The geometry representation used by the collision detection engine. More...

#include <Geometry.h>

Inheritance diagram for agxCollide::Geometry:

Public Types
typedef CollisionGroupManager::GroupIdHash	GroupSet
	Deprecated: Only for backward compatibility.

typedef agx::Event1< Geometry * >	ShapeChangeEvent

Public Member Functions
	Geometry (const agx::Name &name="")
	Constructor.

	Geometry (Shape *shape)
	Constructor.

	Geometry (Shape *shape, const agx::AffineMatrix4x4 &localShapeTransform)
	Constructor.

bool	add (Shape *shape, const agx::AffineMatrix4x4 &localTransform=agx::AffineMatrix4x4())
	Add a shape to the geometry.

void	addGroup (agx::UInt32 id, bool forceContactUpdate=false)
	Add the specified `id` to a vector of group id, this will make a geometry part of the group `id`.

void	addGroup (const agx::Name &name, bool forceContactUpdate=false)
	Add the specified `name` to a vector of named group id, this will make a geometry part of the group `name`.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agxCollide::Geometry)

agx::Vec3	calculateCenterOfMassOffset () const

agx::SPDMatrix3x3	calculateInertia (agx::Real mass) const

agx::Real	calculateMass () const

virtual agx::Vec3f	calculateSurfaceVelocity (const agxCollide::LocalContactPoint &point, size_t index) const
	Implement this method to get access to different surface velocities on the geometry:s surface.

agx::Real	calculateVolume () const

bool	canCollide (const Geometry *otherGeometry) const

Geometry *	clone (bool shallowCopyRenderData=false) const
	This method will make a deep copy of the geometry, excluding membership in any RigidBody.

void	cloneShapeRenderData (agxCollide::Shape *target, bool shallowCopy) const
	Clone the shape render data from the geometry shape onto target shape.

agxCollide::GroupIdCollection	findGroupIdCollection () const

virtual const BoundingAABB *	getBoundingVolume () const
	The bounding volume for the geometry is made large enough to fit all shape bounds.

agx::Referenced *	getCustomData ()

const agx::Referenced *	getCustomData () const

bool	getEnable () const
	Return whether the geometry should be used in intersection tests.

bool	getEnableCollisions () const

bool	getEnableCollisions (const Geometry *otherGeometry) const
	This method is only based on what is set using setEnableCollisions().

bool	getEnableMassProperties () const

agx::Physics::GeometryPtr	getEntity () const

agx::Frame *	getFrame ()

const agx::Frame *	getFrame () const

const GroupSet &	getGroupIDs () const

const agx::Physics::CollisionGroupSetPtr &	getGroupSet () const

agx::Int64	getId () const

agx::Vec3	getLocalPosition () const

agx::Quat	getLocalRotation () const

const agx::AffineMatrix4x4 &	getLocalTransform () const

agx::Material *	getMaterial ()

const agx::Material *	getMaterial () const

const agx::Name &	getName () const
	Get the name.

agx::Frame *	getParentFrame ()

const agx::Frame *	getParentFrame () const

agx::Vec3	getPosition () const

agx::PropertyContainer *	getPropertyContainer ()

const agx::PropertyContainer *	getPropertyContainer () const

agx::RigidBody *	getRigidBody ()

const agx::RigidBody *	getRigidBody () const

agx::Quat	getRotation () const

const ShapeRefVector &	getShapes () const

Space *	getSpace ()

const Space *	getSpace () const

const agx::Vec3f &	getSurfaceVelocity () const

agx::UInt32	getSweepAndPruneIndex () const

agx::AffineMatrix4x4	getTransform () const

bool	hasGroup (agx::UInt32 id) const
	This is performing a linear search among the collision group id for this Geometry.

bool	hasGroup (const agx::Name &name) const
	Searches for the named group name for this geometry and return true if it can be found.

bool	hasPropertyContainer () const

bool	isEnabled () const
	Alias for getEnable Return whether the geometry should be used in intersection tests.

bool	isSensor () const
	Return true if geometry is a sensor.

bool	isSensorGeneratingContactData () const

bool	remove (Shape *shape)
	Remove a shape from the geometry.

bool	remove (size_t index)
	Remove the i:th shape from the Geometry.

void	removeAllGroups (bool forceContactUpdate=false)
	Remove all collision group ids.

void	removeGroup (agx::UInt32 id, bool forceContactUpdate=false)
	Remove a collision group id from the vector of group ids.

