dtCore::Transformable Class Reference

The Transformable class is the base class of anything that can move in the virtual world and can be added to the Scene. More...

#include <transformable.h>

Inheritance diagram for dtCore::Transformable:

List of all members.

Public Types
enum	CoordSysEnum { REL_CS, ABS_CS }
typedef osg::MatrixTransform	TransformableNode
Public Member Functions
	Transformable (const std::string &name="Transformable")
	Transformable (TransformableNode &node, const std::string &name="Transformable")
	Overloaded constructor will use the supplied node instead of creating one internally.
virtual bool	AddChild (DeltaDrawable *child)
	Add a DeltaDrawable child.
virtual void	RemoveChild (DeltaDrawable *child)
	Remove a DeltaDrawable child.
virtual void	SetTransform (const Transform &xform, CoordSysEnum cs=ABS_CS)
	Sets the Transform to reposition this Transformable.
virtual void	GetTransform (Transform &xform, CoordSysEnum cs=ABS_CS) const
	Get the current Transform of this Transformable.
TransformableNode *	GetMatrixNode ()
	Convenience function to return back the internal matrix transform node.
const TransformableNode *	GetMatrixNode () const
	Convenience function to return back the internal matrix transform node.
const osg::Matrix &	GetMatrix () const
	Returns: the matrix for this transformable. Call this instead of getMatrixNode->getMatrix
void	SetMatrix (const osg::Matrix &mat)
	set the matrix for this transformable. Call this instead of getMatrixNode->setMatrix
virtual void	RenderProxyNode (bool enable=true)
	Render method for an object which may not have geometry.
virtual bool	GetIsRenderingProxyNode () const
	Returns if we are rendering the proxy node.
void	SetNormalRescaling (bool enable)
	Automatically rescales normals if you scale your objects.
bool	GetNormalRescaling () const
	Checks if we are rescaling normals for this object.
dGeomID	GetGeomID () const
	Returns the ODE geometry identifier associated with this object.
CollisionGeomType *	GetCollisionGeomType () const
	Returns the type of collision geometry associated with this object.
void	GetCollisionGeomDimensions (std::vector< float > &dimensions)
	Returns the dimensions of collision geometry associated with this object.
void	SetCollisionDetection (bool enabled)
	Sets whether or not collisions detection will be performed.
bool	GetCollisionDetection () const
	Gets whether or not collisions with other Transformables will be detected.
void	SetCollisionGeom (dGeomID geom)
	Sets this object's collision geometry to the specified ODE geom.
void	SetCollisionSphere (float radius)
	Sets this object's collision geometry to a sphere with the specified radius.
void	SetCollisionSphere (osg::Node *node=0)
	Sets this object's collision geometry to a sphere with radius derived from the specified OpenSceneGraph node.
void	SetCollisionBox (float lx, float ly, float lz)
	Sets this object's collision geometry to a box with the specified dimensions.
void	SetCollisionBox (osg::Node *node=0)
	Sets this object's collision geometry to a box with parameters derived from the specified OpenSceneGraph node.
void	SetCollisionCappedCylinder (float radius, float length)
	Sets this object's collision geometry to a capped cylinder (oriented along the z axis) with the specified radius and length.
void	SetCollisionCappedCylinder (osg::Node *node=NULL)
	Sets this object's collision geometry to a capped cylinder with parameters derived from the given OpenSceneGraph node.
void	SetCollisionRay (float length)
	Sets this object's collision geometry to a ray (along the z axis) with the specified length.
void	SetCollisionMesh (osg::Node *node=NULL)
	Sets this object's collision geometry to a triangle mesh derived from the given OpenSceneGraph node.
void	ClearCollisionGeometry ()
	Removes any collision geometry specified for this object.
virtual void	PrePhysicsStepUpdate ()
	Updates the state of this object just before a physical simulation step.
virtual bool	FilterContact (dContact *contact, Transformable *collider)
	Modifies or cancels the specified contact joint definition according to the relationship between this object and the specified collider.
virtual void	PostPhysicsStepUpdate ()
	Updates the state of this object just after a physical simulation step.
void	RenderCollisionGeometry (bool enable=true)
	Enable or disable the rendering of the collision geometry.
bool	GetRenderCollisionGeometry () const
	Are we currently rendering the collision geometry?
virtual void	AddedToScene (Scene *scene)
	Supply the Scene this Transformable has been added to.
void	SetCollisionCategoryBits (unsigned long bits)
	Set the category bits of this collision geom.
unsigned long	GetCollisionCategoryBits () const
void	SetCollisionCollideBits (unsigned long bits)
	Set the collide bits of this collision geom.
unsigned long	GetCollisionCollideBits () const
osg::Node *	GetOSGNode ()
	required by DeltaDrawable
const osg::Node *	GetOSGNode () const
Static Public Member Functions
static bool	GetAbsoluteMatrix (const osg::Node *node, osg::Matrix &wcMatrix)
	Gets the world coordinate matrix for the supplied node.
Static Public Attributes
static const std::string	COLLISION_GEODE_ID
	Used to identify the collision geometry node if RenderCollisionGeometry is set to true.
Protected Member Functions
void	ReplaceMatrixNode (TransformableNode *matrixTransform)
	Replaces the scene graph node with a new MatrixTransform.
virtual	~Transformable ()
Protected Attributes
Transform	mGeomTransform
	The last geometry transform reported to ODE.
Classes
class	CollisionGeomType
	We need an enumeration to allow the user to set which type of collision geometry to use. More...

