This class implements a base class for all 2D or 3D objects in CHAI3D. More...

#include <CGenericObject.h>

Inheritance diagram for chai3d::cGenericObject:

[legend]

Public Member Functions
	cGenericObject ()
	Constructor of cGenericObject. More...

virtual	~cGenericObject ()
	Destructor of cGenericObject. More...

virtual void	setEnabled (bool a_enabled, const bool a_affectChildren=false)
	This method enables or disable this object. When an object is disabled, both haptic and graphic rendering no longer occur. More...

bool	getEnabled () const
	This method returns true if the object is enabled, false otherwise. More...

virtual cGenericObject *	copy (const bool a_duplicateMaterialData=false, const bool a_duplicateTextureData=false, const bool a_duplicateMeshData=false, const bool a_buildCollisionDetector=true)
	This method creates a copy of itself. More...

virtual void	setLocalPos (const cVector3d &a_localPos)
	This method sets the local position of this object. More...

void	setLocalPos (const double a_x=0.0, const double a_y=0.0, const double a_z=0.0)
	This method sets the local position of this object. More...

cVector3d	getLocalPos () const
	This method returns the local position of this object. More...

cVector3d	getGlobalPos () const
	This method returns the global position of this object. More...

virtual void	setLocalRot (const cMatrix3d &a_localRot)
	This method sets the local rotation matrix for this object. More...

cMatrix3d	getLocalRot () const
	This method returns the local rotation matrix of this object. More...

cMatrix3d	getGlobalRot () const
	This method returns the global rotation matrix of this object. More...

void	setLocalTransform (const cTransform &a_transform)
	This method returns the local position and rotation matrix by passing a transformation matrix. More...

cTransform	getLocalTransform ()
	This method returns the local position and rotation matrix in a transformation matrix. More...

cTransform	getGlobalTransform ()
	This method returns the global position and rotation matrix in a transformation matrix. More...

void	translate (const cVector3d &a_translation)
	This method translates this object by a specified offset. More...

void	translate (const double a_x, const double a_y, const double a_z=0.0)
	This method translates this object by a specified offset. More...

void	rotateAboutLocalAxisRad (const cVector3d &a_axis, const double a_angleRad)
	This method rotates this object around a local axis. Angle magnitude is defined in radians. More...

void	rotateAboutLocalAxisDeg (const cVector3d &a_axis, const double a_angleDeg)
	This method rotates this object around a local axis. Angle magnitude is defined in degrees. More...

void	rotateAboutLocalAxisRad (const double a_axisX, const double a_axisY, const double a_axisZ, const double a_angleRad)
	This method rotates this object around a local axis. Angle magnitude is defined in radians. More...

void	rotateAboutLocalAxisDeg (const double a_axisX, const double a_axisY, const double a_axisZ, const double a_angleDeg)
	This method rotates this object around a local axis. Angle magnitude is defined in degrees. More...

void	rotateAboutGlobalAxisRad (const cVector3d &a_axis, const double a_angleRad)
	This method rotates this object around a global axis. Angle magnitude is defined in radians. More...

void	rotateAboutGlobalAxisDeg (const cVector3d &a_axis, const double a_angleDeg)
	This method rotates this object around a global axis. Angle magnitude is defined in degrees. More...

void	rotateAboutGlobalAxisRad (const double a_axisX, const double a_axisY, const double a_axisZ, const double a_angleRad)
	This method rotate this object around a local axis. Angle magnitude is defined in radians. More...

void	rotateAboutGlobalAxisDeg (const double a_axisX, const double a_axisY, const double a_axisZ, const double a_angleDeg)
	This method rotates this object around a local axis. Angle magnitude is defined in degrees. More...

void	rotateExtrinsicEulerAnglesRad (const double &a_angleRad1, const double &a_angleRad2, const double &a_angleRad3, const cEulerOrder a_eulerOrder)
	This method rotates this object using fixed Euler representation. Angles are defined in radians. More...

