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icl::physics::RigidConvexHullObject Class Reference

ConvexHullObject witht he features of a RigidObject that can be created from a pointcloud. More...

#include <RigidConvexHullObject.h>

Inheritance diagram for icl::physics::RigidConvexHullObject:
icl::physics::RigidObject icl::physics::PhysicsObject icl::geom::SceneObject icl::utils::Uncopyable

Public Member Functions

 RigidConvexHullObject (float x, float y, float z, const std::vector< int > &indices, const std::vector< geom::Vec > &vertices, geom::Vec offset=geom::Vec(0, 0, 0, 0), float mass=1.0)
 Constructor that takes the Position and a subset of vertices specified by the index list, as well as the mass. More...
 
 RigidConvexHullObject (float x, float y, float z, const std::vector< geom::Vec > &vertices, geom::Vec offset=geom::Vec(0, 0, 0, 0), float mass=1.0)
 Constructor that takes the Position and a list of vertices, as well as the mass. More...
 
- Public Member Functions inherited from icl::physics::RigidObject
 RigidObject ()
 RigidObject. More...
 
virtual btRigidBody * getRigidBody ()
 
virtual const btRigidBody * getRigidBody () const
 returns internal physical object as rigidBody (const) More...
 
void setLinearVelocity (geom::Vec velocity)
 sets the linear velocity of that object More...
 
void setAngularVelocity (geom::Vec velocity)
 sets the angular velocity of that object More...
 
geom::Vec getLinearVelocity ()
 returns the linear velocity of that object More...
 
geom::Vec getAngularVelocity ()
 returns the angular velocity of that object More...
 
geom::Vec getTotalForce ()
 
geom::Vec getTotalTorque ()
 
void applyForce (geom::Vec force, geom::Vec relPos)
 apply a force at the point relPos More...
 
void applyCentralForce (geom::Vec force)
 apply a force to the center More...
 
void applyImpulse (geom::Vec force, geom::Vec relPos)
 apply an impulse at the point relPos More...
 
void applyCentralImpulse (geom::Vec force)
 apply an impulse to the center More...
 
void applyTorque (geom::Vec t)
 apply a torque to the center More...
 
void applyTorqueImpulse (geom::Vec t)
 apply a torque impulse to the center More...
 
void setDeactivationTime (float time)
 
void setDamping (float linear, float angular)
 sets the angular and linear damping of that object More...
 
void setActivationMode (ActivationMode const mode)
 sets the corresponding bullet activation state for this object More...
 
void setActive (bool force_active=false)
 activates this component regarding the current activation mode More...
 
virtual ~RigidObject ()
 
float getMass ()
 returns the mass of the object More...
 
void setMass (float mass)
 sets the mass of the object. 0 weight makes the object static. More...
 
- Public Member Functions inherited from icl::physics::PhysicsObject
 PhysicsObject ()
 Default constructor (initializint m_physicalObject with 0) More...
 
virtual ~PhysicsObject ()
 Destructor (freeing m_physicalObject if not 0) More...
 
void setPhysicalObject (btCollisionObject *obj)
 sets the physical object (delets the old one of not 0) More...
 
void forgetPhysicalObject (bool removeFromWorld=true)
 sets the internal physical object o null, but wont delete it! More...
 
virtual btCollisionObject * getCollisionObject ()
 returns internal physical object as collision object More...
 
virtual const btCollisionObject * getCollisionObject () const
 
virtual void updateSceneObject ()
 this method is used to update the visualization object from the physical object More...
 
virtual void prepareForRendering ()
 called by the scene before it's rendered (calling purely virtual updateSceneObject) More...
 
virtual void setTransformation (const geom::Mat &m)
 Sets the transform of this object. Scaling or shearing is not supported: Use setScale instead. More...
 
virtual void transform (const geom::Mat &m)
 applies the given transformation matrix. Scaling or shearing is not supported: Use setScale instead. More...
 
geom::Mat getTransformation ()
 returns the transformation of this object More...
 
void setScale (geom::Vec scale)
 
geom::Vec getScale ()
 
void setCollisionMargin (float margin)
 sets the collision margin for this object More...
 