void	removeGroup (const agx::Name &name, bool forceContactUpdate=false)
	Remove a named collision group from the vector of named group ids.

void	removeMaterial ()
	Remove the material from the geometry.

bool	replace (Shape oldShape, Shape newShape, const agx::AffineMatrix4x4 &localTransform=agx::AffineMatrix4x4())

bool	replace (size_t shapeIndex, Shape *newShape, const agx::AffineMatrix4x4 &localTransform=agx::AffineMatrix4x4())
	Replace a shape in the geometry.

bool	replaceShapeTransform (Shape *shape, const agx::AffineMatrix4x4 &newTransform)
	Replace the shape transform for the specified shape.

bool	replaceShapeTransform (size_t shapeIndex, const agx::AffineMatrix4x4 &newTransform)
	Replace the shape transform for the specified shapeIndex.

void	setCustomData (agx::Referenced *data)
	Store a ref_ptr to a user custom data class, which must be inherited from Referenced.

void	setEnable (bool flag)
	Enable/disable collision testing for geometry.

void	setEnableCollisions (bool collide)
	Should this geometry collide with any other geometries.

void	setEnableCollisions (const Geometry *otherGeometry, bool flag)
	Specify whether `otherGeometry` is allowed to collide with this geometry.

void	setEnableMassProperties (bool enableMassProperties)
	If set to true, this geometry will be included in mass property computation when part of a rigid body.

void	setGroupSet (agx::Physics::CollisionGroupSetPtr set)
	Set the collision group set of the geometry.

void	setLocalPosition (agx::Real x, agx::Real y, agx::Real z)
	Set the position of the geometry relative to its frame's parent frame.

void	setLocalPosition (const agx::Vec3 &p)
	Set the position of the geometry relative to its frame's parent frame.

void	setLocalRotation (const agx::EulerAngles &e)
	Set the rotation of the geometry relative to its frame's parent frame.

void	setLocalRotation (const agx::Quat &q)
	Set the rotation of the geometry relative to its frame's parent frame.

void	setLocalTransform (const agx::AffineMatrix4x4 &matrix)
	Assign the local transformation matrix for this geometry, ignoring any eventual parent transformation.

void	setMaterial (agx::Material *material)
	Set the material of the geometry.

void	setName (const agx::Name &name)
	Set the name of this Geometry.

bool	setParentFrame (agx::Frame *frame)
	Set the parent frame of this geometry's frame.

void	setPosition (agx::Real x, agx::Real y, agx::Real z)
	Set the position of the frame in world coordinates.

void	setPosition (const agx::Vec3 &p)
	Set the position of the frame in world coordinates.

void	setPropertyContainer (agx::PropertyContainer *container)
	Give this a new PropertyContainer.

void	setRotation (const agx::EulerAngles &e)
	Set the rotation of the geometry relative to world frame.

void	setRotation (const agx::OrthoMatrix3x3 &m)
	Set the rotation of the geometry relative to world frame.

void	setRotation (const agx::Quat &q)
	Set the rotation of the geometry relative to world frame.

void	setSensor (bool flag, bool generateContactData=true)
	Sets if the geometry should be a sensor.

void	setSurfaceVelocity (const agx::Vec3f &surfaceVelocity)
	Set the velocity of this geometry's surface in the geometry's local coordinate frame.

void	setTransform (const agx::AffineMatrix4x4 &matrix)
	Set the transform of the geometry.

virtual void	shapeUpdated ()

virtual void	updateBoundingVolume ()

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Static Public Member Functions
static agxStream::Serializable *	create (agxStream::InputArchive &)

Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Public Attributes
ShapeChangeEvent	shapeChangeEvent

Protected Member Functions
virtual	~Geometry ()
	Destructor.

Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Additional Inherited Members
Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

The geometry representation used by the collision detection engine.

A geometry may be a composite of multiple shapes with local transformations.

Internal to the physics engine, the only geometry considered is that used for interference detection. Because of the namespace, there should be no collision with any other name.

Definition at line 91 of file Geometry.h.

Member Typedef Documentation

◆ GroupSet

typedef CollisionGroupManager::GroupIdHash agxCollide::Geometry::GroupSet

Deprecated: Only for backward compatibility.

Definition at line 333 of file Geometry.h.

◆ ShapeChangeEvent

typedef agx::Event1<Geometry *> agxCollide::Geometry::ShapeChangeEvent

Definition at line 94 of file Geometry.h.

