgcreator/tgRigidInfo.cpp