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Detailed Description

The Transformable class is the base class of anything that can move in the virtual world and can be added to the Scene.

The default coordinate system of dtCore is +X to the right, +Y forward into the screen, and +Z is up. Therefore, heading is around the Z axis, pitch is around the X axis, and roll is around the Y axis. The angles are all right-hand-rule.

The Transformable class creates a osg::MatrixTransform node for the protected member mNode.

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Member Typedef Documentation

typedef osg::MatrixTransform dtCore::Transformable::TransformableNode

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Member Enumeration Documentation

enum dtCore::Transformable::CoordSysEnum

Enumerator:

REL_CS	The Transform coordinate system is relative to the parent.
ABS_CS	The Transform coordinate system is absolute.

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Constructor & Destructor Documentation

Transformable::Transformable

(

const std::string &

name = "Transformable"

)

Transformable::Transformable	(	TransformableNode &	node,
		const std::string &	name = "Transformable"
	)

Overloaded constructor will use the supplied node instead of creating one internally.

Parameters:

	node	: A node this class should use internally
	name	: The name of this instance

Transformable::~Transformable

(

)

[protected, virtual]

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Member Function Documentation

void Transformable::ReplaceMatrixNode

(

TransformableNode *

matrixTransform

)

[protected]

Replaces the scene graph node with a new MatrixTransform.

WARNING! This function is a big fat hack to get RepliacntBody to play nice with our API. This will almost certainly be removed in future version, so don't get to comfy using it! ;) Properties set on this Transformable are merged onto the new node, however the old collision geometry will remain.

Parameters:

matrixTransform

The node you wish to squeeze into this Transformable.

Precondition:

matrixTransform != NULL

bool Transformable::AddChild

(

DeltaDrawable *

child

)

[virtual]

Add a DeltaDrawable child.

Add a child to this Transformable.

This will allow the child to be repositioned whenever the parent moves. An optional offset may be applied to the child. Any number of children may be added to a parent. The child's position in relation to the parent's will not change (ie: the child will *not* snap to the parent's position) unless the offset is overwritten using SetTransform() on the child.

Parameters:

*child

: The child to add to this Transformable

Returns:

: successfully added the child or not

See also:

SetTransform()

RemoveChild()

Reimplemented from dtCore::DeltaDrawable.

Reimplemented in dtCore::Light.

void Transformable::RemoveChild

(

DeltaDrawable *

child

)

[virtual]

Remove a DeltaDrawable child.

Remove a child from this Transformable.

