opal::ode_hidden Namespace Reference

A namespace containing internal ODE functions. More...

Functions
void	internal_collisionCallback (void *data, dGeomID o0, dGeomID o1)
Joint *	internal_getCommonJoint (dBodyID body0, dBodyID body1)
void	internal_volumeCollisionCallback (void *data, dGeomID o0, dGeomID o1)
void	internal_raycastCollisionCallback (void *data, dGeomID o0, dGeomID o1)

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Detailed Description

A namespace containing internal ODE functions.

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Function Documentation

void opal::ode_hidden::internal_collisionCallback (  void *  data, dGeomID  o0, dGeomID  o1 )

Main collision callback functor. Definition at line 347 of file ODESimulator.cpp. References opal::Joint::areContactsEnabled(), opal::Simulator::areStaticSleepingContactsEnabled(), opal::defaults::bounceThreshold, opal::ShapeData::contactGroup, opal::CollisionEvent::depth, opal::FIXED_JOINT, opal::Solid::getCollisionEventHandler(), opal::Simulator::getMaxContacts(), opal::Simulator::getNumGlobalCollisionEventHandlers(), opal::Joint::getType(), opal::Simulator::groupsMakeContacts(), internal_getCommonJoint(), opal::ODESimulator::internal_getJointGroupID(), opal::ODESimulator::internal_getWorldID(), opal::CollisionEventHandler::internal_pushCollisionEvent(), opal::Simulator::internal_recordCollision(), opal::ShapeData::material, opal::defaults::ode::maxERP, opal::defaults::ode::maxFriction, opal::globals::maxMaxContacts, opal::defaults::ode::minERP, opal::CollisionEvent::normal, opal::CollisionEvent::otherSolid, opal::CollisionEvent::pos, opal::GeomData::shape, opal::GeomData::solid, and opal::CollisionEvent::thisSolid.

Joint * opal::ode_hidden::internal_getCommonJoint (  dBodyID  body0, dBodyID  body1 )

Assuming the two ODE bodies are connected by an ODE joint, this function returns the OPAL Joint connecting the two bodies' Solids. Definition at line 797 of file ODESimulator.cpp. Referenced by internal_collisionCallback().

void opal::ode_hidden::internal_raycastCollisionCallback (  void *  data, dGeomID  o0, dGeomID  o1 )

in an unsorted array. Collision callback functor for ray casting. Stores results Definition at line 916 of file ODESimulator.cpp. References opal::ShapeData::contactGroup, opal::defaults::shape::contactGroup, opal::Simulator::groupsMakeContacts(), opal::ODESimulator::internal_getRayContactGroup(), opal::defaults::ode::maxRaycastContacts, and opal::GeomData::shape. Referenced by opal::ODESimulator::internal_fireRay().

void opal::ode_hidden::internal_volumeCollisionCallback (  void *  data, dGeomID  o0, dGeomID  o1 )

Special collision callback functor for volume collision checking. Definition at line 833 of file ODESimulator.cpp. References opal::ShapeData::contactGroup, opal::Simulator::groupsMakeContacts(), opal::ODESimulator::internal_addCollidedSolid(), opal::GeomData::shape, and opal::GeomData::solid. Referenced by opal::ODESimulator::internal_queryVolume().

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