Initializing and manipulating physics objects. More...

#include <cens_engine.h>

Inheritance diagram for cens::CENSEngine:

Collaboration diagram for cens::CENSEngine:

Classes
struct	CENSBodyCameraData
	Parameters for the body-camera link. More...

Public Member Functions
	CENSEngine ()

virtual	~CENSEngine ()

virtual void	init (int argc, char **argv)

virtual void	initObjects ()

virtual void	display ()

virtual void	step (int value)

virtual void	run ()

virtual void	stepRun ()

btRigidBody *	localCreateRigidBody (float mass, const btTransform &startTransform, btCollisionShape *shape, const btVector3 &color=eigen2btVec(CENS_NULL_COLOR), const TexCoords &texCoords=CENS_NULL_TEXCOORDS, CENSPixelMap &pixmap=CENS_NULL_PIXMAP)

btRigidBody *	localImportRigidBody (btRigidBody *body, const btVector3 &color=eigen2btVec(CENS_NULL_COLOR), const TexCoords &texCoords=CENS_NULL_TEXCOORDS, CENSPixelMap &pixmap=CENS_NULL_PIXMAP)

btSoftBody *	localCreateSoftBody (float mass, btCollisionShape *shape, const btVector3 &color=eigen2btVec(CENS_NULL_COLOR), const TexCoords &texCoords=CENS_NULL_TEXCOORDS, CENSPixelMap &pixmap=CENS_NULL_PIXMAP)

btSoftBody *	localLinkSoftBody (btSoftBody *body, const btVector3 &color=eigen2btVec(CENS_NULL_COLOR), const TexCoords &texCoords=CENS_NULL_TEXCOORDS, CENSPixelMap &pixmap=CENS_NULL_PIXMAP)

virtual int	attachCamera (btRigidBody *body, btTransform local_transform, std::string screenTitle, int screenWidth, int screenHeight, int screenXGap, int screenYGap, btVector3 up, float target, float foV=70.0, float near=1.0, float far=10000)

Public Member Functions inherited from cens::CENSPhysics
	CENSPhysics ()

virtual	~CENSPhysics ()

virtual void	initCENSPhysics ()

virtual void	cens_physics_step ()

virtual btDynamicsWorld *	getDynamicsWorld ()

virtual btCollisionDispatcher *	getDispatcher ()

virtual btRigidBody *	localCreateRigidBody (float mass, const btTransform &startTransform, btCollisionShape *shape)

virtual btSoftBody *	localCreateSoftBody (float mass, btCollisionShape *shape)

virtual void	setCollisionFilter (CENSNonCollidingTable _non_colliding_table)

virtual CENSTouchSensor *	addTouchSensor (btRigidBody *body)

btScalar	getStep ()

btScalar	getSubstep ()

Vector3f	getGravity ()

Public Member Functions inherited from cens::CENSGraphics
	CENSGraphics ()

	~CENSGraphics ()

virtual void	initCENSGraphics (int argc, char **argv)

virtual void	loop ()

virtual void	stepToStepLoop ()

virtual bool	isIdle ()

virtual void	quit ()

virtual void	keyboard (unsigned char key, int x, int y)

void	initCamera (CENSCamera &camera, CENSLight light)

void	focusCamera (int camera_index)

void	updateCamera (int camera_index)

const CENSPixelMap &	getCameraPixelMap (int camera_index)

void	saveCameraPixelMap (int camera_index, int t, const char *type="jpg")

void	drawLine (const Vector3f &v1, const Vector3f &v2, const Vector3f color)

void	drawPlane (const Vector3f &orig, const Vector3f &vec0, const Vector3f &vec1)

void	drawBox (const Vector3f &orig, const Matrix3f &rotMat, const Vector3f &halfExtent)

void	drawSphere (const Vector3f &orig, const Matrix3f &rot, float radius)

void	drawConvex (const Vector3f &orig, const Matrix3f &rot, const std::vector< Vector3f > &vtx, const unsigned int *idx, int nvtxs, int nidxs, int ntrns)

void	drawAxis (const Vector3f &origin, const Matrix3f &rotation, float length)

void	drawVector (const Vector3f &v)

void	drawTriangle (const Vector3f &v1, const Vector3f &v2, const Vector3f &v3, const Vector3f n)

void	stepLeft ()

void	stepRight ()

void	stepFront ()

void	stepBack ()

void	zoomIn ()

void	zoomOut ()

void	toggleStop ()

void	toggleTexture ()

void	toggleAxis ()

void	toggleObjectAxes ()

void	toggleJointAxes ()

void	toggleCameraAxis ()

Protected Member Functions
virtual void	syncAttachedCamera (int index)

Protected Member Functions inherited from cens::CENSPhysics
btTransform &	getTransformFromBody (btRigidBody *body)

btTransform &	getTransformFromBody (btSoftBody *body)