void setFriction (float friction)
 sets the friction of this object More...
 
void setRollingFriction (float friction)
 sets the rolling friction of this obect More...
 
void setCollisionGroup (int group)
 sets the collision group of this object More...
 
int getCollisionGroup ()
 returns the collision group of this object More...
 
void setContactResponse (bool response)
 enables or disable collision with other objects More...
 
bool hasContactResponse ()
 Checks if the object has a collisionresponse. More...
 
void setRestitution (float restitution)
 sets the restitution of this object More...
 
void activate (bool forceActivation=false)
 sets the activation mode of this object More...
 
int getCollisionObjectType ()
 
void setCollisionObjectType (int type)
 
int getCollisionFlags ()
 
void setCollisionFlags (int flags)
 
void stateChanged ()
 sets an internal flag to update the sceneobject More...
 
void setCurrentPhysicsWorld (PhysicsWorld *world)
 sets an internal pointer to the world the object is currently in More...
 
void setCollisionCallback (utils::Function< void, PhysicsObject *, PhysicsObject *, geom::Vec > collisionCallback)
 sets the collision callback of the object More...
 
void collisionCallback (PhysicsObject *self, PhysicsObject *other, geom::Vec pos)
 calls the collision callback of the object More...
 
void setObjectID (std::string const &id)
 sets the identifier string. There is no proof for beeing unique within the world More...
 
std::string getObjectID ()
 returns the (not unique) object identifier More...
 
std::string getObjectID () const
 returns the (not unique) object identifier (const) More...
 
- Public Member Functions inherited from icl::geom::SceneObject
ICLGeom_API SceneObject ()
 create an object More...
 
ICLGeom_API SceneObject (const std::string &type, const float *params)
 create by string: More...
 
ICLGeom_API SceneObject (const std::string &objFileName) throw (utils::ICLException)
 creates a scene object from given .obj file More...
 
 SceneObject (const SceneObject &other)
 deep copy of SceneObject instance More...
 
ICLGeom_API SceneObjectoperator= (const SceneObject &other)
 assignment operator for deep copy More...
 
virtual ICLGeom_API ~SceneObject ()
 Empty destructor (but virtual) More...
 
ICLGeom_API std::vector< Vec > & getVertices ()
 returns object vertices More...
 
ICLGeom_API const std::vector
< Vec > & 
getVertices () const
 returns object vertices (const) More...
 
ICLGeom_API const std::vector
< Vec > & 
getNormals () const
 returns object normals (const) More...
 
ICLGeom_API std::vector
< GeomColor > & 
getVertexColors ()
 returns object vertex colors More...
 
ICLGeom_API const std::vector
< GeomColor > & 
getVertexColors () const
 returns object vertex colors (const) More...
 
ICLGeom_API std::vector
< Primitive * > & 
getPrimitives ()
 returns object's primitives (lines, quads, etc...) More...
 
ICLGeom_API const std::vector
< Primitive * > & 
getPrimitives () const
 returns object's primitives (lines, quads, etc...) (const) More...
 
ICLGeom_API void setVisible (int oredTypes, bool visible, bool recursive=true)
 changes visibility of given primitive type More...
 
ICLGeom_API void setVisible (const std::string &what, bool recursive=true)
 convenience method that allows for setting several visibility properties at once More...
 
void setVisible (const char *what, bool recursive=true)
 explicit version for const char pointer to avoid an explicit cast to bool/int More...
 
ICLGeom_API bool isVisible (Primitive::Type t) const
 returns visibility of given primitive type More...
 
ICLGeom_API void addVertex (const Vec &p, const GeomColor &color=GeomColor(255, 0, 0, 255))
 adds a new vertex to this object More...
 
ICLGeom_API void addSharedTexture (utils::SmartPtr< qt::GLImg > gli)
 adds a GLImg as shared texture More...
 
ICLGeom_API void addSharedTexture (const core::ImgBase *image, core::scalemode sm=core::interpolateLIN)
 adds an core::ImgBase * as shared texutre More...
 
