opal::ODESimulator Class Reference

The ODE implementation of the Simulator class. More...

#include <ODESimulator.h>

Inheritance diagram for opal::ODESimulator:


Public Types
enum	SolverType { SOLVER_WORLDSTEP, SOLVER_QUICKSTEP }
Public Member Functions
	ODESimulator ()
void	initData (SimulatorData data)
virtual	~ODESimulator ()
virtual void OPAL_CALL	destroy ()
virtual void OPAL_CALL	setMaxCorrectingVel (real vel)
virtual Solid *OPAL_CALL	createSolid ()
virtual Joint *OPAL_CALL	createJoint ()
virtual Space *OPAL_CALL	createSpace ()
virtual void OPAL_CALL	setGravity (const Vec3r &gravity)
virtual Vec3r OPAL_CALL	getGravity () const
virtual void OPAL_CALL	setSolverAccuracy (SolverAccuracyLevel level)
virtual dWorldID OPAL_CALL	internal_getWorldID () const
virtual dSpaceID OPAL_CALL	internal_getSpaceID () const
virtual dJointGroupID OPAL_CALL	internal_getJointGroupID () const
virtual std::vector< RaycastResult > &OPAL_CALL	internal_fireRay (const Rayr &r, real length, const Solid *attachedSolid, unsigned int rayContactGroup)
virtual const VolumeQueryResult &OPAL_CALL	internal_queryVolume (const Solid volume, const Solid attachedSolid)
void	internal_addRaycastResult (Solid *solid, const Point3r &intersection, const Vec3r &normal, real depth)
void	internal_addCollidedSolid (Solid *solid)
virtual unsigned int OPAL_CALL	internal_getRayContactGroup ()
Protected Member Functions
virtual void	stepPhysics ()
Protected Attributes
dWorldID	mWorldID
dSpaceID	mRootSpaceID
dJointGroupID	mContactJointGroupID
SolverType	mSolverType
long int	mCollisionCount
VolumeQueryResult	mVolumeQueryResult
const Solid *	mSensorSolid
unsigned int	mRayContactGroup
std::vector< RaycastResult >	mRaycastResults

Detailed Description

The ODE implementation of the Simulator class.

Definition at line 49 of file ODESimulator.h.

Member Enumeration Documentation

enum opal::ODESimulator::SolverType

The types of ODE constraint solvers.

Enumerator:

SOLVER_WORLDSTEP Time complexity: O(m^3), space complexity O(m^2), where m = # of constraints.

SOLVER_QUICKSTEP Time complexity: O(m*N), space complexity O(m), where m = # of constraints and N = # of iterations.

Definition at line 53 of file ODESimulator.h.

Constructor & Destructor Documentation

opal::ODESimulator::ODESimulator ( )

use initData to complete

Definition at line 128 of file ODESimulator.cpp.

opal::ODESimulator::~ODESimulator ( ) [virtual]

Definition at line 133 of file ODESimulator.cpp.

Member Function Documentation

Joint * opal::ODESimulator::createJoint ( ) [virtual]

Creates and returns a pointer to a Joint.

Implements opal::Simulator.
Definition at line 162 of file ODESimulator.cpp.
References opal::Simulator::addJoint(), and mWorldID.

Solid * opal::ODESimulator::createSolid ( ) [virtual]

Creates and returns a pointer to a Solid.

Implements opal::Simulator.
Definition at line 144 of file ODESimulator.cpp.
References opal::Simulator::addSolid(), mRootSpaceID, and mWorldID.

Space * opal::ODESimulator::createSpace ( ) [virtual]

Creates and returns a pointer to a Space which is a child of the Simulator's root Space.
Implements opal::Simulator.
Definition at line 151 of file ODESimulator.cpp.
References opal::Simulator::addSpace(), opal::ODESpace::internal_getSpaceID(), and mRootSpaceID.

void opal::ODESimulator::destroy ( ) [virtual]

Deallocates everything within the Simulator. This should be called when finished with everything. Simulator implementations should call "delete this" within this function.
Implements opal::Simulator.
Definition at line 169 of file ODESimulator.cpp.
References mContactJointGroupID, mRootSpaceID, and mWorldID.

Vec3r opal::ODESimulator::getGravity ( ) const [virtual]

Returns the gravity used in the simulation.

