icl::physics Namespace Reference

Classes
class	BallSocketConstraint
	This constraint simulates a ballsocket joint. More...
struct	BendingConstraint
class	Constraint
	Base Class for constraints. More...
class	FoldMap
	discretized paper space representing folds More...
class	HingeConstraint
	This constraint simulates a Hinge joint. More...
class	ManipulatablePaper
	extension of the standard physical paper class More...
class	MotionState
	This class is a MotionState for updating SceneObjects to match the PhysicsObject state. More...
class	Object2PointConstraint
	This constraint binds an object to a point with a spring. More...
class	PhysicsMouseHandler
	This mousehandler can pick up object and move them around. More...
class	PhysicsObject
	This class combines an physical object and it's graphical representation in ICL. More...
class	PhysicsPaper
	This class represents cloth or paper like soft-body objects. More...
class	PhysicsPaper3
class	PhysicsPaper3ContextMenu
class	PhysicsPaper3MouseHandler
class	PhysicsScene
class	PhysicsWorld
	A physical world that handles physical objects. More...
class	RigidBoxObject
	A Box that can with RigidObject features. More...
class	RigidCompoundObject
	A Box that can with RigidObject features. More...
class	RigidConvexHullObject
	ConvexHullObject witht he features of a RigidObject that can be created from a pointcloud. More...
class	RigidCylinderObject
	Cylinder with the features of a RigidObject. More...
class	RigidObject
	This class combines a movable but rigid physics object and it's graphical representation in ICL. More...
class	RigidSphereObject
	Sphere with the features of a RigidObject. More...
class	SceneMultiCamCapturer
class	SixDOFConstraint
	This is a generic constraint that allows to free configuration of the limits on all 6 degrees of freedom. More...
class	SliderConstraint
	This constraint simulates a Slider joint. More...
class	SoftObject
	This class combines a soft-body physics object and it's graphical representation in ICL. More...
class	TriangleIntersectionEstimator

Functions
bool	line_segment_intersect (const utils::Point32f &a, const utils::Point32f &b, const utils::Point32f &c, const utils::Point32f &d, utils::Point32f *dst=0, float *dstr=0, float *dsts=0)
bool	point_in_triangle (const utils::Point32f &p, const utils::Point32f &v1, const utils::Point32f &v2, const utils::Point32f &v3)
	Checks whether the given point p lies within the triangle defined by v1,v2 and v3. More...
float	icl2bullet (float x)
	Converts from icl to bullet units. More...
float	bullet2icl (float x)
	Converts from bullet to icl units. More...
geom::Mat	bullet2icl (const btTransform &T)
	Creates an icl Mat from a bullet transform and scales accordingly. More...
btTransform	icl2bullet_unscaled_mat (const geom::Mat &M)
btTransform	icl2bullet_scaled_mat (const geom::Mat &M)
	Creates a bullet transform from an icl Mat and scales accordingly. More...
btVector3	icl2bullet_unscaled (const geom::Vec &v)
	Creates a bullet vector from an icl vector WITHOUT scaling. More...
geom::Vec	bullet2icl_unscaled (const btVector3 &v)
	Creates an icl vector from a bullet vector WITHOUT scaling. More...
btVector3	icl2bullet_scaled (const geom::Vec &v)
	Creates a bullet vector from an icl vector WITH scaling. More...
geom::Vec	bullet2icl_scaled (const btVector3 &v)
	Creates an icl vector from a bullet vector WITH scaling. More...
void ICLPhysics_API	remove_fallen_objects (geom::Scene *scene, PhysicsWorld *world, float minZ=-2000)
	removes all rigid object from the given scene and world that are below minZ More...
void ICLPhysics_API	add_clutter (geom::Scene *scene, PhysicsWorld *world, int num=30)
	adds num random objects More...
void ICLPhysics_API	calcDistance (PhysicsObject *a, PhysicsObject *b, geom::Vec &pointOnA, geom::Vec &pointOnB, float &distance)
	Calculates the distance between the 2 closest points of the objects a and b. More...
void ICLPhysics_API	calcDistance (PhysicsObject *a, PhysicsObject *b, geom::Mat transA, geom::Mat transB, geom::Vec &pointOnA, geom::Vec &pointOnB, float &distance)
	Calculates the distance between the 2 closest points of the objects a and b. More...
void ICLPhysics_API	createObjectsFromBlobs (const std::vector< std::vector< int > > &indices, const std::vector< geom::Vec > &vertices, std::vector< PhysicsObject * > &objects)
	Creates primitives from blobs. The last blob is assumed to be the Table the objects rest on. More...

Variables
ICLPhysics_API float	ICL_UNIT_TO_METER
ICLPhysics_API float	METER_TO_BULLET_UNIT

Function Documentation

add_clutter()

void ICLPhysics_API icl::physics::add_clutter	(	geom::Scene *	scene,
		PhysicsWorld *	world,
		int	num = 30
	)

adds num random objects

bullet2icl() [1/2]

float icl::physics::bullet2icl ( float  x )

inline

Converts from bullet to icl units.

bullet2icl() [2/2]

geom::Mat icl::physics::bullet2icl ( const btTransform &  T )

inline

Creates an icl Mat from a bullet transform and scales accordingly.

bullet2icl_scaled()

geom::Vec icl::physics::bullet2icl_scaled ( const btVector3 &  v )

inline

Creates an icl vector from a bullet vector WITH scaling.

bullet2icl_unscaled()

geom::Vec icl::physics::bullet2icl_unscaled ( const btVector3 &  v )

inline

Creates an icl vector from a bullet vector WITHOUT scaling.

calcDistance() [1/2]

void ICLPhysics_API icl::physics::calcDistance	(	PhysicsObject *	a,
		PhysicsObject *	b,
		geom::Vec &	pointOnA,
		geom::Vec &	pointOnB,
		float &	distance
	)

Calculates the distance between the 2 closest points of the objects a and b.

calcDistance() [2/2]

void ICLPhysics_API icl::physics::calcDistance	(	PhysicsObject *	a,
		PhysicsObject *	b,
		geom::Mat	transA,
		geom::Mat	transB,
		geom::Vec &	pointOnA,
		geom::Vec &	pointOnB,
		float &	distance
	)

Calculates the distance between the 2 closest points of the objects a and b.

createObjectsFromBlobs()

void ICLPhysics_API icl::physics::createObjectsFromBlobs	(	const std::vector< std::vector< int > > &	indices,
		const std::vector< geom::Vec > &	vertices,
		std::vector< PhysicsObject * > &	objects
	)

Creates primitives from blobs. The last blob is assumed to be the Table the objects rest on.

icl2bullet()

float icl::physics::icl2bullet ( float  x )

inline

Converts from icl to bullet units.

icl2bullet_scaled()

btVector3 icl::physics::icl2bullet_scaled ( const geom::Vec &  v )

inline

Creates a bullet vector from an icl vector WITH scaling.

icl2bullet_scaled_mat()

btTransform icl::physics::icl2bullet_scaled_mat ( const geom::Mat &  M )

inline

Creates a bullet transform from an icl Mat and scales accordingly.

icl2bullet_unscaled()

btVector3 icl::physics::icl2bullet_unscaled ( const geom::Vec &  v )

inline

Creates a bullet vector from an icl vector WITHOUT scaling.

icl2bullet_unscaled_mat()

btTransform icl::physics::icl2bullet_unscaled_mat ( const geom::Mat &  M )

inline

line_segment_intersect()

bool icl::physics::line_segment_intersect	(	const utils::Point32f &	a,
		const utils::Point32f &	b,
		const utils::Point32f &	c,
		const utils::Point32f &	d,
		utils::Point32f *	dst = 0,
		float *	dstr = 0,
		float *	dsts = 0
	)

point_in_triangle()

bool icl::physics::point_in_triangle	(	const utils::Point32f &	p,
		const utils::Point32f &	v1,
		const utils::Point32f &	v2,
		const utils::Point32f &	v3
	)

Checks whether the given point p lies within the triangle defined by v1,v2 and v3.

remove_fallen_objects()

void ICLPhysics_API icl::physics::remove_fallen_objects	(	geom::Scene *	scene,
		PhysicsWorld *	world,
		float	minZ = -2000
	)

removes all rigid object from the given scene and world that are below minZ

Variable Documentation

ICL_UNIT_TO_METER

ICLPhysics_API float icl::physics::ICL_UNIT_TO_METER

METER_TO_BULLET_UNIT

ICLPhysics_API float icl::physics::METER_TO_BULLET_UNIT