Protected Member Functions inherited from cens::CENSGraphics
void	beginRendering ()

void	endRendering ()

void	initTextures ()

void	initTexture (const GLubyte *source=0, int width=0, int height=0)

Protected Attributes
CENSShapes	m_eShapes

std::vector< CENSBodyCameraData >	m_eAttachedCameras

Protected Attributes inherited from cens::CENSPhysics
btSoftRigidDynamicsWorld *	m_phDynamicsWorld

btAlignedObjectArray < btCollisionShape * >	m_phCollisionShapes

btAlignedObjectArray < CENSTouchSensor * >	m_phTouchSensors

btAlignedObjectArray < btSoftSoftCollisionAlgorithm * >	m_phSoftSoftCollisionAlgorithms

btAlignedObjectArray < btSoftRididCollisionAlgorithm * >	m_phSoftRigidCollisionAlgorithms

btSoftBodyWorldInfo	m_phSoftBodyWorldInfo

btBroadphaseInterface *	m_phBroadphase

btCollisionDispatcher *	m_phDispatcher

btConstraintSolver *	m_phSolver

btDefaultCollisionConfiguration *	m_phCollisionConfiguration

btScalar	m_phDefaultContactProcessingThreshold

Vector3f	m_phGravity

double	m_phStep

double	m_phSubstep

CENSParameterManager	m_phParameterManager

Protected Attributes inherited from cens::CENSGraphics
int	m_grTimestep

int	m_grArgc

char **	m_grArgv

Vector3f	m_grEnvColor

Vector3f	m_grGroundColor

Vector3f	m_grObjectColor

Vector3f	m_grBoxColor

Vector3f	m_grCapsuleColor

Vector3f	m_grSphereColor

Vector3f	m_grSoftColor

Vector3f	m_grCompoundColor

bool	m_grTextureEnabled

bool	m_grTextureInitialized

bool	m_grHide

CENSLight	m_grLight

bool	m_grAxisEnabled

bool	m_grSimEnabled

bool	m_grCameraAxisEnabled

bool	m_grObjectAxesEnabled

bool	m_grJointAxesEnabled

CENSCamera	m_grViewCamera

int	m_grEyeCameraNumber

std::vector< CENSCamera * >	m_grEyeCameras

std::vector< CENSCamera * >	m_grCameras

std::vector< CENSGraphicsShape * >	m_grShapes

CENSParameterManager	m_grParameterManager

Additional Inherited Members
Static Protected Attributes inherited from cens::CENSPhysics
static CENSNonCollidingTable	m_phNonCollidingTable

Detailed Description

Initializing and manipulating physics objects.

Graphic rendering is automatic, based on information stored in physics.

Inherits CENSGraphics and CENSPhysics.

The initObjects() and the step() methods can be overloaded in a derived class.

In the initObjects() method a model of the world can be built by initializing all bodies and joints. Pointers bodies and joints to be manipulated at run time should be declared in the header as members of the class.

In the step() method run-time you can put instructions about moving and resetting bodies and joints as well as applying forces and torques, etc. Remember to call the CENSEngine::step() method at the end of the overloaded step() method

void DerivedFromCENSEngine::step( int value) { 
...  
...
CENSEngine::step(value); 
}

Definition at line 104 of file cens_engine.h.

Constructor & Destructor Documentation

cens::CENSEngine::CENSEngine ( )

Definition at line 35 of file cens_engine.cpp.

References cens::cens_graphics.

cens::CENSEngine::~CENSEngine ( )

virtual

Definition at line 57 of file cens_engine.cpp.

Member Function Documentation

int cens::CENSEngine::attachCamera	(	btRigidBody *	body,
		btTransform	local_transform,
		std::string	screenTitle,
		int	screenWidth,
		int	screenHeight,
		int	screenXGap,
		int	screenYGap,
		btVector3	up,
		float	target,
		float	foV = `70.0`,
		float	near = `1.0`,
		float	far = `10000`
	)

virtual

Attach a camera to a body

Parameters

body	The attached body
local_transform	transform of the camera
screenTitle	target view point
screenWidth	width of screen view
screenHeight	height of screen view
screenXGap	horizontal screen position of view
screenYGap	vertical screen position of view
up	Up vector of the camera
target	target view point
foV	field of view
near	near plane
far	far plane

Definition at line 574 of file cens_engine.cpp.

Referenced by cens::CENSSerializedEngine::addCamera().

void cens::CENSEngine::display ( )

virtual

Rendering of all objects

Reimplemented from cens::CENSGraphics.

Definition at line 91 of file cens_engine.cpp.

void cens::CENSEngine::init	(	int	argc,
		char **	argv
	)

virtual

Initialize cens_graphics and cens_physics.

Parameters

argc	arguments' number (for glutMainLoop).
argv	arguments' list (for glutMainLoop).