void	rotateExtrinsicEulerAnglesDeg (const double &a_angleDeg1, const double &a_angleDeg2, const double &a_angleDeg3, const cEulerOrder a_eulerOrder)
	This method rotates this object using fixed Euler representation. Angles are defined in radians. More...

void	rotateIntrinsicEulerAnglesRad (const double &a_angleRad1, const double &a_angleRad2, const double &a_angleRad3, const cEulerOrder a_eulerOrder)
	This method rotates this object using co-moving Euler representation. Angles are defined in radians. More...

void	rotateIntrinsicEulerAnglesDeg (const double &a_angleDeg1, const double &a_angleDeg2, const double &a_angleDeg3, const cEulerOrder a_eulerOrder)
	This method rotates this object using co-moving Euler representation. Angles are defined in radians. More...

virtual void	computeGlobalPositions (const bool a_frameOnly=true, const cVector3d &a_globalPos=cVector3d(0.0, 0.0, 0.0), const cMatrix3d &a_globalRot=cIdentity3d())
	This method computes the global position and rotation of this object and its children. More...

void	computeGlobalPositionsFromRoot (const bool a_frameOnly=true)
	This method computes the global position and rotation of current object only. More...

bool	addEffect (cGenericEffect *a_effect)
	This method adds a haptic effect to this object. More...

bool	removeEffect (cGenericEffect *a_effect)
	This method removes a haptic effect from this object. More...

void	deleteAllEffects ()
	This method removes all haptic effects. More...

bool	createEffectMagnetic ()
	This method creates a magnetic haptic effect. More...

bool	deleteEffectMagnetic ()
	This method deletes any current magnetic haptic effect. More...

bool	createEffectStickSlip ()
	This method creates a stick-and-slip haptic effect. More...

bool	deleteEffectStickSlip ()
	This method delete any current stick-and-slip haptic effect. More...

bool	createEffectSurface ()
	This method creates a surface haptic effect. More...

bool	deleteEffectSurface ()
	This method deletes any current surface haptic effect. More...

bool	createEffectVibration ()
	This method creates a vibration haptic effect. More...

bool	deleteEffectVibration ()
	This method deletes any current vibration haptic effect. More...

bool	createEffectViscosity ()
	This method creates a viscous haptic effect. More...

bool	deleteEffectViscosity ()
	This method deletes any current viscous haptic effect. More...

virtual void	setHapticEnabled (const bool a_hapticEnabled, const bool a_affectChildren=true)
	This method enables or disables haptic perception of this object, optionally propagating the change to children. More...

bool	getHapticEnabled () const
	This method returns the haptic status of object (true means it can be felt when visible). More...

virtual void	setStiffness (const double a_stiffness, const bool a_affectChildren=true)
	This method sets the haptic stiffness of the object, optionally recursively affecting children. More...

virtual void	setFriction (double a_staticFriction, double a_dynamicFriction, const bool a_affectChildren=true)
	This method sets the static and dynamic friction properties (polygonal models only), optionally recursively affecting children. More...

virtual void	setShowEnabled (const bool a_show, const bool a_affectChildren=true)
	This method enables or disables the graphic display of this object, optionally propagating the change to children. More...

bool	getShowEnabled () const
	This method returns the display status of object (true means it's visible). More...

virtual void	setWireMode (const bool a_showWireMode, const bool a_affectChildren=false)
	This method enables or disables wireframe rendering, optionally propagating the operation to my children. More...

bool	getWireMode () const
	This method returns whether wireframe rendering is enabled. More...

virtual void	setUseCulling (const bool a_useCulling, const bool a_affectChildren=false)
	This method enables or disables face-culling, optionally propagating the operation to my children. More...

bool	getUseCulling () const
	This method returns true if face-culling is enabled, false otherwise. More...