Implements opal::Simulator.
Definition at line 1144 of file ODESimulator.cpp.
References opal::defaults::gravity, and mWorldID.

void opal::ODESimulator::initData ( SimulatorData data ) [virtual]

complete creation

Reimplemented from opal::Simulator.
Definition at line 68 of file ODESimulator.cpp.
References opal::defaults::shape::contactGroup, opal::defaults::ode::globalCFM, opal::defaults::gravity, opal::SimulatorData::hashMaxLevel, opal::SimulatorData::hashMinLevel, opal::Simulator::initData(), opal::defaults::ode::maxERP, mCollisionCount, mContactJointGroupID, opal::defaults::ode::minERP, mRayContactGroup, opal::Simulator::mRootSpace, mRootSpaceID, mSensorSolid, mWorldID, opal::SimulatorData::octreeDepth, setGravity(), setSolverAccuracy(), opal::defaults::solverAccuracy, opal::defaults::ode::surfaceLayer, opal::SimulatorData::useOctreeInsteadHash, opal::SimulatorData::worldCenter, and opal::SimulatorData::worldSize.
Referenced by opal::createCustomSimulator(), and opal::createSimulator().

void opal::ODESimulator::internal_addCollidedSolid ( Solid * solid )

Helper function for volume collision checking.

Definition at line 1015 of file ODESimulator.cpp.
References opal::VolumeQueryResult::internal_addSolid(), opal::ODESolid::internal_getCollisionCount(), opal::ODESolid::internal_setCollisionCount(), mCollisionCount, mSensorSolid, and mVolumeQueryResult.
Referenced by opal::ode_hidden::internal_volumeCollisionCallback().

void opal::ODESimulator::internal_addRaycastResult ( Solid * solid,

const Point3r & intersection,

const Vec3r & normal,

real depth

)

Helper function used for ray casting which stores RaycastResults.

Parameters:

depth How far the ray went into the object.

Definition at line 1033 of file ODESimulator.cpp.
References opal::RaycastResult::distance, opal::RaycastResult::intersection, mRaycastResults, mSensorSolid, opal::RaycastResult::normal, and opal::RaycastResult::solid.

vector< RaycastResult > & opal::ODESimulator::internal_fireRay ( const Rayr & r,

real length,

const Solid * attachedSolid,

unsigned int rayContactGroup

) [virtual]

Helper function used for ray casting. Immediately fires a ray into the scene and returns intersections results. Uses the ray's contact group parameter to limit collision checks.
Implements opal::Simulator.
Definition at line 1077 of file ODESimulator.cpp.
References opal::Rayr::getDir(), opal::Rayr::getOrigin(), opal::ode_hidden::internal_raycastCollisionCallback(), mRaycastResults, mRayContactGroup, mRootSpaceID, mSensorSolid, and opal::Vec3r::unit().

dJointGroupID opal::ODESimulator::internal_getJointGroupID ( ) const [virtual]

Definition at line 1194 of file ODESimulator.cpp.
References mContactJointGroupID.
Referenced by opal::ode_hidden::internal_collisionCallback().

unsigned int opal::ODESimulator::internal_getRayContactGroup ( ) [virtual]

Helper function used for ray casting.

Definition at line 1052 of file ODESimulator.cpp.
References mRayContactGroup.
Referenced by opal::ode_hidden::internal_raycastCollisionCallback().

dSpaceID opal::ODESimulator::internal_getSpaceID ( ) const [virtual]

Definition at line 1189 of file ODESimulator.cpp.
References mRootSpaceID.

dWorldID opal::ODESimulator::internal_getWorldID ( ) const [virtual]

Definition at line 1184 of file ODESimulator.cpp.
References mWorldID.
Referenced by opal::ode_hidden::internal_collisionCallback().

const VolumeQueryResult & opal::ODESimulator::internal_queryVolume ( const Solid * volume,

const Solid * attachedSolid

) [virtual]

Helper function used for volume queries.

Implements opal::Simulator.
Definition at line 1107 of file ODESimulator.cpp.
References opal::VolumeQueryResult::internal_clearSolids(), opal::ode_hidden::internal_volumeCollisionCallback(), mCollisionCount, mRootSpaceID, mSensorSolid, and mVolumeQueryResult.

void opal::ODESimulator::setGravity ( const Vec3r & gravity ) [virtual]

Sets the gravity used in the simulation.