Definition at line 43 of file cens_engine.cpp.

References cens::CENSGraphics::focusCamera(), cens::CENSGraphics::initCENSGraphics(), initObjects(), cens::CENSGraphics::initTextures(), and cens::CENSGraphics::m_grCameras.

virtual void cens::CENSEngine::initObjects ( )

inlinevirtual

All bodies and joints are created here. Connections of bodies to joints are stated also here

Reimplemented from cens::CENSPhysics.

Definition at line 117 of file cens_engine.h.

Referenced by init().

btRigidBody * cens::CENSEngine::localCreateRigidBody	(	float	mass,
		const btTransform &	startTransform,
		btCollisionShape *	shape,
		const btVector3 &	color = `eigen2btVec(CENS_NULL_COLOR)`,
		const TexCoords &	texCoords = `CENS_NULL_TEXCOORDS`,
		CENSPixelMap &	pixmap = `CENS_NULL_PIXMAP`
	)

Create a rigid body and link it to the m_phDynamicsWorld.

Parameters

mass	weight of the body. Zero mass equals to a body having a fixed position in space.
startTransform	initial rotation and translation.
shape	shape of the body.
color	color of the body.
texCoords	UV cordinates for texture.
pixmap	image to use for texturing the surface of the body.

Definition at line 268 of file cens_engine.cpp.

References cens::btVec2eigen(), cens::CENSGraphicsShape::buildAsBox(), cens::CENSGraphicsShape::buildAsConvex(), cens::CENSGraphicsShape::buildAsPlane(), cens::CENSGraphicsShape::buildAsSphere(), cens::CENS_NULL_COLOR, cens::CENS_NULL_PIXMAP, cens::CENSPixelMap::getData(), cens::CENSPhysics::localCreateRigidBody(), m_eShapes, cens::CENSGraphics::m_grBoxColor, cens::CENSGraphics::m_grCapsuleColor, cens::CENSGraphics::m_grShapes, and cens::CENSGraphics::m_grSphereColor.

btSoftBody * cens::CENSEngine::localCreateSoftBody	(	float	mass,
		btCollisionShape *	shape,
		const btVector3 &	color = `eigen2btVec(CENS_NULL_COLOR)`,
		const TexCoords &	texCoords = `CENS_NULL_TEXCOORDS`,
		CENSPixelMap &	pixmap = `CENS_NULL_PIXMAP`
	)

Create a soft body and link it to the m_phDynamicsWorld.

Parameters

mass	weight of the body. Zero mass equals to a body having a fixed position in space.
shape	shape of the body.
color	color of the body.
texCoords	UV cordinates for texture.
pixmap	image to use for texturing the surface of the body.

Definition at line 519 of file cens_engine.cpp.

References cens::btVec2eigen(), cens::CENSGraphicsShape::buildAsSoft(), cens::CENS_NULL_COLOR, cens::CENS_NULL_PIXMAP, cens::CENSPixelMap::getData(), cens::CENSPhysics::localCreateSoftBody(), m_eShapes, cens::CENSGraphics::m_grShapes, and cens::CENSGraphics::m_grSoftColor.

btRigidBody * cens::CENSEngine::localImportRigidBody	(	btRigidBody *	body,
		const btVector3 &	color = `eigen2btVec(CENS_NULL_COLOR)`,
		const TexCoords &	texCoords = `CENS_NULL_TEXCOORDS`,
		CENSPixelMap &	pixmap = `CENS_NULL_PIXMAP`
	)

Link a rigid body it to the m_phDynamicsWorld.

Parameters

body	pointer to a btRigidBody
color	color of the body.
texCoords	UV cordinates for texture.
pixmap	image to use for texturing the surface of the body.

Definition at line 391 of file cens_engine.cpp.

References cens::btVec2eigen(), cens::CENSGraphicsShape::buildAsBox(), cens::CENSGraphicsShape::buildAsConvex(), cens::CENSGraphicsShape::buildAsPlane(), cens::CENSGraphicsShape::buildAsSphere(), cens::CENS_NULL_COLOR, cens::CENS_NULL_PIXMAP, cens::CENSPixelMap::getData(), m_eShapes, cens::CENSGraphics::m_grBoxColor, cens::CENSGraphics::m_grCapsuleColor, cens::CENSGraphics::m_grShapes, and cens::CENSGraphics::m_grSphereColor.

Referenced by cens::CENSSerializedEngine::loadBulletFile().

btSoftBody * cens::CENSEngine::localLinkSoftBody	(	btSoftBody *	body,
		const btVector3 &	color = `eigen2btVec(CENS_NULL_COLOR)`,
		const TexCoords &	texCoords = `CENS_NULL_TEXCOORDS`,
		CENSPixelMap &	pixmap = `CENS_NULL_PIXMAP`
	)