#include <Primitive.h>
Inheritance diagram for Physsim::Primitive:
Public Member Functions | |
| Primitive () | |
| Constructs a primitive under the identity transformation. | |
| Primitive (const Matrix4 &T) | |
| Constructs a primitive with the specified transform. | |
| virtual Matrix3 | calc_inertia () |
| Default method for computing the inertia of this primitive. | |
| virtual Vector3 | calc_com () |
| Default method for computing the center-of-mass of this primitive. | |
| virtual Real | calc_mass () |
| Default method for computing the mass of this primitive. | |
| virtual void | load_from_xml (XMLTreeConstPtr node, std::map< std::string, BasePtr > &id_map) |
| Implements Base::load_from_xml() for serialization. | |
| virtual void | save_to_xml (XMLTreePtr node, std::list< BaseConstPtr > &shared_objects) const |
| Implements Base::save_to_xml() for serialization. | |
| virtual void | center () |
| Centers the geometry (specifically, the underlying array of triangles). | |
| virtual SoNode * | create_visualization () |
| Default method for creating the visualization data for this object. | |
| void | update_visualization () |
| Updates the visualization on the primitive. | |
| SoSeparator * | get_visualization () |
| Gets the visualization for this primitive, creating it if necessary. | |
| TriangleArrayConstPtr | get_tris () const |
| void | set_transform (const Matrix4 &T) |
| Sets the transform for this primitive -- transforms mesh and inertial properties (if calculated). | |
| std::list< Vector3ConstPtr > | get_vertices () const |
| Gets the set of vertices in the triangle representation of this primitive. | |
| void | set_max_tri_area (Real max_tri_area) |
| Sets the maximum area for triangles in the mesh. | |
| Real | get_max_tri_area () const |
| const Matrix4 & | get_transform () const |
| Gets the transform applied to this primitive. | |
| std::vector< Real > | det_indexed_mesh_vertices () const |
| Converts the vertices used in the mesh into an array of Reals. | |
| std::vector< int > | det_indexed_mesh_indices (bool term) const |
| Converts the mesh into an array of ints. | |
| void | set_mass (Real mass) |
| Sets the mass of this primitive. | |
| void | set_density (Real density) |
| Sets the density of this primitive. | |
Static Public Member Functions | |
| static void | transform_inertia (Real mass, const Matrix3 &J_in, const Vector3 &com_in, const Matrix4 &T, Matrix3 &J_out, Vector3 &com_out) |
| Transforms the given inertial properties by the given transform. | |
Protected Member Functions | |
| void | transform_mesh () |
| Transforms the mesh to the given transformation. | |
| void | subdivide () |
| Subdivides the underlying mesh until all triangles are no greater than the given area. | |
Protected Attributes | |
| Matrix4 | _T |
| The transform applied to this primitive. | |
| Real | _mass |
| The mass of this primitive. | |
| Real | _density |
| The density of this primitive. | |
| TriangleArrayConstPtr | _tris |
| The geometry of this primitive, represented as triangles. | |
The center-of-mass of the derived types may be at the origin of the world, or not. Additionally, Primitive can take a transformation matrix in its constructor, with which the primitive data (com, inertia matrix, and geometry) can be transformed.
| Matrix3 Primitive::calc_inertia | ( | ) | [virtual] |
Default method for computing the inertia of this primitive.
This method is slow, but accurate, as it computes the inertia over the triangle mesh of the primitive.
Reimplemented in Physsim::Box, Physsim::Cylinder, and Physsim::Sphere.
| Vector3 Primitive::calc_com | ( | ) | [virtual] |
Default method for computing the center-of-mass of this primitive.
This method is slow but accurate, as it uses the triangle mesh for computation. Derived classes should be able to speed this up quite a bit.
Reimplemented in Physsim::Cylinder, and Physsim::Sphere.
| Real Primitive::calc_mass | ( | ) | [virtual] |
Default method for computing the mass of this primitive.
This method is slow, but accurate, as it computes the mass over the triangle mesh of the primitive.
Reimplemented in Physsim::Box, Physsim::Cylinder, and Physsim::Sphere.
| SoNode * Primitive::create_visualization | ( | ) | [virtual] |
Default method for creating the visualization data for this object.
This method creates visualization data using the underlying triangle mesh.
Reimplemented in Physsim::Box, Physsim::Cylinder, and Physsim::Sphere.
| void Primitive::transform_inertia | ( | Real | mass, | |
| const Matrix3 & | J_in, | |||
| const Vector3 & | com_in, | |||
| const Matrix4 & | T, | |||
| Matrix3 & | J_out, | |||
| Vector3 & | com_out | |||
| ) | [static] |
Transforms the given inertial properties by the given transform.
| mass | the mass of the object | |
| J_in | the input inertia matrix | |
| com_in | the input center-of-mass | |
| T | the 4x4 transformation matrix | |
| J_out | the transformed inertia matrix, on return | |
| com_out | the transformed center-of-mass, on return |
| void Primitive::set_max_tri_area | ( | Real | area | ) |
Sets the maximum area for triangles in the mesh.
| std::vector< Real > Primitive::det_indexed_mesh_vertices | ( | ) | const |
Converts the vertices used in the mesh into an array of Reals.
An array of 3*n Reals is returned, where n is the number of vertices used in the mesh. This method allows the mesh to be converted into an indexed-face representation.
| std::vector< int > Primitive::det_indexed_mesh_indices | ( | bool | term | ) | const |
Converts the mesh into an array of ints.
| term | determines whether an array of 3*n ints or an array of 4*n ints is returned; if the latter, each set of three indices is terminated by the value -1 An array of 3*n or 4*n ints is returned, where n is the number of faces used in the mesh. This method allows the mesh to be converted into an indexed-face representation. Each value returned is an index from zero to m-1, where m is the number of vertices used in the mesh. |
| void Primitive::transform_mesh | ( | ) | [protected] |
Transforms the mesh to the given transformation.
calls TriangleMesh::clone_mesh() and TriangleMesh::transform_mesh()
TriangleArrayConstPtr Physsim::Primitive::_tris [protected] |
The geometry of this primitive, represented as triangles.
The triangle mesh is updated as the primitive's transform changes.
1.5.1