This will detach the child from its parent so that its free to be repositioned on its own.

Parameters:

*child

: The child Transformable to be removed

Reimplemented from dtCore::DeltaDrawable.

Reimplemented in dtCore::Light.

void Transformable::SetTransform	(	const Transform &	xform,
		CoordSysEnum	cs = ABS_CS
	)			[virtual]

Sets the Transform to reposition this Transformable.

Set position/attitude of this Transformable using the supplied Transform.

Note that if this function is overriden, then GetMatrix()->getMatrix() may return diffirent values.

Parameters:

	xform	The value to set on this Transformable.
	cs	The coordinate system of the returned Transform. For absolute, use ABS_CS, and for relative, us REL_CS.

An optional coordinate system parameter may be supplied to specify whether the Transform is in relation to this Transformable's parent.

If the CoordSysEnum is ABS_CS, then the Transformable is positioned assuming absolute world coordinates and the Transformable parent/child relative position is recalculated. If the CoordSysEnum is REL_CS, then the Transformable is positioned relative to it's parent's Transform. (Note - if REL_CS is supplied and the Transformable does not have a parent, the Transform is assumed to be an absolute world coordinate.

Parameters:

	*xform	: The new Transform to position this instance
	cs	: Optional parameter describing the coordinate system of xform Defaults to ABS_CS.

Reimplemented in dtAudio::Sound.

void Transformable::GetTransform	(	Transform &	xform,
		CoordSysEnum	cs = ABS_CS
	)			const [virtual]

Get the current Transform of this Transformable.

Parameters:

	xform	The value will by assigned to this reference.
	cs	The coordinate system of the returned Transform. For absolute, use ABS_CS, and for relative, us REL_CS.
	*xform	: The Transform to be filled in
	cs	: Optional parameter to select either the absolute world coordinate or the parent relative coordinate (default == ABS_CS)

TransformableNode* dtCore::Transformable::GetMatrixNode

(

)

[inline]

Convenience function to return back the internal matrix transform node.

const TransformableNode* dtCore::Transformable::GetMatrixNode

(

)

const [inline]

Convenience function to return back the internal matrix transform node.

const osg::Matrix & Transformable::GetMatrix

(

)

const

Returns:

the matrix for this transformable. Call this instead of getMatrixNode->getMatrix

void Transformable::SetMatrix

(

const osg::Matrix &

mat

)

set the matrix for this transformable. Call this instead of getMatrixNode->setMatrix

void Transformable::RenderProxyNode

(

bool

enable = true

)

[virtual]

Render method for an object which may not have geometry.

Reimplemented from dtCore::DeltaDrawable.

virtual bool dtCore::Transformable::GetIsRenderingProxyNode

(

)

const [inline, virtual]

Returns if we are rendering the proxy node.

bool Transformable::GetAbsoluteMatrix	(	const osg::Node *	node,
		osg::Matrix &	wcMatrix
	)			[static]

Gets the world coordinate matrix for the supplied node.

Calculates the world coordinate system matrix using the supplied node.

Parameters:

	node	The node to start from
	wcMatrix	The matrix to fill

Returns:

Success

Parameters:

	node	: the node to calculate the world coordinate matrix from
	wcMat	: The supplied matrix to return with world coordinates

Returns:

successfully or not

void Transformable::SetNormalRescaling

(

bool

enable

)

Automatically rescales normals if you scale your objects.

bool Transformable::GetNormalRescaling

(

)

const

Checks if we are rescaling normals for this object.

dGeomID dtCore::Transformable::GetGeomID

(

)

const [inline]

Returns the ODE geometry identifier associated with this object.

Returns:

the object's geometry identifier

Transformable::CollisionGeomType * Transformable::GetCollisionGeomType

(

)

const

Returns the type of collision geometry associated with this object.

Returns:

the object's collision geometry type

void Transformable::GetCollisionGeomDimensions

(

std::vector< float > &

dimensions

)

Returns the dimensions of collision geometry associated with this object.

Note: This is not const function since it requires an update to the underlying ODE geometry if we are out of sync with OSG.

Parameters:

	dimensions	The dimenstions of the object's collision geometry. What is filled into the vector is dependent on Collision type. CUBE : ( lx, ly, lz ) SPHERE : ( radius ) CYLINDER : ( radius, length ) RAY : ( length, start_x, start_y, start_z, dir_x, dir_y, dir_z )
	dimensions	The dimenstions of the object's collision geometry. What is filled into the vector is dependent on Collision type. CUBE : ( lx, ly, lz ) SPHERE : ( radius ) CYLINDER : ( radius, length ) RAY : ( length, start_x, start_y, start_z, dir_x, dir_y, dir_z )

void Transformable::SetCollisionDetection

(

bool

enabled

)

Sets whether or not collisions detection will be performed.

Note: This does not handle collisions in any way, the user is still responsible for implementing collision response (or just use Physical). Collision detected is enabled by default if a collision shape has been set.

Parameters:

enabled

true if the Transformable will perform collision detection

Note: This does not handle collisions in any way, the user is still responsible for implementing collision response (or just use Physical).

Parameters:

solid

true if the Transformable is solid

bool Transformable::GetCollisionDetection

(

)

const

Gets whether or not collisions with other Transformables will be detected.

Returns:

true if the Transformable will perform collision detection

true if the Transformable is solid

void Transformable::SetCollisionGeom

(

dGeomID

geom

)

Sets this object's collision geometry to the specified ODE geom.

Parameters:

geom

the new collision geom

void Transformable::SetCollisionSphere

(

float

radius

)

Sets this object's collision geometry to a sphere with the specified radius.

Parameters:

radius

the radius of the collision sphere

void Transformable::SetCollisionSphere

(

osg::Node *

node = 0

)

Sets this object's collision geometry to a sphere with radius derived from the specified OpenSceneGraph node.

Parameters:

	node	the node from which to obtain the sphere radius (if 0, attempt to use own node)
	node	the node from which to obtain the sphere radius (if NULL, attempt to use own node)

void Transformable::SetCollisionBox	(	float	lx,
		float	ly,
		float	lz
	)

Sets this object's collision geometry to a box with the specified dimensions.

Parameters:

	lx	the length of the box in the x direction
	ly	the length of the box in the y direction
	lz	the length of the box in the z direction

void Transformable::SetCollisionBox

(

osg::Node *

node = 0

)

Sets this object's collision geometry to a box with parameters derived from the specified OpenSceneGraph node.

Parameters:

node

the node from which to obtain the box parameters (if 0, attempt to use own node)

void Transformable::SetCollisionCappedCylinder	(	float	radius,
		float	length
	)

Sets this object's collision geometry to a capped cylinder (oriented along the z axis) with the specified radius and length.

Parameters:

	radius	the radius of the cylinder
	length	the length of the cylinder

void Transformable::SetCollisionCappedCylinder

(

osg::Node *

node = NULL

)

Sets this object's collision geometry to a capped cylinder with parameters derived from the given OpenSceneGraph node.

Parameters:

	node	the node from which to obtain the cylinder parameters (if 0, attempt to use own node)
	node	the node from which to obtain the cylinder parameters (if NULL, attempt to use own node)

void Transformable::SetCollisionRay

(

float

length

)

Sets this object's collision geometry to a ray (along the z axis) with the specified length.

Parameters:

length

the length of the ray

void Transformable::SetCollisionMesh

(

osg::Node *

node = NULL

)

Sets this object's collision geometry to a triangle mesh derived from the given OpenSceneGraph node.

Parameters:

node

the node from which to obtain the mesh data (if 0, attempt to use own node)

void Transformable::ClearCollisionGeometry

(

)

Removes any collision geometry specified for this object.

void Transformable::PrePhysicsStepUpdate

(

)

[virtual]

Updates the state of this object just before a physical simulation step.

Should only be called by dtCore::Scene. The default implementation updates the state of the body to reflect any user-applied transformation.

virtual bool dtCore::Transformable::FilterContact	(	dContact *	contact,
		Transformable *	collider
	)			[inline, virtual]

Modifies or cancels the specified contact joint definition according to the relationship between this object and the specified collider.

Should only be called by dtCore::Scene.

This is false by default since most things that move should not cause collisions (Lights, Isector's, Camera, etc.)

Parameters:

	contact	the joint definition to modify
	collider	the object with which this is colliding

Returns:

true to keep the contact joint as modified, false to cancel it

Reimplemented in dtCore::InfiniteTerrain, and dtCore::Physical.

virtual void dtCore::Transformable::PostPhysicsStepUpdate

(

)

[inline, virtual]

Updates the state of this object just after a physical simulation step.

Should only be called by dtCore::Scene. The default implementation here does nothing. Physical overrides it and copies the new object position into the user-accessible transformation.

Reimplemented in dtCore::Physical.

void Transformable::RenderCollisionGeometry

(

bool

enable = true

)

Enable or disable the rendering of the collision geometry.

This will draw a purple outline of shape the collision detection routine is using.

Parameters:

enable

If true, the scene will now render the collision geomertry.

bool dtCore::Transformable::GetRenderCollisionGeometry

(

)

const [inline]

Are we currently rendering the collision geometry?

Returns:

True if we are rendering collision geometry.

void Transformable::AddedToScene

(

Scene *

scene

)

[virtual]

Supply the Scene this Transformable has been added to.

This typically gets called from Scene::AddDrawable().

Normally this is done inside Scene::RegisterCollidable.

Parameters:

scene

The Scene to which this Transformable is being added to.

This method perform the standard DeltaDrawable::AddedToScene() functionality then registers this Transformable object with the supplied Scene to create the internal physical properties.

If the param scene is 0, this will unregister this Transformable from the previous parent Scene. If this Transformable already has a parent Scene, it will first remove itself from the old Scene (Scene::RemoveDrawable()), then re-register with the new Scene.

Parameters:

scene

The Scene this Transformable has been added to

Reimplemented from dtCore::DeltaDrawable.

Reimplemented in dtActors::Cal3DGameActor, dtActors::GameMeshActor, dtActors::MeshTerrainActor, dtCore::Camera, and dtCore::Light.

void Transformable::SetCollisionCategoryBits

(

unsigned long

bits

)

Set the category bits of this collision geom.

Here's the defaults:

dtABC::ProximityTrigger 0

dtCore::Camera: 1 dtCore::Compass: 2 dtCore::InfiniteTerrain: 3 dtCore::ISector: 4 dtCore::Object: 5 dtCore::ParticlSsystem: 6 dtCore::Physical: 7 dtCore::PointAxis: 8 dtCore::PositionalLight: 9 dtCore::SpotLight: 10 dtCore::Transformable: 11

dtChar::Character: 12 dtAudio::Listener: 13 dtAudio::Sound: 14 dtHLA::Entity: 15 dtTerrain::Terrain: 16

unsigned long Transformable::GetCollisionCategoryBits

(

)

const

void Transformable::SetCollisionCollideBits

(

unsigned long

bits

)

Set the collide bits of this collision geom.

If you want this geom to collide with a geom of category bit 00000010 for example, make sure these collide bits contain 00000010. The UNSIGNED_BIT macro in dtCore/macros.h comes in handy here. UNSIGNED_BIT(4) = 00000100

unsigned long Transformable::GetCollisionCollideBits

(

)

const

osg::Node * Transformable::GetOSGNode

(

)

[virtual]

required by DeltaDrawable

Implements dtCore::DeltaDrawable.

const osg::Node * Transformable::GetOSGNode

(

)

const [virtual]

Implements dtCore::DeltaDrawable.

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Member Data Documentation

const std::string Transformable::COLLISION_GEODE_ID [static]

Used to identify the collision geometry node if RenderCollisionGeometry is set to true.

Transform dtCore::Transformable::mGeomTransform [protected]

The last geometry transform reported to ODE.

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