ICLGeom_API void addNormal (const Vec &n)
 adds a new normal to this object More...
 
ICLGeom_API void addLine (int x, int y, const GeomColor &color=GeomColor(100, 100, 100, 255))
 adds a new line to this object More...
 
ICLGeom_API void addTriangle (int a, int b, int c, int na, int nb, int nc, const GeomColor &color=GeomColor(0, 100, 250, 255))
 adds a new triangle to this onject More...
 
void addTriangle (int a, int b, int c, const GeomColor &color=GeomColor(0, 100, 250, 255))
 convenience method for creation of a triangle with auto-normals More...
 
ICLGeom_API void addQuad (int a, int b, int c, int d, int na, int nb, int nc, int nd, const GeomColor &color=GeomColor(0, 100, 250, 255))
 adds a new triangle to this onject More...
 
void addQuad (int a, int b, int c, int d, const GeomColor &color=GeomColor(0, 100, 250, 255))
 convenience method for creation of a quad with auto-normals More...
 
ICLGeom_API void addPolygon (int nPoints, const int *vertexIndices, const GeomColor &color=GeomColor(0, 100, 250, 255), const int *normalIndices=0)
 add a polygon to this object (note triangles and quads are slower here) More...
 
ICLGeom_API void addTexture (int a, int b, int c, int d, const core::ImgBase *texture, int na, int nb, int nc, int nd, bool createTextureOnce=true, core::scalemode sm=core::interpolateLIN)
 
void addTexture (int a, int b, int c, int d, const core::ImgBase *texture, bool createTextureOnce=true, core::scalemode sm=core::interpolateLIN)
 convenience method for creation of a texture with auto-normals More...
 
ICLGeom_API void addTexture (int a, int b, int c, int d, int sharedTextureIndex, int na=-1, int nb=-1, int nc=-1, int nd=-1)
 adds are shared texture primitive More...
 
ICLGeom_API void addTexture (const core::ImgBase *image, int numPoints, const int *vertexIndices, const utils::Point32f *texCoords, const int *normalIndices=0, bool createTextureOnce=true)
 adds a GenericTexturePrimitive for custom texCoords More...
 
ICLGeom_API void addTextureGrid (int w, int h, const core::ImgBase *image, const icl32f *px, const icl32f *py, const icl32f *pz, const icl32f *pnx=0, const icl32f *pny=0, const icl32f *pnz=0, int stride=1, bool createTextureOnce=true, core::scalemode sm=core::interpolateLIN)
 adds a texture that is drawn on a 2D grid of vertices in 3D space More...
 
ICLGeom_API void addTwoSidedTextureGrid (int w, int h, const core::ImgBase *front, const core::ImgBase *back, const icl32f *px, const icl32f *py, const icl32f *pz, const icl32f *pnx=0, const icl32f *pny=0, const icl32f *pnz=0, int stride=1, bool createFrontOnce=true, bool createBackOnce=true, core::scalemode sm=core::interpolateLIN)
 adds a texture grid that has two different texture for the two faces More...
 
ICLGeom_API void addTwoSidedTGrid (int w, int h, const Vec *vertices, const Vec *normals=0, const GeomColor &frontColor=GeomColor(0, 100, 255, 255), const GeomColor &backColor=GeomColor(255, 0, 100, 255), const GeomColor &lineColor=GeomColor(0, 255, 100, 255), bool drawLines=false, bool drawQuads=true)
 adds a two sided grid (sides may have different colors) More...
 
ICLGeom_API void addTextTexture (int a, int b, int c, int d, const std::string &text, const GeomColor &color, int na, int nb, int nc, int nd, int textSize, core::scalemode sm=core::interpolateLIN)
 adds text-texture quad -primitive to this object More...
 
void addTextTexture (int a, int b, int c, int d, const std::string &text, const GeomColor &color=GeomColor(255, 255, 255, 255), int textSize=30, core::scalemode sm=core::interpolateLIN)
 convenience method for creation of a text-texture with auto-normals More...
 
ICLGeom_API void addText (int a, const std::string &text, float billboardHeight=10, const GeomColor &color=GeomColor(255, 255, 255, 255), int textRenderSize=30, core::scalemode sm=core::interpolateLIN)
 adds a billboard text-texture attached to given node index a More...
 
void addCustomPrimitive (Primitive *p)
 adds a custom primitive More...
 
SceneObjectaddCube (float x, float y, float z, float d)
 adds a cube child-object with given parameters More...
 
ICLGeom_API SceneObjectaddCuboid (float x, float y, float z, float dx, float dy, float dz)
 adds a cuboid child-object with given parameters More...
 
SceneObjectaddSphere (float x, float y, float z, float r, int rzSteps, int xySlices)
 adds a cuboid child-object with given parameters More...
 
ICLGeom_API SceneObjectaddSpheroid (float x, float y, float z, float rx, float ry, float rz, int rzSteps, int xySlices)
 adds a cuboid child-object with given parameters More...
 
ICLGeom_API SceneObjectaddCylinder (float x, float y, float z, float rx, float ry, float h, int steps)
 adds a cylindical child object with given parameters More...
 
ICLGeom_API SceneObjectaddCone (float x, float y, float z, float rx, float ry, float h, int steps)
 adds a conical child object with given parameters More...
 
ICLGeom_API void setColor (Primitive::Type t, const GeomColor &color, bool recursive=true)
 tints all Primitives with given type in given color More...
 
ICLGeom_API void setPointSize (float pointSize, bool recursive=true)
 sets point size More...
 
ICLGeom_API void setLineWidth (float lineWidth, bool recursive=true)
 sets point size More...
 
virtual ICLGeom_API SceneObjectcopy () const
 performs a deep copy of this object More...
 
virtual void customRender ()
 this function is called when an object is rendered More...
 
virtual void complexCustomRender (icl::geom::ShaderUtil *util)
 this function is called when an object is rendered More...
 
ICLGeom_API void setColorsFromVertices (Primitive::Type t, bool on, bool recursive=true)
 sets how 2D-geom colors are set More...
 
ICLGeom_API bool getSmoothShading () const
 returns wheather smooth shading is activated More...
 
ICLGeom_API void setSmoothShading (bool on, bool recursive=true)
 sets whether to use smoothshading (default is false) More...
 
ICLGeom_API void createAutoNormals (bool smooth=true)
 automatically creates precomputed normals More...
 
virtual GeomColor getDefaultVertexColor () const
 can be reimplemented by subclass to provide and interface for setting default vertex color More...
 
ICLGeom_API Hit hit (const ViewRay &v, bool recursive=true)
 returns whether this object is hit by the given viewray More...
 
const Hit hit (const ViewRay &v, bool recursive=true) const
 returns whether this object is hit by the given viewray (const) More...
 
ICLGeom_API std::vector< Hithits (const ViewRay &v, bool recursive=true)
 returns all hits with SceneObjects form the given viewray More...
 
ICLGeom_API std::vector< VecgetTransformedVertices () const
 returns all vertices in their final world coordinates More...
 
ICLGeom_API Vec getClosestVertex (const Vec &pWorld, bool relative=false) throw (utils::ICLException)
 returns the vertex, that is closest to the given point in wold coordinates More...
 
ICLGeom_API void setVisible (bool visible, bool recursive=true)
 sets the visibility of this object More...
 
bool isVisible () const
 returns whether this object is currently visible More...
 
void hide (bool recursive=true)
 calls setVisible(false) More...
 
void show (bool recursive=true)
 calls setVisible(true) More...
 
void setLockingEnabled (bool enabled)
 sets locking enabled or disabled More...
 
bool getLockingEnabled () const
 returns whether locking is current enabled for this object More...
 
virtual void lock () const
 locks the internal mutex if locking enabled is set to true More...
 
virtual void unlock () const
 unlocks the internal mutex if locking enabled is set to true More...
 
void setPointSmoothingEnabled (bool enabled=true)
 sets whether points are visualized in a smoothed manner More...
 
void setLineSmoothingEnabled (bool enabled=true)
 sets whether lines are visualized in a smoothed manner More...
 
void setPolygonSmoothingEnabled (bool enabled=true)
 sets whether faces are visualized in a smoothed manner More...
 
ICLGeom_API void clearAllPrimitives ()
 deletes and removes all primitives More...
 
virtual ICLGeom_API void clearObject (bool deleteAndRemoveChildren=true, bool resetTransform=false)
 deletes all primitive and all vertex, color and normal content (and optionally also the children) More...
 
ICLGeom_API void createDisplayList ()
 creates a displaylist in the next render cycle More...
 
ICLGeom_API void freeDisplayList ()
 frees the displaylist in the next render cycle More...
 
ICLGeom_API void setFragmentShader (qt::GLFragmentShader *shader)
 sets a fragment shader to use for this object More...
 
qt::GLFragmentShadergetFragmentShader ()
 returns the current fragment shader (or NULL if non was given) More...
 
const qt::GLFragmentShadergetFragmentShader () const
 returns the current fragment shader (or NULL if non was given, const version) More...
 
void setCastShadowsEnabled (bool castShadows=true)
 
bool getCastShadowsEnabled ()
 
void setReceiveShadowsEnabled (bool receiveShadows=true)
 
bool getReceiveShadowsEnabled ()
 
void setShininess (icl8u value)
 sets the material shininess (default is 128) More...
 
void setSpecularReflectance (const GeomColor &values)
 sets the materials specular reflectance More...
 
bool getDepthTestEnabled () const
 returns whether depth test is enabled for this object More...
 
void setDepthTestEnabled (bool enabled, bool recursive=true)
 sets whether depth test is enabled for this object More...
 
float getPointHitMaxDistance () const
 returns the maximum distance to a pointing viewraw More...
 
void setPointHitMaxDistance (float d)
 sets the maximum distance to a pointing view-ray More...
 
ICLGeom_API void removeTransformation ()
 sets the internal transformation to the identity matrix More...
 
template<class T >
void transform (const T &m)
 utility method for passing arbitrary matrix classes More...
 
virtual ICLGeom_API void rotate (float rx, float ry, float rz, icl::math::AXES axes=icl::math::AXES_DEFAULT)
 rotates the scene object (this affects it's transformation matrix) More...
 
template<class T >
void rotate (const T &t, icl::math::AXES axes=icl::math::AXES_DEFAULT)
 utility wrapper for vector based rotation More...
 
virtual ICLGeom_API void translate (float dx, float dy, float dz)
 translates the scene object (this affects it's translates matrix) More...
 
template<class T >
void translate (const T &t)
 utility wrapper for vector based translation More...
 
virtual ICLGeom_API void scale (float sx, float sy, float sz)
 transformes the current transformation matrix by a scale matrix More...
 
template<class T >
void scale (const T &t)
 utility wrapper for vector based scaling More...
 
ICLGeom_API Mat getTransformation (bool relative=false) const
 returns the current transformation matrix More...
 
ICLGeom_API bool hasTransformation (bool relative=false) const
 returns whether the SceneObject has currently a non-ID-transformation More...
 
ICLGeom_API SceneObjectgetParent ()
 returns the parent scene object More...
 
ICLGeom_API const SceneObjectgetParent () const
 returns the parent scene object (const version) More...
 
ICLGeom_API void addChild (SceneObject *child, bool passOwnerShip=true)
 adds a new child to this scene object More...
 
void addChild (utils::SmartPtr< SceneObject > child)
 directly passes a smart pointer as a child More...
 
ICLGeom_API void removeChild (SceneObject *child)
 removes given child More...
 
ICLGeom_API void removeAllChildren ()
 removes all children More...
 
ICLGeom_API bool hasChildren () const
 returns whether the SceneObject has children at all More...
 
ICLGeom_API int getChildCount () const
 returns the number of children More...
 
ICLGeom_API SceneObjectgetChild (int index)
 returns child at given index More...
 
ICLGeom_API const SceneObjectgetChild (int index) const
 returns child at given index (const) More...
 
utils::SmartPtr< SceneObjectgetChildPtr (int index)
 returns a shared pointer to the child at given index More...
 
ICLGeom_API bool hasChild (const SceneObject *o) const
 returns whether the given object is a child of this one More...
 

Additional Inherited Members

- Public Types inherited from icl::physics::RigidObject
enum  ActivationMode {
  DYNAMIC = 0, ACTIVE_FOREVER = 1, INACTIVE_FOREVER = 2, BT_ISLAND_SLEEPING = 3,
  TOWARDS_INACTIVE = 4
}
 
- Static Public Member Functions inherited from icl::geom::SceneObject
static SceneObjectcube (float x, float y, float z, float r)
 create a cube scene object More...
 
static SceneObjectcuboid (float x, float y, float z, float dx, float dy, float dz)
 create a cuboid scene object More...
 
static SceneObjectsphere (float x, float y, float z, float r, int rzSteps, int xySlices)
 create a shere scene object More...
 
static SceneObjectspheroid (float x, float y, float z, float rx, float ry, float rz, int rzSteps, int xySlices)
 create a shere scene object More...
 
static SceneObjectsuperquadric (float x, float y, float z, float rx, float ry, float rz, float dx, float dy, float dz, float e1, float e2, int rzSteps, int xySlices)
 create a superquadric scene object More...
 
- Protected Member Functions inherited from icl::utils::Uncopyable
 Uncopyable ()
 Empty base constructor. More...
 
- Static Protected Member Functions inherited from icl::geom::SceneObject
static void collect_hits_recursive (SceneObject *obj, const ViewRay &v, std::vector< Hit > &hits, bool recursive)
 recursive picking method More...
 
- Protected Attributes inherited from icl::physics::PhysicsObject
bool m_stateChanged
 is true if the physical state of the object has changed since the last updateSceneObject() More...
 
utils::Function< void,
PhysicsObject *, PhysicsObject
*, geom::Vec
m_collisionCallback
 
std::string m_id
 
- Protected Attributes inherited from icl::geom::SceneObject
std::vector< Vecm_vertices
 
std::vector< Vecm_normals
 
std::vector< GeomColorm_vertexColors
 
std::vector< Primitive * > m_primitives
 
std::vector< utils::SmartPtr
< qt::GLImg > > 
m_sharedTextures
 
int m_visibleMask
 
bool m_lineColorsFromVertices
 
bool m_triangleColorsFromVertices
 
bool m_quadColorsFromVertices
 
bool m_polyColorsFromVertices
 
float m_pointSize
 
float m_lineWidth
 
bool m_useSmoothShading
 
bool m_isVisible
 
Mat m_transformation
 for the scene graph implementation More...
 
bool m_hasTransformation
 
SceneObjectm_parent
 
std::vector< utils::SmartPtr
< SceneObject > > 
m_children
 
utils::Mutex m_mutex
 for asynchronous updates More...
 
bool m_enableLocking
 can be enabled More...
 
bool m_pointSmoothingEnabled
 
bool m_lineSmoothingEnabled
 
bool m_polygonSmoothingEnabled
 
bool m_depthTestEnabled
 default is true More...
 
icl8u m_shininess
 
GeomColor m_specularReflectance
 

Detailed Description

ConvexHullObject witht he features of a RigidObject that can be created from a pointcloud.

Constructor & Destructor Documentation

icl::physics::RigidConvexHullObject::RigidConvexHullObject ( float  x,
float  y,
float  z,
const std::vector< int > &  indices,
const std::vector< geom::Vec > &  vertices,
geom::Vec  offset = geom::Vec(0, 0, 0, 0),
float  mass = 1.0 
)

Constructor that takes the Position and a subset of vertices specified by the index list, as well as the mass.

icl::physics::RigidConvexHullObject::RigidConvexHullObject ( float  x,
float  y,
float  z,
const std::vector< geom::Vec > &  vertices,
geom::Vec  offset = geom::Vec(0, 0, 0, 0),
float  mass = 1.0 
)

Constructor that takes the Position and a list of vertices, as well as the mass.


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