Constructor & Destructor Documentation

◆ Geometry() [1/3]

agxCollide::Geometry::Geometry ( const agx::Name & name = "" )

Constructor.

Parameters

name	- name of the geometry

◆ Geometry() [2/3]

agxCollide::Geometry::Geometry ( Shape * shape )

Constructor.

Parameters

shape - pointer to a shape that will be part of this Geometry

◆ Geometry() [3/3]

agxCollide::Geometry::Geometry	(	Shape *	shape,
		const agx::AffineMatrix4x4 &	localShapeTransform
	)

Constructor.

Parameters

shape	- pointer to a shape that will be part of this Geometry
localShapeTransform	- Transformation of the `shape` relative to the Geometry

◆ ~Geometry()

virtual agxCollide::Geometry::~Geometry ( )

protectedvirtual

Destructor.

Member Function Documentation

◆ add()

bool agxCollide::Geometry::add	(	Shape *	shape,
		const agx::AffineMatrix4x4 &	localTransform = `agx::AffineMatrix4x4()`
	)

Add a shape to the geometry.

Will create an implicit shape group if needed.

Parameters

shape	The shape to add.
localTransform	The shape transformation in local geometry coordinates.

Returns: true if the shape was added. False if shape==null.

◆ addGroup() [1/2]

void agxCollide::Geometry::addGroup	(	agx::UInt32	id,
		bool	forceContactUpdate = `false`
	)

Add the specified id to a vector of group id, this will make a geometry part of the group id.

By default a geometry is not part of any group.

This can be used to partition the simulation where some groups cannot collide with other groups. Which groups can collide or not is determined by Space and can be set using the method agxCollide::Space::setEnablePair(id1,id2);

This does not remove current contacts. To do this, forceContactUpdate should be set to true. This can be an expensive operation, so if repeated many times and issues might occur, it could be better to do this manually using Space::enableForContacts and Space::disableForContacts.

◆ addGroup() [2/2]

void agxCollide::Geometry::addGroup	(	const agx::Name &	name,
		bool	forceContactUpdate = `false`
	)

Add the specified name to a vector of named group id, this will make a geometry part of the group name.

By default a geometry is not part of any group.

This can be used to partition the simulation where some groups cannot collide with other groups. Which groups can collide or not is determined by Space and can be set using the method agxCollide::Space::setEnablePair(name1,name2);

This does not remove current contacts. To do this, forceContactUpdate should be set to true. This can be an expensive operation, so if repeated many times and issues might occur, it could be better to do this manually using Space::enableForContacts and Space::disableForContacts.

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

agxCollide::Geometry::AGXSTREAM_DECLARE_SERIALIZABLE_BASE ( agxCollide::Geometry )

◆ calculateCenterOfMassOffset()

agx::Vec3 agxCollide::Geometry::calculateCenterOfMassOffset ( ) const

Note: : This will give wrong results if the geometry contains overlapping shapes.

Returns: The center of mass offset

◆ calculateInertia()

agx::SPDMatrix3x3 agxCollide::Geometry::calculateInertia ( agx::Real mass ) const

Note: : This will give wrong results if the geometry contains overlapping shapes.

Returns: The inertia tensor locally in center of mass.

◆ calculateMass()

agx::Real agxCollide::Geometry::calculateMass ( ) const

Note: : This will give wrong results if the geometry contains overlapping shapes.

Returns: The mass of the geometry.

◆ calculateSurfaceVelocity()

agx::Vec3f agxCollide::Geometry::calculateSurfaceVelocity	(	const agxCollide::LocalContactPoint &	point,
		size_t	index
	)		const

virtual

Implement this method to get access to different surface velocities on the geometry:s surface.

One example would be to have a texture specifying a velocity field of the geometry

Parameters

point	- ContactPoint in world coordinates that can be used to calculate the surface velocity.
index	- Which geometry in the contact is this one? Valid values: 0 or 1. The normal in 'point' points in the direction that 0 has to move to leave the contact with 0.

Returns: the calculated velocity.

Reimplemented in agxModel::SurfaceVelocityConveyorBelt.

Definition at line 921 of file Geometry.h.

◆ calculateVolume()

agx::Real agxCollide::Geometry::calculateVolume ( ) const

Note: : This will give wrong results if the geometry contains overlapping shapes.

Returns: The volume of the geometry.

