Implementation of BulletObject covering most types of rigid bodies -- static, dynamic, and linearly/vertically constrained. More...

#include <BulletRigidBodyObject.hpp>

Inheritance diagram for Sirikata::BulletRigidBodyObject:

Collaboration diagram for Sirikata::BulletRigidBodyObject:

List of all members.

Public Member Functions
	BulletRigidBodyObject (BulletPhysicsService *parent, const UUID &uuid, bulletObjTreatment treatment=BULLET_OBJECT_TREATMENT_IGNORE, bulletObjBBox bb=BULLET_OBJECT_BOUNDS_SPHERE, float32 mass=1.f)
virtual	~BulletRigidBodyObject ()
virtual bool	fixed ()
virtual bulletObjTreatment	treatment ()
virtual bulletObjBBox	bbox ()
virtual float32	mass ()
virtual void	load (Mesh::MeshdataPtr mesh)
	After the mesh has been downloaded and parsed (or immediately if no mesh is required), this loads the object into the simulation.
virtual void	unload ()
	Unload the object from the simulation.
virtual void	internalTick (const Time &t)
	Make modifications during an internal tick.
virtual void	deactivationTick (const Time &t)
	Check this object for deactivation.
virtual bool	applyRequestedLocation (const TimedMotionVector3f &loc, uint64 epoch)
	Try to apply the requested position to this object, updating the physics simulation if necessary.
virtual bool	applyRequestedOrientation (const TimedMotionQuaternion &orient, uint64 epoch)
	Try to apply the requested orientation to this object, updating the physics simulation if necessary.
virtual void	applyForcedLocation (const TimedMotionVector3f &loc, uint64 epoch)
	Apply the given position to this object.
virtual void	applyForcedOrientation (const TimedMotionQuaternion &orient, uint64 epoch)
	Apply the given orientation to this object.
void	updateBulletFromObject (btTransform &worldTrans)
void	updateObjectFromBullet (const btTransform &worldTrans)
Private Member Functions
void	addRigidBody ()
void	removeRigidBody ()
Private Attributes
UUID	mID
bool	mFixed
bulletObjTreatment	mTreatment
bulletObjBBox	mBBox
float32	mMass
btCollisionShape *	mObjShape
SirikataMotionState *	mObjMotionState
btRigidBody *	mObjRigidBody

Detailed Description

Implementation of BulletObject covering most types of rigid bodies -- static, dynamic, and linearly/vertically constrained.

Constructor & Destructor Documentation

Sirikata::BulletRigidBodyObject::BulletRigidBodyObject	(	BulletPhysicsService *	parent,
		const UUID &	uuid,
		bulletObjTreatment	treatment = `BULLET_OBJECT_TREATMENT_IGNORE`,
		bulletObjBBox	bb = `BULLET_OBJECT_BOUNDS_SPHERE`,
		float32	mass = `1.f`
	)

References Sirikata::BULLET_OBJECT_TREATMENT_CHARACTER, Sirikata::BULLET_OBJECT_TREATMENT_DYNAMIC, Sirikata::BULLET_OBJECT_TREATMENT_IGNORE, Sirikata::BULLET_OBJECT_TREATMENT_LINEAR_DYNAMIC, Sirikata::BULLET_OBJECT_TREATMENT_STATIC, Sirikata::BULLET_OBJECT_TREATMENT_VERTICAL_DYNAMIC, BULLETLOG, Sirikata::Logging::detailed, mFixed, and mMass.

Sirikata::BulletRigidBodyObject::~BulletRigidBodyObject ( ) [virtual]

References removeRigidBody().

Member Function Documentation

void Sirikata::BulletRigidBodyObject::addRigidBody ( ) [private]

void Sirikata::BulletRigidBodyObject::applyForcedLocation	(	const TimedMotionVector3f &	loc,
		uint64	epoch
	)		`[virtual]`

Apply the given position to this object.

This takes whatever steps are necessary to apply the change, even completely reloading the object in Bullet. This should only be used when absolutely necessary, e.g. for updates about remote, physically simulated objects.

Implements Sirikata::BulletObject.

References Sirikata::BulletPhysicsService::info(), mID, mObjMotionState, mObjRigidBody, Sirikata::BulletObject::mParent, Sirikata::LocationInfo::props, and Sirikata::SequencedPresenceProperties::setLocation().

Referenced by applyRequestedLocation().

void Sirikata::BulletRigidBodyObject::applyForcedOrientation	(	const TimedMotionQuaternion &	orient,
		uint64	epoch
	)		`[virtual]`

Apply the given orientation to this object.

This takes whatever steps are necessary to apply the change, even completely reloading the object in Bullet. This should only be used when absolutely necessary, e.g. for updates about remote, physically simulated objects.

Implements Sirikata::BulletObject.

References Sirikata::BulletPhysicsService::info(), mID, mObjMotionState, mObjRigidBody, Sirikata::BulletObject::mParent, Sirikata::LocationInfo::props, and Sirikata::SequencedPresenceProperties::setOrientation().

Referenced by applyRequestedOrientation().

bool Sirikata::BulletRigidBodyObject::applyRequestedLocation	(	const TimedMotionVector3f &	loc,
		uint64	epoch
	)		`[virtual]`

Try to apply the requested position to this object, updating the physics simulation if necessary.

Some types of objects may always fail to apply updates. Returns true if the update was applied and an update will need to be sent.

Implements Sirikata::BulletObject.

References applyForcedLocation(), Sirikata::BULLET_OBJECT_TREATMENT_STATIC, and mTreatment.

bool Sirikata::BulletRigidBodyObject::applyRequestedOrientation	(	const TimedMotionQuaternion &	orient,
		uint64	epoch
	)		`[virtual]`

Try to apply the requested orientation to this object, updating the physics simulation if necessary.

Some types of objects may always fail to apply updates. Returns true if the update was applied and an update will need to be sent.

Implements Sirikata::BulletObject.

References applyForcedOrientation(), Sirikata::BULLET_OBJECT_TREATMENT_STATIC, and mTreatment.

boost::any Sirikata::Graphics::OgreSystem::bbox ( ) [inline, virtual]

Implements Sirikata::BulletObject.

References mBBox.

void Sirikata::BulletRigidBodyObject::deactivationTick ( const Time & t ) [virtual]

Check this object for deactivation.

Implementations should call BulletPhysicsService::updateObjectFromDeactivation if the object has been deactivated.

Reimplemented from Sirikata::BulletObject.

References mID, mObjRigidBody, Sirikata::BulletObject::mParent, and Sirikata::BulletPhysicsService::updateObjectFromDeactivation().

virtual bool Sirikata::BulletRigidBodyObject::fixed ( ) [inline, virtual]

Implements Sirikata::BulletObject.

References mFixed.

void Sirikata::BulletRigidBodyObject::internalTick ( const Time & t ) [virtual]

Make modifications during an internal tick.

Useful for capping speed and rotational speed.

Reimplemented from Sirikata::BulletObject.

References mObjRigidBody.

void Sirikata::BulletRigidBodyObject::load ( Mesh::MeshdataPtr mesh ) [virtual]

After the mesh has been downloaded and parsed (or immediately if no mesh is required), this loads the object into the simulation.

This should setup any Bullet state and start the physical simulation on the object.

Implements Sirikata::BulletObject.

References addRigidBody(), Sirikata::BulletObject::computeCollisionShape(), mBBox, mID, mObjShape, and mTreatment.

virtual float32 Sirikata::BulletRigidBodyObject::mass ( ) [inline, virtual]

Implements Sirikata::BulletObject.

References mMass.

void Sirikata::BulletRigidBodyObject::removeRigidBody ( ) [private]

References Sirikata::BulletPhysicsService::dynamicsWorld(), mID, mObjMotionState, mObjRigidBody, mObjShape, Sirikata::BulletObject::mParent, Sirikata::BulletPhysicsService::removeDeactivateableObject(), and Sirikata::BulletPhysicsService::removeInternalTickObject().

Referenced by unload(), and ~BulletRigidBodyObject().

virtual bulletObjTreatment Sirikata::BulletRigidBodyObject::treatment ( ) [inline, virtual]

Implements Sirikata::BulletObject.

References mTreatment.

void Sirikata::BulletRigidBodyObject::unload ( ) [virtual]

Unload the object from the simulation.

Implements Sirikata::BulletObject.

References removeRigidBody().

void Sirikata::BulletRigidBodyObject::updateBulletFromObject ( btTransform & worldTrans )

References Sirikata::BulletPhysicsService::currentOrientation(), Sirikata::BulletPhysicsService::currentPosition(), mID, Sirikata::BulletObject::mParent, Sirikata::Vector4< scalar >::w, Sirikata::Vector4< scalar >::x, Sirikata::Vector4< scalar >::y, and Sirikata::Vector4< scalar >::z.

Referenced by Sirikata::SirikataMotionState::getWorldTransform().

void Sirikata::BulletRigidBodyObject::updateObjectFromBullet ( const btTransform & worldTrans )

References Sirikata::BulletPhysicsService::addUpdate(), BULLETLOG, Sirikata::LocationService::context(), Sirikata::BulletPhysicsService::info(), Sirikata::Logging::insane, mFixed, mID, mObjRigidBody, Sirikata::BulletObject::mParent, Sirikata::BulletPhysicsService::setLocation(), Sirikata::BulletPhysicsService::setOrientation(), and Sirikata::Context::simTime().

Referenced by Sirikata::SirikataMotionState::setWorldTransform().

Member Data Documentation

bulletObjBBox Sirikata::BulletRigidBodyObject::mBBox [private]

Referenced by bbox(), and load().

bool Sirikata::BulletRigidBodyObject::mFixed [private]

Referenced by BulletRigidBodyObject(), fixed(), and updateObjectFromBullet().

UUID Sirikata::BulletRigidBodyObject::mID [private]

Referenced by addRigidBody(), applyForcedLocation(), applyForcedOrientation(), deactivationTick(), load(), removeRigidBody(), updateBulletFromObject(), and updateObjectFromBullet().

float32 Sirikata::BulletRigidBodyObject::mMass [private]

Referenced by addRigidBody(), BulletRigidBodyObject(), and mass().

SirikataMotionState* Sirikata::BulletRigidBodyObject::mObjMotionState [private]

Referenced by addRigidBody(), applyForcedLocation(), applyForcedOrientation(), and removeRigidBody().

btRigidBody* Sirikata::BulletRigidBodyObject::mObjRigidBody [private]

Referenced by addRigidBody(), applyForcedLocation(), applyForcedOrientation(), deactivationTick(), internalTick(), removeRigidBody(), and updateObjectFromBullet().

btCollisionShape* Sirikata::BulletRigidBodyObject::mObjShape [private]

Referenced by addRigidBody(), load(), and removeRigidBody().

bulletObjTreatment Sirikata::BulletRigidBodyObject::mTreatment [private]

Referenced by addRigidBody(), applyRequestedLocation(), applyRequestedOrientation(), load(), and treatment().

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

libspace/plugins/physics/BulletRigidBodyObject.hpp
liboh/plugins/ogre/OgreSystem.cpp
libspace/plugins/physics/BulletRigidBodyObject.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation