Base class for a shape. More...

#include <Shape.h>

Inheritance diagram for agxCollide::Shape:

Public Types
enum	Type { GROUP , BOX , CAPSULE , CYLINDER , LINE , PLANE , SPHERE , TRIMESH , HEIGHT_FIELD , CONVEX , WIRE_SHAPE , CONE , HOLLOW_CONE , HOLLOW_CYLINDER , NUM_TYPES }
	Define the type of a Shape. More...

Public Member Functions
ShapeGroup *	asGroup ()
	Auto-cast shape to group.

const ShapeGroup *	asGroup () const
	Auto-cast shape to group.

virtual agx::Real	calculateBoundingRadius (BoundingAABB &localAABB) const
	Calculate the bounding volume (AABB) into `localAABB` and calculate the bounding radius based on the new AABB size.

virtual agx::SPDMatrix3x3	calculateInertia (agx::Real mass) const =0
	Calculate the inertia for the shape given a mass.

virtual BoundingAABB	calculateLocalBound () const =0
	Calculate the bounding volume in the local coordinate system.

virtual Shape *	clone () const
	Create a clone.

const BoundingAABB &	getBoundingVolume () const

virtual agx::Vec3	getCenter () const

agx::Physics::Geometry::ShapePtr	getEntity () const

Geometry *	getGeometry ()

const Geometry *	getGeometry () const

agx::AffineMatrix4x4	getLocalTransform () const

agx::UInt32	getModifiedCount () const

agxCollide::RenderData *	getRenderData ()

const agxCollide::RenderData *	getRenderData () const
	If this is a ShapeGroup, then this method will return nullptr as the render data is stored in the actual children (Box, Mesh etc.

virtual agx::Vec3	getSupportPoint (const agx::Vec3 &supportDirection) const
	Returns the support point on face of the shape.

agx::AffineMatrix4x4	getTransform () const

agx::UInt8	getType () const

const char *	getTypeName () const

virtual agx::Real	getVolume () const =0
	Return the volume of the shape.

virtual bool	hasSupportFunction () const

bool	isGroup () const

virtual void	propagateTransform (const agx::AffineMatrix4x4 &transform)

virtual void	setRenderData (agxCollide::RenderData *renderData)
	Store render data with the Shape.

virtual const BoundingAABB &	updateBoundingVolume ()=0
	Calculate the bounding volume based on the current Shape parameters including transformation.

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 BoundingAABB	calculateBound (const agx::AffineMatrix4x4 &transform, const BoundingAABB &localBound)

static const char *	getTypeName (agx::UInt8 type)

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.

Protected Member Functions
	Shape (Type type, agx::Physics::Geometry::ShapePtr entity=agx::Physics::Geometry::ShapeModel::createInstance())
	Constructor.

virtual	~Shape ()
	Destructor.

agx::UInt32	incrementModifiedCount ()
	Increment the number of times the shape have been modified.

void	syncronizeShapeIndex ()

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 ()

Protected Attributes
agx::Physics::Geometry::ShapeRef	m_entity

Geometry *	m_geometry

agx::ref_ptr< agx::Referenced >	m_internalData

ShapeGroup *	m_parent

agxCollide::RenderDataRef	m_renderData

agx::Index	m_shapeIndex

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

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.

Detailed Description

Base class for a shape.

Definition at line 57 of file Shape.h.

Member Enumeration Documentation

◆ Type

enum agxCollide::Shape::Type

Define the type of a Shape.

Enumerator
GROUP
BOX
CAPSULE
CYLINDER
LINE
PLANE
SPHERE
TRIMESH
HEIGHT_FIELD
CONVEX
WIRE_SHAPE
CONE
HOLLOW_CONE
HOLLOW_CYLINDER
NUM_TYPES

Definition at line 62 of file Shape.h.

Constructor & Destructor Documentation

◆ Shape()

agxCollide::Shape::Shape	(	Type	type,
		agx::Physics::Geometry::ShapePtr	entity = `agx::Physics::Geometry::ShapeModel::createInstance()`
	)

protected

Constructor.

Parameters

type	- Type of the Shape
entity	- pointer to an entity. By default a new instance is created.

◆ ~Shape()

virtual agxCollide::Shape::~Shape ( )

protectedvirtual

Destructor.

Member Function Documentation

◆ asGroup() [1/2]

ShapeGroup * agxCollide::Shape::asGroup ( )

Auto-cast shape to group.

Definition at line 404 of file Shape.h.

References agxAssert.

◆ asGroup() [2/2]

const ShapeGroup * agxCollide::Shape::asGroup ( ) const

Auto-cast shape to group.

Definition at line 409 of file Shape.h.

◆ calculateBound()

BoundingAABB agxCollide::Shape::calculateBound	(	const agx::AffineMatrix4x4 &	transform,
		const BoundingAABB &	localBound
	)

static

Returns: a bounding box calculated from a transformed (transform) AABB (localBound)

Definition at line 436 of file Shape.h.

◆ calculateBoundingRadius()

virtual agx::Real agxCollide::Shape::calculateBoundingRadius ( BoundingAABB & localAABB ) const

virtual

Calculate the bounding volume (AABB) into localAABB and calculate the bounding radius based on the new AABB size.

Returns: the radius of the bounding sphere surrounding the AABB.

Reimplemented in agxCollide::Sphere.

◆ calculateInertia()

virtual agx::SPDMatrix3x3 agxCollide::Shape::calculateInertia ( agx::Real mass ) const

pure virtual

Calculate the inertia for the shape given a mass.

Returns: Matrix with inertia in shape coordinate system

Implemented in agxCollide::Box, agxCollide::Capsule, agxCollide::Cone, agxCollide::Cylinder, agxCollide::HollowCone, agxCollide::HollowCylinder, agxCollide::Line, agxCollide::Mesh, agxCollide::Plane, and agxCollide::Sphere.

◆ calculateLocalBound()

virtual BoundingAABB agxCollide::Shape::calculateLocalBound ( ) const

pure virtual

Calculate the bounding volume in the local coordinate system.

Returns: the calculated bounding volume.

Implemented in agxCollide::Box, agxCollide::Capsule, agxCollide::Cone, agxCollide::Cylinder, agxCollide::HollowCone, agxCollide::HollowCylinder, agxCollide::Line, agxCollide::Mesh, agxCollide::Plane, agxCollide::Sphere, and agxCollide::WireShape.

◆ clone()

virtual Shape * agxCollide::Shape::clone ( ) const

virtual

Create a clone.

Reimplemented in agxCollide::Box, agxCollide::Capsule, agxCollide::Cone, agxCollide::Convex, agxCollide::Cylinder, agxCollide::HeightField, agxCollide::HollowCone, agxCollide::HollowCylinder, agxCollide::Plane, agxCollide::Sphere, and agxCollide::Trimesh.

◆ getBoundingVolume()

const BoundingAABB & agxCollide::Shape::getBoundingVolume ( ) const

Returns: the bounding volume of the shape, in global coordinates.

Definition at line 431 of file Shape.h.

◆ getCenter()

agx::Vec3 agxCollide::Shape::getCenter ( ) const

inlinevirtual

Returns: the center (local, relative to the Shape) of the shape. This is in most cases 0,0,0 - but can have other positions, e.g. in Convex shapes.

Reimplemented in agxCollide::Cone, agxCollide::HollowCone, and agxCollide::Mesh.

Definition at line 522 of file Shape.h.

◆ getEntity()

agx::Physics::Geometry::ShapePtr agxCollide::Shape::getEntity ( ) const

inline

Definition at line 414 of file Shape.h.

◆ getGeometry() [1/2]

Geometry * agxCollide::Shape::getGeometry ( )

Returns: pointer to the associated Geometry, null if none.

Definition at line 418 of file Shape.h.

◆ getGeometry() [2/2]

const Geometry * agxCollide::Shape::getGeometry ( ) const

Returns: pointer to the associated Geometry, null if none.

Definition at line 422 of file Shape.h.

◆ getLocalTransform()

agx::AffineMatrix4x4 agxCollide::Shape::getLocalTransform ( ) const

Returns: the transform relative to its parent (Geometry) of this Shape

◆ getModifiedCount()

agx::UInt32 agxCollide::Shape::getModifiedCount ( ) const

Returns: number of times the shape have been modified. Increments at every set method.

Definition at line 473 of file Shape.h.

◆ getRenderData() [1/2]

agxCollide::RenderData * agxCollide::Shape::getRenderData ( )

◆ getRenderData() [2/2]

const agxCollide::RenderData * agxCollide::Shape::getRenderData ( ) const

If this is a ShapeGroup, then this method will return nullptr as the render data is stored in the actual children (Box, Mesh etc.

shapes) You need to go through each child and access the render data from those.

Returns: the render data stored with the shape.

◆ getSupportPoint()

agx::Vec3 agxCollide::Shape::getSupportPoint ( const agx::Vec3 & supportDirection ) const

inlinevirtual

Returns the support point on face of the shape.

Parameters

supportDirection - Direction in shape coords where to find a support point

Reimplemented in agxCollide::Box, agxCollide::Capsule, agxCollide::Cone, agxCollide::Convex, agxCollide::Cylinder, agxCollide::HollowCone, agxCollide::HollowCylinder, agxCollide::Line, and agxCollide::Sphere.

Definition at line 517 of file Shape.h.

◆ getTransform()

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

Returns: the transform of this Shape

Definition at line 426 of file Shape.h.

◆ getType()

agx::UInt8 agxCollide::Shape::getType ( ) const

Returns: The shape type.

Definition at line 396 of file Shape.h.

Referenced by agxCollide::ColliderTable::getCollider().

◆ getTypeName() [1/2]

const char * agxCollide::Shape::getTypeName ( ) const

Returns: The shape type name.

◆ getTypeName() [2/2]

static const char * agxCollide::Shape::getTypeName ( agx::UInt8 type )

static

Returns: a string name for the given Type type

◆ getVolume()

virtual agx::Real agxCollide::Shape::getVolume ( ) const

pure virtual

Return the volume of the shape.

Implemented in agxCollide::Box, agxCollide::Capsule, agxCollide::Cone, agxCollide::Cylinder, agxCollide::HollowCone, agxCollide::HollowCylinder, agxCollide::Line, agxCollide::Mesh, agxCollide::Plane, and agxCollide::Sphere.

◆ hasSupportFunction()

bool agxCollide::Shape::hasSupportFunction ( ) const

inlinevirtual

Returns: true if the shape implements its own support function, used by Minkowski difference based collision algorithms.

Reimplemented in agxCollide::Box, agxCollide::Capsule, agxCollide::Cone, agxCollide::Convex, agxCollide::Cylinder, agxCollide::HollowCone, agxCollide::HollowCylinder, agxCollide::Line, and agxCollide::Sphere.

Definition at line 512 of file Shape.h.

Referenced by agxCollide::FallbackConvexCollider< ShapeType1, ShapeType2 >::_calculateContacts().

◆ incrementModifiedCount()

agx::UInt32 agxCollide::Shape::incrementModifiedCount ( )

protected

Increment the number of times the shape have been modified.

Returns: the incremented value.

Definition at line 478 of file Shape.h.

Referenced by agxCollide::Mesh::setBottomMargin().

◆ isGroup()

bool agxCollide::Shape::isGroup ( ) const

Returns: True if the shape is a group.

Definition at line 400 of file Shape.h.

◆ propagateTransform()

virtual void agxCollide::Shape::propagateTransform ( const agx::AffineMatrix4x4 & transform )

virtual

◆ setRenderData()

virtual void agxCollide::Shape::setRenderData ( agxCollide::RenderData * renderData )

virtual

Store render data with the Shape.

If the shape is a Group, the render data will be stored in all the children and NOT in the actual ShapeGroup. It is better to actually access the actual primitives and store the render data there instead of the group.

◆ syncronizeShapeIndex()

void agxCollide::Shape::syncronizeShapeIndex ( )

protected

◆ updateBoundingVolume()

virtual const BoundingAABB & agxCollide::Shape::updateBoundingVolume ( )

pure virtual

Calculate the bounding volume based on the current Shape parameters including transformation.

Returns: new calculated bounding volume

Implemented in agxCollide::Box, agxCollide::Capsule, agxCollide::Cone, agxCollide::Cylinder, agxCollide::HollowCone, agxCollide::HollowCylinder, agxCollide::Line, agxCollide::Mesh, agxCollide::Plane, agxCollide::Sphere, and agxCollide::WireShape.

Member Data Documentation

◆ m_entity

agx::Physics::Geometry::ShapeRef agxCollide::Shape::m_entity

protected

Definition at line 282 of file Shape.h.

Referenced by agxCollide::Line::getEntity(), agxCollide::Plane::getEntity(), and agxCollide::WireShape::getEntity().

◆ m_geometry

Geometry* agxCollide::Shape::m_geometry

protected

Definition at line 283 of file Shape.h.

◆ m_internalData

agx::ref_ptr<agx::Referenced> agxCollide::Shape::m_internalData

protected

Definition at line 289 of file Shape.h.

◆ m_parent

ShapeGroup* agxCollide::Shape::m_parent

protected

Definition at line 287 of file Shape.h.

◆ m_renderData

agxCollide::RenderDataRef agxCollide::Shape::m_renderData

protected

Definition at line 284 of file Shape.h.

◆ m_shapeIndex

agx::Index agxCollide::Shape::m_shapeIndex

protected

Definition at line 285 of file Shape.h.

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

Shape.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ Type

Constructor & Destructor Documentation

◆ Shape()

◆ ~Shape()

Member Function Documentation

◆ asGroup() [1/2]

◆ asGroup() [2/2]

◆ calculateBound()

◆ calculateBoundingRadius()

◆ calculateInertia()

◆ calculateLocalBound()

◆ clone()

◆ getBoundingVolume()

◆ getCenter()

◆ getEntity()

◆ getGeometry() [1/2]

◆ getGeometry() [2/2]

◆ getLocalTransform()

◆ getModifiedCount()

◆ getRenderData() [1/2]

◆ getRenderData() [2/2]

◆ getSupportPoint()

◆ getTransform()

◆ getType()

◆ getTypeName() [1/2]

◆ getTypeName() [2/2]

◆ getVolume()

◆ hasSupportFunction()

◆ incrementModifiedCount()

◆ isGroup()

◆ propagateTransform()

◆ setRenderData()

◆ syncronizeShapeIndex()

◆ updateBoundingVolume()

Member Data Documentation

◆ m_entity

◆ m_geometry

◆ m_internalData

◆ m_parent

◆ m_renderData

◆ m_shapeIndex