◆ canCollide()

bool agxCollide::Geometry::canCollide ( const Geometry * otherGeometry ) const

Returns: true if this geometry CAN collide with otherGeometry.

Following has to be true to make this method return true.

if they belong to a group pair that is not disabled g1 != g2. collisions for g1 is not disabled against g2 (g1->setEnableCollisions(g2, false) if they both have a body, that it is not the same body.

◆ clone()

Geometry * agxCollide::Geometry::clone ( bool shallowCopyRenderData = false ) const

This method will make a deep copy of the geometry, excluding membership in any RigidBody.

Returns: a deep copy of the geometry

◆ cloneShapeRenderData()

void agxCollide::Geometry::cloneShapeRenderData	(	agxCollide::Shape *	target,
		bool	shallowCopy
	)		const

Clone the shape render data from the geometry shape onto target shape.

Note: - Used internally in the clone() method.

◆ create()

static agxStream::Serializable * agxCollide::Geometry::create ( agxStream::InputArchive & )

inlinestatic

Definition at line 417 of file Geometry.h.

◆ findGroupIdCollection()

agxCollide::GroupIdCollection agxCollide::Geometry::findGroupIdCollection ( ) const

Returns: collection of group names and id's that has been added to this geometry

◆ getBoundingVolume()

const BoundingAABB * agxCollide::Geometry::getBoundingVolume ( ) const

virtual

The bounding volume for the geometry is made large enough to fit all shape bounds.

Definition at line 895 of file Geometry.h.

◆ getCustomData() [1/2]

agx::Referenced * agxCollide::Geometry::getCustomData ( )

Returns: a pointer to a user defined data inherited from agx::Referenced class

◆ getCustomData() [2/2]

const agx::Referenced * agxCollide::Geometry::getCustomData ( ) const

Returns: a const pointer to a user defined data inherited from agx::Referenced class

◆ getEnable()

bool agxCollide::Geometry::getEnable ( ) const

Return whether the geometry should be used in intersection tests.

This can be set using the setEnable() method.

Returns: true if the geometry is used in intersection tests, false if not.

Definition at line 871 of file Geometry.h.

◆ getEnableCollisions() [1/2]

bool agxCollide::Geometry::getEnableCollisions ( ) const

Returns: true if this geometry is allowed to collide with any other geometry

◆ getEnableCollisions() [2/2]

bool agxCollide::Geometry::getEnableCollisions ( const Geometry * otherGeometry ) const

This method is only based on what is set using setEnableCollisions().

Any collision settings set by collision groups will not be taken into account. If you want to know if two geometries can collide at all, use canCollide().

Returns: true if this geometry is allowed to collide with geometry according to geometry pairs.

◆ getEnableMassProperties()

bool agxCollide::Geometry::getEnableMassProperties ( ) const

Returns: true if this geometry should contribute to the massproperties of a rigidbody.

Definition at line 815 of file Geometry.h.

◆ getEntity()

agx::Physics::GeometryPtr agxCollide::Geometry::getEntity ( ) const

inline

Definition at line 786 of file Geometry.h.

◆ getFrame() [1/2]

agx::Frame * agxCollide::Geometry::getFrame ( )

Returns: the frame of the geometry.

Definition at line 885 of file Geometry.h.

◆ getFrame() [2/2]

const agx::Frame * agxCollide::Geometry::getFrame ( ) const

Returns: the frame of the geometry.

Definition at line 890 of file Geometry.h.

◆ getGroupIDs()

const GroupSet & agxCollide::Geometry::getGroupIDs ( ) const

◆ getGroupSet()

const agx::Physics::CollisionGroupSetPtr & agxCollide::Geometry::getGroupSet ( ) const

Returns: The current group set.

Definition at line 841 of file Geometry.h.

◆ getId()

agx::Int64 agxCollide::Geometry::getId ( ) const

Returns: The geometry id.

Definition at line 800 of file Geometry.h.

◆ getLocalPosition()

agx::Vec3 agxCollide::Geometry::getLocalPosition ( ) const

Returns: - the relative translate to the parent frame of the geometry's frame.

◆ getLocalRotation()

agx::Quat agxCollide::Geometry::getLocalRotation ( ) const

Returns: - the geometry's rotation relative to its frame's parent frame.

◆ getLocalTransform()

const agx::AffineMatrix4x4 & agxCollide::Geometry::getLocalTransform ( ) const

Returns: - the local transformation matrix of the geometry's frame, relative to the parent's frame.

◆ getMaterial() [1/2]

agx::Material * agxCollide::Geometry::getMaterial ( )

Returns: the material of the geometry.

Definition at line 856 of file Geometry.h.

◆ getMaterial() [2/2]

const agx::Material * agxCollide::Geometry::getMaterial ( ) const

Returns: the material of the geometry.

Definition at line 851 of file Geometry.h.

◆ getName()

const agx::Name & agxCollide::Geometry::getName ( ) const

Get the name.

Returns: the name string of this Geometry.

◆ getParentFrame() [1/2]

agx::Frame * agxCollide::Geometry::getParentFrame ( )

Returns: - the parent frame of the geometry's frame, or 0 if this frame has no parent

◆ getParentFrame() [2/2]

const agx::Frame * agxCollide::Geometry::getParentFrame ( ) const

Returns: - the parent frame of the geometry's frame, or 0 if this frame has no parent

◆ getPosition()

agx::Vec3 agxCollide::Geometry::getPosition ( ) const

Returns: the current position/translation of the geometry in world coordinate space

Definition at line 935 of file Geometry.h.

◆ getPropertyContainer() [1/2]

agx::PropertyContainer * agxCollide::Geometry::getPropertyContainer ( )

Returns: a pointer to the PropertyContainer

Definition at line 901 of file Geometry.h.

Referenced by agxSDK::PropertyFilter::match().

◆ getPropertyContainer() [2/2]

const agx::PropertyContainer * agxCollide::Geometry::getPropertyContainer ( ) const

Returns: a pointer to the PropertyContainer

Definition at line 913 of file Geometry.h.

◆ getRigidBody() [1/2]

agx::RigidBody * agxCollide::Geometry::getRigidBody ( )

Returns: The body which the geometry is part of.

Definition at line 790 of file Geometry.h.

Referenced by agxCollide::LocalGeometryContact::LocalGeometryContact(), agxCollide::GeometryContact::calculateRelativeVelocity(), agxSDK::MergeSplitHandler::getProperties(), agxCollide::LocalGeometryContact::init(), agxSDK::matchFilter(), and agxCollide::GeometryContact::rigidBody().

◆ getRigidBody() [2/2]

const agx::RigidBody * agxCollide::Geometry::getRigidBody ( ) const

Returns: The body which the geometry is part of.

Definition at line 795 of file Geometry.h.

◆ getRotation()

agx::Quat agxCollide::Geometry::getRotation ( ) const

Returns: the current rotation of the geometry in world coordinate space

Definition at line 943 of file Geometry.h.

References agx::QuatT< T >::getRotate().

◆ getShapes()

const ShapeRefVector & agxCollide::Geometry::getShapes ( ) const

Returns: the shapes of the geometry.

Referenced by agxWire::transformPointToShape(), agxWire::transformPointToWorld(), agxWire::transformVectorToShape(), and agxWire::transformVectorToWorld().

◆ getSpace() [1/2]

Space * agxCollide::Geometry::getSpace ( )

Returns: The space where the geometry is placed.

Definition at line 876 of file Geometry.h.

◆ getSpace() [2/2]

const Space * agxCollide::Geometry::getSpace ( ) const

Returns: The space where the geometry is placed.

Definition at line 880 of file Geometry.h.

◆ getSurfaceVelocity()

const agx::Vec3f & agxCollide::Geometry::getSurfaceVelocity ( ) const

Returns: the surface velocity of this geometry in geometry's local coordinate frame as stored by the method setSurfaceVelocity()

Definition at line 866 of file Geometry.h.

◆ getSweepAndPruneIndex()

agx::UInt32 agxCollide::Geometry::getSweepAndPruneIndex ( ) const

Definition at line 826 of file Geometry.h.

◆ getTransform()

agx::AffineMatrix4x4 agxCollide::Geometry::getTransform ( ) const

Returns: the current transformation of the geometry in world coordinate space

Definition at line 926 of file Geometry.h.

◆ hasGroup() [1/2]

bool agxCollide::Geometry::hasGroup ( agx::UInt32 id ) const

This is performing a linear search among the collision group id for this Geometry.

Parameters

id	- The group id we are looking for.

Returns: true if the Geometry is part of the group id

Definition at line 831 of file Geometry.h.

Referenced by agxSDK::CollisionGroupFilter::hasMemberGroup().

◆ hasGroup() [2/2]

bool agxCollide::Geometry::hasGroup ( const agx::Name & name ) const

Searches for the named group name for this geometry and return true if it can be found.

Parameters

name	- The group id we are looking for.

Returns: true if the Geometry is part of the named group name

Definition at line 836 of file Geometry.h.

◆ hasPropertyContainer()

bool agxCollide::Geometry::hasPropertyContainer ( ) const

Returns: true if it has an initialized PropertyContainer

Definition at line 908 of file Geometry.h.

Referenced by agxSDK::PropertyFilter::match().

◆ isEnabled()

bool agxCollide::Geometry::isEnabled ( ) const

Alias for getEnable Return whether the geometry should be used in intersection tests.

This can be set using the setEnable() method.

Returns: true if the geometry is used in intersection tests, false if not.

Definition at line 805 of file Geometry.h.

Referenced by agxCollide::Space::reportOverlap().

◆ isSensor()

bool agxCollide::Geometry::isSensor ( ) const

Return true if geometry is a sensor.

Definition at line 810 of file Geometry.h.

◆ isSensorGeneratingContactData()

bool agxCollide::Geometry::isSensorGeneratingContactData ( ) const

inline

Returns: True if collision data will be omitted from contacts while this geometry is a sensor.

See also: setSensor

Definition at line 821 of file Geometry.h.

◆ remove() [1/2]

bool agxCollide::Geometry::remove ( Shape * shape )

Remove a shape from the geometry.

Returns: true if shape was removed. False if shape == null or Geometry does not contain the shape

◆ remove() [2/2]

bool agxCollide::Geometry::remove ( size_t index )

Remove the i:th shape from the Geometry.

Returns: true if shape was removed. False if shape == null or Geometry does not contain the shape

◆ removeAllGroups()

void agxCollide::Geometry::removeAllGroups ( bool forceContactUpdate = false )

Remove all collision group ids.

Parameters

forceContactUpdate - Should current overlaps between disabled groups be found and create impacts.

◆ removeGroup() [1/2]

void agxCollide::Geometry::removeGroup	(	agx::UInt32	id,
		bool	forceContactUpdate = `false`
	)

Remove a collision group id from the vector of group ids.

Parameters

id	- The group id to be removed
forceContactUpdate	- Should current overlaps between disabled groups be found and create impacts.

◆ removeGroup() [2/2]

void agxCollide::Geometry::removeGroup	(	const agx::Name &	name,
		bool	forceContactUpdate = `false`
	)

Remove a named collision group from the vector of named group ids.

Parameters

name	- The group id to be removed
forceContactUpdate	- Should current overlaps between disabled groups be found and create impacts.

◆ removeMaterial()

void agxCollide::Geometry::removeMaterial ( )

Remove the material from the geometry.

◆ replace() [1/2]

bool agxCollide::Geometry::replace	(	Shape *	oldShape,
		Shape *	newShape,
		const agx::AffineMatrix4x4 &	localTransform = `agx::AffineMatrix4x4()`
	)

◆ replace() [2/2]

bool agxCollide::Geometry::replace	(	size_t	shapeIndex,
		Shape *	newShape,
		const agx::AffineMatrix4x4 &	localTransform = `agx::AffineMatrix4x4()`
	)

Replace a shape in the geometry.

◆ replaceShapeTransform() [1/2]

bool agxCollide::Geometry::replaceShapeTransform	(	Shape *	shape,
		const agx::AffineMatrix4x4 &	newTransform
	)

Replace the shape transform for the specified shape.

Parameters

shape	- The shape for which the transform should be replaced.
newTransform	- The new transform

Returns: true if shape is valid.

◆ replaceShapeTransform() [2/2]

bool agxCollide::Geometry::replaceShapeTransform	(	size_t	shapeIndex,
		const agx::AffineMatrix4x4 &	newTransform
	)

Replace the shape transform for the specified shapeIndex.

Parameters

shapeIndex	- Index of the transform that should be replaced. Valid values are 0..numShapes-1
newTransform	- The new transform

Returns: true if shapeIndex is valid.

◆ setCustomData()

void agxCollide::Geometry::setCustomData ( agx::Referenced * data )

Store a ref_ptr to a user custom data class, which must be inherited from Referenced.

◆ setEnable()

void agxCollide::Geometry::setEnable ( bool flag )

Enable/disable collision testing for geometry.

A disabled geometry does not render in debug rendering or osg.

◆ setEnableCollisions() [1/2]

void agxCollide::Geometry::setEnableCollisions ( bool collide )

Should this geometry collide with any other geometries.

Disabling this still means that it will be part of MassProperty calculations if it belongs to a rigid body.

Parameters

collide - If false this geometry will not generate any contacts with any other geometry

◆ setEnableCollisions() [2/2]

void agxCollide::Geometry::setEnableCollisions	(	const Geometry *	otherGeometry,
		bool	flag
	)

Specify whether otherGeometry is allowed to collide with this geometry.

◆ setEnableMassProperties()

void agxCollide::Geometry::setEnableMassProperties ( bool enableMassProperties )

If set to true, this geometry will be included in mass property computation when part of a rigid body.

(default==true)

Note: This does not affect the returned data from calculateInertia, calculateMass etc.

Parameters

enableMassProperties - If true this geometry will contribute to mass properties for a rigid body

◆ setGroupSet()

void agxCollide::Geometry::setGroupSet ( agx::Physics::CollisionGroupSetPtr set )

Set the collision group set of the geometry.

Parameters

set	- the collision group set to set on the geometry.

Definition at line 846 of file Geometry.h.

◆ setLocalPosition() [1/2]

void agxCollide::Geometry::setLocalPosition	(	agx::Real	x,
		agx::Real	y,
		agx::Real	z
	)

Set the position of the geometry relative to its frame's parent frame.

Parameters

x	- local x translate
y	- local y translate
z	- local z translate

◆ setLocalPosition() [2/2]

void agxCollide::Geometry::setLocalPosition ( const agx::Vec3 & p )

Set the position of the geometry relative to its frame's parent frame.

Parameters

p	- local translate of geometry as a 3D vector

◆ setLocalRotation() [1/2]

void agxCollide::Geometry::setLocalRotation ( const agx::EulerAngles & e )

Set the rotation of the geometry relative to its frame's parent frame.

Parameters

e	- rotation given as Euler angles

◆ setLocalRotation() [2/2]

void agxCollide::Geometry::setLocalRotation ( const agx::Quat & q )

Set the rotation of the geometry relative to its frame's parent frame.

Parameters

q	- rotation given as a quaternion

◆ setLocalTransform()

void agxCollide::Geometry::setLocalTransform ( const agx::AffineMatrix4x4 & matrix )

Assign the local transformation matrix for this geometry, ignoring any eventual parent transformation.

Parameters

matrix - transformation matrix relative to parent transform for the geometry's frame

◆ setMaterial()

void agxCollide::Geometry::setMaterial ( agx::Material * material )

Set the material of the geometry.

◆ setName()

void agxCollide::Geometry::setName ( const agx::Name & name )

Set the name of this Geometry.

◆ setParentFrame()

bool agxCollide::Geometry::setParentFrame ( agx::Frame * frame )

Set the parent frame of this geometry's frame.

This means that getLocalTranslate, getLocalRotate, getLocalTransform will be given in the parents coordinate frame. I.e., this frame's transformation will be concatenated with the parents.

Parameters

frame - new parent frame, 0 to remove parent

Returns: true if parent is changed (not the same as before) - otherwise false

◆ setPosition() [1/2]

void agxCollide::Geometry::setPosition	(	agx::Real	x,
		agx::Real	y,
		agx::Real	z
	)

Set the position of the frame in world coordinates.

Parameters

x	- desired x-coordinate in world frame
y	- desired y-coordinate in world frame
z	- desired z-coordinate in world frame

◆ setPosition() [2/2]

void agxCollide::Geometry::setPosition ( const agx::Vec3 & p )

Set the position of the frame in world coordinates.

Parameters

p	- desired position in world coordinates.

◆ setPropertyContainer()

void agxCollide::Geometry::setPropertyContainer ( agx::PropertyContainer * container )

Give this a new PropertyContainer.

Parameters

container - The new PropertyContainer of this instance.

◆ setRotation() [1/3]

void agxCollide::Geometry::setRotation ( const agx::EulerAngles & e )

Set the rotation of the geometry relative to world frame.

Parameters

e	- rotation given as Euler angles

◆ setRotation() [2/3]

void agxCollide::Geometry::setRotation ( const agx::OrthoMatrix3x3 & m )

Set the rotation of the geometry relative to world frame.

Parameters

m	- rotation given as an orthogonal transformation matrix

◆ setRotation() [3/3]

void agxCollide::Geometry::setRotation ( const agx::Quat & q )

Set the rotation of the geometry relative to world frame.

Parameters

q	- rotation given as a quaternion

◆ setSensor()

void agxCollide::Geometry::setSensor	(	bool	flag,
		bool	generateContactData = `true`
	)

Sets if the geometry should be a sensor.

Sensors are included in collision detection but the resulting contacts are not passed to the solver.

Contact data generation for sensors is disabled by passing false into generateContactData. GeometryContacts are still created, but they will contain no contact points. This flag has no effect while isSensor returns false. Support for disabling contact data generation is currently only supported for some shape type pairs. Other shape type pairs will continue to get full contact data.

Parameters

flag	- True to make this Geometry a sensor.
generateContactData	- True if contact data is to be generated, false otherwise. False only supported for some shape type pairs.

◆ setSurfaceVelocity()

void agxCollide::Geometry::setSurfaceVelocity ( const agx::Vec3f & surfaceVelocity )

Set the velocity of this geometry's surface in the geometry's local coordinate frame.

If this velocity is non-zero the constraints will try to achieve the relative velocity between the objects (in the friction plane) to be the wanted surface velocity.

Parameters

surfaceVelocity - velocity given in geometry's local coordinate frame

Definition at line 861 of file Geometry.h.

◆ setTransform()

void agxCollide::Geometry::setTransform ( const agx::AffineMatrix4x4 & matrix )

Set the transform of the geometry.

Its frame will move to the specified transform, which is given in world coordintaes.

Parameters

matrix - desired transform for the frame in world coordinates.

◆ shapeUpdated()

virtual void agxCollide::Geometry::shapeUpdated ( )

virtual

◆ updateBoundingVolume()

virtual void agxCollide::Geometry::updateBoundingVolume ( )

virtual

Member Data Documentation

◆ shapeChangeEvent

ShapeChangeEvent agxCollide::Geometry::shapeChangeEvent

Definition at line 95 of file Geometry.h.

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

Geometry.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ GroupSet

◆ ShapeChangeEvent

Constructor & Destructor Documentation

◆ Geometry() [1/3]

◆ Geometry() [2/3]

◆ Geometry() [3/3]

◆ ~Geometry()

Member Function Documentation

◆ add()

◆ addGroup() [1/2]

◆ addGroup() [2/2]

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

◆ calculateCenterOfMassOffset()

◆ calculateInertia()

◆ calculateMass()

◆ calculateSurfaceVelocity()

◆ calculateVolume()

◆ canCollide()

◆ clone()

◆ cloneShapeRenderData()

◆ create()

◆ findGroupIdCollection()

◆ getBoundingVolume()

◆ getCustomData() [1/2]

◆ getCustomData() [2/2]

◆ getEnable()

◆ getEnableCollisions() [1/2]

◆ getEnableCollisions() [2/2]

◆ getEnableMassProperties()

◆ getEntity()

◆ getFrame() [1/2]

◆ getFrame() [2/2]

◆ getGroupIDs()

◆ getGroupSet()

◆ getId()

◆ getLocalPosition()

◆ getLocalRotation()

◆ getLocalTransform()

◆ getMaterial() [1/2]

◆ getMaterial() [2/2]

◆ getName()

◆ getParentFrame() [1/2]

◆ getParentFrame() [2/2]

◆ getPosition()

◆ getPropertyContainer() [1/2]

◆ getPropertyContainer() [2/2]

◆ getRigidBody() [1/2]

◆ getRigidBody() [2/2]

◆ getRotation()

◆ getShapes()

◆ getSpace() [1/2]

◆ getSpace() [2/2]

◆ getSurfaceVelocity()

◆ getSweepAndPruneIndex()

◆ getTransform()

◆ hasGroup() [1/2]

◆ hasGroup() [2/2]

◆ hasPropertyContainer()

◆ isEnabled()

◆ isSensor()

◆ isSensorGeneratingContactData()

◆ remove() [1/2]

◆ remove() [2/2]

◆ removeAllGroups()

◆ removeGroup() [1/2]

◆ removeGroup() [2/2]

◆ removeMaterial()

◆ replace() [1/2]

◆ replace() [2/2]

◆ replaceShapeTransform() [1/2]

◆ replaceShapeTransform() [2/2]

◆ setCustomData()