cens::CENSSerializedEngine Class Reference

#include <cens_serialized_engine.h>

Inheritance diagram for cens::CENSSerializedEngine:

Collaboration diagram for cens::CENSSerializedEngine:

Public Member Functions
virtual void	step (int timestep)
virtual CENSSerializedRobot *	loadBulletFile (const std::string &robotName, const std::string &file)
virtual CENSTouchSensor *	addTouchSensor (btRigidBody *body, std::string name)
virtual int	addCamera (std::string cameraName, 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::CENSEngine
	CENSEngine ()
virtual	~CENSEngine ()
virtual void	init (int argc, char **argv)
virtual void	initObjects ()
virtual void	display ()
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 Attributes
Robots	m_eRobots
Sensors	m_eSensors
Cameras	m_eCameras
Bodies	m_eBodies
Constraints	m_eConstraints
Protected Attributes inherited from cens::CENSEngine
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
Protected Member Functions inherited from cens::CENSEngine
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)
Static Protected Attributes inherited from cens::CENSPhysics
static CENSNonCollidingTable	m_phNonCollidingTable

Detailed Description

Definition at line 266 of file cens_serialized_engine.h.

Member Function Documentation

virtual int cens::CENSSerializedEngine::addCamera ( std::string  cameraName, 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  )

inlinevirtual

Parameters

cameraName	name of the camera
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 296 of file cens_serialized_engine.h.

References cens::CENSEngine::attachCamera(), and m_eCameras.

virtual CENSTouchSensor* cens::CENSSerializedEngine::addTouchSensor ( btRigidBody *  body, std::string  name  )

inlinevirtual

Add a touch sensor (overrides CENSPhysics method).

Parameters

body	the body to become a touch sensor
name	the name of the touch sensor

Returns

the pointer to the sensor

Definition at line 287 of file cens_serialized_engine.h.

References cens::CENSPhysics::addTouchSensor(), and m_eSensors.

CENSSerializedRobot * cens::CENSSerializedEngine::loadBulletFile ( const std::string &  robotName, const std::string &  file  )

virtual

Load rigid bodies and constraints from a bullet file

Definition at line 257 of file cens_serialized_engine.cpp.

References cens::CENSSerializedRobot::addBody(), cens::CENSSerializedRobot::addGenericConstraint(), cens::CENSSerializedRobot::addHinge(), cens::CENSSerializedRobot::addTransform(), cens::CENSImporter::getBodyMap(), cens::CENSSerializedRobot::init(), cens::CENSEngine::localImportRigidBody(), m_eBodies, m_eConstraints, cens::CENSPhysics::m_phDynamicsWorld, cens::CENSPhysics::m_phGravity, and cens::CENSPhysics::m_phSoftBodyWorldInfo.

void cens::CENSSerializedEngine::step ( int  ts )

virtual

One step of cens_graphics rendering.

Reimplemented from cens::CENSEngine.

Definition at line 245 of file cens_serialized_engine.cpp.

References m_eRobots, and cens::CENSEngine::step().

Member Data Documentation

Bodies cens::CENSSerializedEngine::m_eBodies

protected

contains all bodies owned by an Engine labeled with a name

Definition at line 342 of file cens_serialized_engine.h.

Referenced by loadBulletFile().

Cameras cens::CENSSerializedEngine::m_eCameras

protected

contains all camera indices labeled with the name of their rigid body

Definition at line 336 of file cens_serialized_engine.h.

Referenced by addCamera().

Constraints cens::CENSSerializedEngine::m_eConstraints

protected

contains all constraints owned by an Engine labeled with a name

Definition at line 348 of file cens_serialized_engine.h.

Referenced by loadBulletFile().

Robots cens::CENSSerializedEngine::m_eRobots

protected

contains all hinges' groups owned by an Engine

Definition at line 324 of file cens_serialized_engine.h.

Referenced by step().

Sensors cens::CENSSerializedEngine::m_eSensors

protected

contains all sensors owned by an Engine labeled with the name of their rigid body

Definition at line 330 of file cens_serialized_engine.h.

Referenced by addTouchSensor().

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

• src/cens_serialized_engine.h
• src/cens_serialized_engine.cpp