Implements opal::Simulator.
Definition at line 1139 of file ODESimulator.cpp.
References opal::defaults::gravity, and mWorldID.
Referenced by initData().

void opal::ODESimulator::setMaxCorrectingVel ( real vel ) [virtual]

Sets the maximum correcting velocity for interpenetrating objects. The given velocity must be positive.
Reimplemented from opal::Simulator.
Definition at line 138 of file ODESimulator.cpp.
References mWorldID, and opal::Simulator::setMaxCorrectingVel().

void opal::ODESimulator::setSolverAccuracy ( SolverAccuracyLevel level ) [virtual]

Sets the accuracy level used by the physics engine's constraint solver.
Reimplemented from opal::Simulator.
Definition at line 1152 of file ODESimulator.cpp.
References mSolverType, mWorldID, opal::Simulator::setSolverAccuracy(), opal::SOLVER_ACCURACY_HIGH, opal::SOLVER_ACCURACY_LOW, opal::SOLVER_ACCURACY_MEDIUM, opal::SOLVER_ACCURACY_VERY_HIGH, opal::SOLVER_ACCURACY_VERY_LOW, SOLVER_QUICKSTEP, and SOLVER_WORLDSTEP.
Referenced by initData().

void opal::ODESimulator::stepPhysics ( ) [protected, virtual]

This function is physics engine-specific. It handles collision detection and steps the simulation ahead by a constant step size.
Implements opal::Simulator.
Definition at line 189 of file ODESimulator.cpp.
References opal::Simulator::mSolidList.

Member Data Documentation

long int opal::ODESimulator::mCollisionCount [protected]

Used for volume collision checks.

Definition at line 143 of file ODESimulator.h.
Referenced by initData(), internal_addCollidedSolid(), and internal_queryVolume().

dJointGroupID opal::ODESimulator::mContactJointGroupID [protected]

The ODE joint constraint group.

Definition at line 137 of file ODESimulator.h.
Referenced by destroy(), initData(), and internal_getJointGroupID().

std::vector<RaycastResult> opal::ODESimulator::mRaycastResults [protected]

A vector of RaycastResults returned from a ray cast.

Definition at line 160 of file ODESimulator.h.
Referenced by internal_addRaycastResult(), and internal_fireRay().

unsigned int opal::ODESimulator::mRayContactGroup [protected]

A temporary variable that lets rays to use contact groups. This allows them to limit which Shapes they collide with.
Definition at line 157 of file ODESimulator.h.
Referenced by initData(), internal_fireRay(), and internal_getRayContactGroup().

dSpaceID opal::ODESimulator::mRootSpaceID [protected]

The root of the ODE collision detection hierarchy.

Definition at line 134 of file ODESimulator.h.
Referenced by createSolid(), createSpace(), destroy(), initData(), internal_fireRay(), internal_getSpaceID(), and internal_queryVolume().

const Solid* opal::ODESimulator::mSensorSolid [protected]

Used for ray casting and volume queries. If a RaycastSensor or VolumeSensor is attached to a Solid, this pointer will point to that Solid. It is used to make sure the raycasts and collision query doesn't collide with the attached Solid.
Definition at line 153 of file ODESimulator.h.
Referenced by initData(), internal_addCollidedSolid(), internal_addRaycastResult(), internal_fireRay(), and internal_queryVolume().

SolverType opal::ODESimulator::mSolverType [protected]

The type of constraint solver to use.

Definition at line 140 of file ODESimulator.h.
Referenced by setSolverAccuracy().

VolumeQueryResult opal::ODESimulator::mVolumeQueryResult [protected]

Temporary list of Solids that collided in a volume collision check.
Definition at line 147 of file ODESimulator.h.
Referenced by internal_addCollidedSolid(), and internal_queryVolume().

dWorldID opal::ODESimulator::mWorldID [protected]

The ODE world ID used by this Simulator.

Definition at line 131 of file ODESimulator.h.
Referenced by createJoint(), createSolid(), destroy(), getGravity(), initData(), internal_getWorldID(), setGravity(), setMaxCorrectingVel(), and setSolverAccuracy().

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

Generated on Tue May 16 17:49:56 2006 for OPAL by

1.4.6-NO

opal::ODESimulator Class Reference

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation