WoRB::Geometry Class Reference

Represents a geometry used to detect collisions against. More...

#include <Geometry.h>

Inheritance diagram for WoRB::Geometry:

Collaboration diagram for WoRB::Geometry:

Public Member Functions
bool	IsCuboid () const
bool	IsSphere () const
bool	IsHalfSpace () const
bool	IsTruePlane () const
const char *	GetName () const
	Returns class of the geometry as a string.
Quaternion	Position () const
	Gets the position vector of the geometry.
Quaternion	Axis (unsigned index) const
	Gets the unit base vector (axes) of the geometry, given by the index.
void	Detect (CollisionResolver &owner, const Geometry *B) const
	Detects and registers a collision between this and the other geometry.
Data Fields
RigidBody *	Body
	The rigid body that is represented by this geometry.
Protected Types
enum	GeometryClass { _Sphere, _Cuboid, _HalfSpace, _TruePlane }
Protected Member Functions
	Geometry (GeometryClass type, RigidBody *body=0)
	Protected constructor; disallows explicit instantiation of the class.
Protected Attributes
GeometryClass	Class
	Holds the geometry class of the object.

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Detailed Description

Represents a geometry used to detect collisions against.

Cannot be explicitly instantiated.

Definition at line 27 of file Geometry.h.

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Member Enumeration Documentation

enum WoRB::Geometry::GeometryClass [protected]

Enumerator:

_Sphere
_Cuboid
_HalfSpace
_TruePlane

Definition at line 31 of file Geometry.h.

        {
            _Sphere,
            _Cuboid,
            _HalfSpace,
            _TruePlane
        };

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Constructor & Destructor Documentation

WoRB::Geometry::Geometry	(	GeometryClass	type,
		RigidBody *	body = 0
	)		[inline, protected]

Protected constructor; disallows explicit instantiation of the class.

Definition at line 45 of file Geometry.h.

            : Class( type )
            , Body( body )
        {
        }

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Member Function Documentation

Quaternion WoRB::Geometry::Axis

(

unsigned

index

)

const [inline]

Gets the unit base vector (axes) of the geometry, given by the index.

Definition at line 88 of file Geometry.h.

References Body, WoRB::QTensor::Column(), and WoRB::RigidBody::ToWorld.

Referenced by WoRB::Cuboid::Check(), WoRB::Cuboid::Intersects(), WoRB::Cuboid::ProjectOn(), and WoRB::Cuboid::RegisterContactOnAxis().

        {
            // Axes are columns of the q-tensor with indices 0-2
            //
            return Body ? Body->ToWorld.Column( index ) : 0.0;
        }

void Geometry::Detect	(	CollisionResolver &	owner,
		const Geometry *	B
	)		const

Detects and registers a collision between this and the other geometry.

Definition at line 18 of file CollisionDetection.cpp.

References _Cuboid, _HalfSpace, _Sphere, _TruePlane, Class, and WoRB::CollisionResolver::HasSpaceForMoreContacts().

Referenced by WoRB::WorldOfRigidBodies< 256, 1024 >::SolveODE().

{
    if ( ! owner.HasSpaceForMoreContacts () ) {
        return;
    }

    typedef const Cuboid*     Cuboid_    ;
    typedef const Sphere*     Sphere_    ;
    typedef const HalfSpace*  HalfSpace_ ;
    typedef const TruePlane*  TruePlane_ ;

    switch( Class )
    {
        case _Sphere: switch( B->Class )
        {
            case _Sphere:    Sphere_(this)->Check( owner, *Sphere_(B)    ); break;
            case _Cuboid:    Cuboid_(B)   ->Check( owner, *Sphere_(this) ); break;
            case _HalfSpace: Sphere_(this)->Check( owner, *HalfSpace_(B) ); break;
            case _TruePlane: Sphere_(this)->Check( owner, *TruePlane_(B) ); break;
        }
        break;

        case _Cuboid: switch( B->Class )
        {
            case _Sphere:    Cuboid_(this)->Check( owner, *Sphere_(B)    ); break;
            case _Cuboid:    Cuboid_(this)->Check( owner, *Cuboid_(B)    ); break;
            case _HalfSpace: Cuboid_(this)->Check( owner, *HalfSpace_(B) ); break;
            case _TruePlane: /* not implemented */                        ; break;
        }
        break;

        case _HalfSpace: switch( B->Class )
        {
            case _Sphere:    Sphere_(B)->Check( owner, *HalfSpace_(this) ); break;
            case _Cuboid:    Cuboid_(B)->Check( owner, *HalfSpace_(this) ); break;
            case _HalfSpace: /* not implemented */                        ; break;
            case _TruePlane: /* not implemented */                        ; break;
        }
        break;

        case _TruePlane: switch( B->Class )
        {
            case _Sphere:    Sphere_(B)->Check( owner, *TruePlane_(this) ); break;
            case _Cuboid:    /* not implemented */                        ; break;
            case _HalfSpace: /* not implemented */                        ; break;
            case _TruePlane: /* not implemented */                        ; break;
        }
        break;
    }
}

const char* WoRB::Geometry::GetName

(

)

const [inline]

Returns class of the geometry as a string.

Definition at line 60 of file Geometry.h.

References _Cuboid, _HalfSpace, _Sphere, _TruePlane, and Class.

Referenced by WoRB_TestBed::Dump().

        {
            switch( Class )
            {
                case _Sphere:    return "Sphere";
                case _Cuboid:    return "Cuboid";
                case _HalfSpace: return "HalfSpace";
                case _TruePlane: return "TruePlane";
            }
            return "(unknown)";
        }

bool WoRB::Geometry::IsCuboid

(

)

const [inline]

Definition at line 53 of file Geometry.h.

References _Cuboid, and Class.

Referenced by WoRB_TestBed::Dump().

{ return Class == _Cuboid;    }

bool WoRB::Geometry::IsHalfSpace

(

)

const [inline]

Definition at line 55 of file Geometry.h.

References _HalfSpace, and Class.

{ return Class == _HalfSpace; }

bool WoRB::Geometry::IsSphere

(

)

const [inline]

Definition at line 54 of file Geometry.h.

References _Sphere, and Class.

Referenced by WoRB_TestBed::Dump().

{ return Class == _Sphere;    }

bool WoRB::Geometry::IsTruePlane

(

)

const [inline]

Definition at line 56 of file Geometry.h.

References _TruePlane, and Class.

{ return Class == _TruePlane; }

Quaternion WoRB::Geometry::Position

(

)

const [inline]

Gets the position vector of the geometry.

Definition at line 79 of file Geometry.h.

References Body, WoRB::QTensor::Column(), and WoRB::RigidBody::ToWorld.

Referenced by WoRB::Sphere::Check(), WoRB::Cuboid::Check(), WoRB::Sphere::Intersects(), and WoRB::Cuboid::Intersects().

        {
            // Column with index 3 holds the position
            //
            return Body ? Body->ToWorld.Column(3) : 0.0; 
        }

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Field Documentation

RigidBody* WoRB::Geometry::Body

The rigid body that is represented by this geometry.

Null in case of a scenery object (like a half-plane).

Definition at line 75 of file Geometry.h.

Referenced by Axis(), WoRB::Ball::Ball(), WoRB::Box::Box(), WoRB::Sphere::Check(), WoRB::Cuboid::Check(), WoRB::WorldOfRigidBodies< MaxObjects, MaxCollisions >::RigidBodies::Exists(), WoRB::WorldOfRigidBodies< MaxObjects, MaxCollisions >::RigidBodies::Next(), WoRB::WorldOfRigidBodies< MaxObjects, MaxCollisions >::RigidBodies::operator->(), Position(), WoRB_TestBed::ReconfigureTestBed(), WoRB::Cuboid::RegisterContactOnAxis(), WoRB::Cuboid::RegisterContactOnAxis_Thorough(), WoRB::Ball::Render(), WoRB::Box::Render(), WoRB::WorldOfRigidBodies< MaxObjects, MaxCollisions >::RigidBodies::RigidBodies(), WoRB::Sphere::SetMass(), and WoRB::Cuboid::SetMass().

GeometryClass WoRB::Geometry::Class [protected]

Holds the geometry class of the object.

Definition at line 41 of file Geometry.h.

Referenced by Detect(), GetName(), IsCuboid(), IsHalfSpace(), IsSphere(), and IsTruePlane().

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

• Geometry.h
• CollisionDetection.cpp