virtual void	setUseTransparency (const bool a_useTransparency, const bool a_affectChildren=false)
	This method enables or disables transparency. More...

bool	getUseTransparency () const
	This method returns true if transparency is enabled, false otherwise. More...

virtual void	setTransparencyLevel (const float a_level, const bool a_applyToVertices=false, const bool a_applyToTextures=false, const bool a_affectChildren=false)
	This method sets the transparency level of the object. More...

virtual void	setUseDisplayList (const bool a_useDisplayList, const bool a_affectChildren=false)
	This method enabled or disables the use of a display list for rendering, optionally propagating the operation to its children. More...

bool	getUseDisplayList () const
	This method returns true if a display list is activated, false otherwise. More...

virtual void	markForUpdate (const bool a_affectChildren=false)
	This method invalidates any existing display lists, optionally propagating the operation to its children. More...

virtual void	setUseVertexColors (const bool a_useColors, const bool a_affectChildren=false)
	This method enables or disables the use of per-vertex colors, optionally propagating the operation to its children. More...

bool	getUseVertexColors () const
	This method returns true is per-vertex color properties are enabled, false otherwise. More...

virtual void	setUseMaterial (const bool a_useMaterial, const bool a_affectChildren=false)
	This method enables or disables the use of material properties, optionally propagating the operation to its children. More...

bool	getUseMaterial () const
	This method returns true is material properties are enabled, false otherwise. More...

virtual void	setMaterial (cMaterialPtr a_material, const bool a_affectChildren=false)
	This method sets the material properties of this object, optionally propagating the operation to its children. More...

virtual void	setMaterial (cMaterial &a_material, const bool a_affectChildren=false)
	This method setd the material properties of this object, optionally propagating the operation to its children. More...

virtual void	backupMaterialColors (const bool a_affectChildren=false)
	This method creates a backup of the material colors of this object, optionally propagating the operation to its children. More...

virtual void	restoreMaterialColors (const bool a_affectChildren=false)
	This method restores the material color properties of this object from a previous backup, optionally propagating the operation to its children. More...

virtual void	setUseTexture (const bool a_useTexture, const bool a_affectChildren=false)
	This method enables or disables the use of texture-mapping, optionally propagating the operation to its children. More...

bool	getUseTexture () const
	This method returns true if texture-mapping is enabled, false otherwise. More...

virtual void	setTexture (cTexture1dPtr a_texture, const bool a_affectChildren=false)
	This method sets a texture to this object, optionally propagating the operation to its children. More...

virtual void	setShaderProgram (cShaderProgramPtr a_shaderProgram, const bool a_affectChildren=false)
	This method assigns a shader program to this object, optionally propagating the operation to its children.. More...

virtual cShaderProgramPtr	getShaderProgram ()
	This method returns a pointer to the current shader program. More...

virtual void	setShowBoundaryBox (const bool a_showBoundaryBox, const bool a_affectChildren=false)
	This method enables or disabled the graphic display of the boundary box for this object, optionally propagating the change to its children. More...

bool	getShowBoundaryBox () const
	This method returns true if the boundary box is being displayed, false otherwise. More...

cVector3d	getBoundaryMin () const
	This method returns the minimum point of this object's boundary box. More...

cVector3d	getBoundaryMax () const
	This method returns the maximum point of this object's boundary box. More...

cVector3d	getBoundaryCenter () const
	This method computes and returns the center of this object's boundary box. More...

bool	getBoundaryBoxEmpty ()
	This method returns true, if the boundary box is empty, otherwise false. More...

virtual void	computeBoundaryBox (const bool a_includeChildren=true)
	This method computes this object's boundary box, optionally forcing it to bound child objects. More...

virtual void	setShowFrame (const bool a_showFrame, const bool a_affectChildren=false)
	This method enables or disables the graphic display of the reference frame arrows for this object, optionally propagating the change to its children. More...

bool	getShowFrame (void) const
	This method returns true if the display of the reference frame is enabled, false otherwise. More...

virtual void	setFrameSize (const double a_size=1.0, const bool a_affectChildren=false)
	This method sets the size of the rendered reference frame, optionally propagating the change to its children. More...

double	getFrameSize () const
	This method returns the size of the graphical reference frame. More...

void	setCollisionDetector (cGenericCollision *a_collisionDetector)
	This method sets a collision detector to this current object. More...

cGenericCollision *	getCollisionDetector () const
	This method returns a pointer to this object's current collision detector. More...

virtual void	deleteCollisionDetector (const bool a_affectChildren=false)
	This method deletes any existing collision detector. More...

virtual bool	computeCollisionDetection (const cVector3d &a_segmentPointA, const cVector3d &a_segmentPointB, cCollisionRecorder &a_recorder, cCollisionSettings &a_settings)
	This method computes any collision between a segment and this object. More...

virtual void	setShowCollisionDetector (const bool a_showCollisionDetector, const bool a_affectChildren=false)
	This method enables or disables the display of the collision detector, optionally propagating the change to its children. More...

bool	getShowCollisionDetector ()
	This method returns true if the collision detector is being displayed graphically, false otherwise. More...

virtual void	setCollisionDetectorProperties (unsigned int a_displayDepth, cColorf &a_color, const bool a_affectChildren=false)
	This method sets the collision detector graphic display properties. More...

void	setParent (cGenericObject *a_parent)
	This method sets the parent of this object. More...

cGenericObject *	getParent () const
	This method returns the parent of this object. More...

void	setOwner (cGenericObject *a_owner)
	This method sets a link to an object that owns this object. This could be a super parent for instance. More...

cGenericObject *	getOwner ()
	This method returns the owner of this object. More...

cGenericObject *	getChild (const unsigned int a_index) const
	This method returns a selected child from the list of children. More...

bool	addChild (cGenericObject *a_object)
	This method add an object to the list of children. More...

bool	removeChild (cGenericObject *a_object)
	This method removes an object from the list of children, without deleting it. More...

bool	removeFromGraph ()
	This method removes this object from its parent's list of children. More...

bool	deleteChild (cGenericObject *a_object)
	This method removes an object from its list of children and deletes it. More...

void	clearAllChildren ()
	This method clears all objects from its list of children, without deleting them. More...

void	deleteAllChildren ()
	This method clears and delete all objects from its list of children. More...

unsigned int	getNumChildren ()
	This method returns the number of children from its list of children. More...

unsigned int	getNumDescendants (bool a_includeCurrentObject=false)
	This method returns the total number of descendants, optionally including this object. More...

void	setGhostEnabled (bool a_ghostEnabled)
	This method enables or disables this object to be a ghost node. More...

bool	getGhostEnabled ()
	This method returns truee if this object is a ghost node. More...

virtual void	scale (const double &a_scaleFactor, const bool a_affectChildren=true)
	This method scales the size of this object. More...

virtual void	renderSceneGraph (cRenderOptions &a_options)
	This method renders the entire scene graph, starting from this object. More...

virtual void	adjustCollisionSegment (cVector3d &a_segmentPointA, cVector3d &a_segmentPointAadjusted)
	This method adjusts the collision segment to handle objects in motion. More...

virtual cVector3d	computeInteractions (const cVector3d &a_toolPos, const cVector3d &a_toolVel, const unsigned int a_IDN, cInteractionRecorder &a_interactions)
	This method computes all haptic interaction between a tool and this object using the haptic effects. More...

Public Member Functions inherited from chai3d::cGenericType
	cGenericType ()
	Constructor of cGenericType. More...

virtual	~cGenericType ()
	Destructor of cGenericType. More...

Public Attributes
std::string	m_name
	Name of current object (filename). More...

cMaterialPtr	m_material
	Material property. More...

cTexture1dPtr	m_texture
	Texture property. More...

cNormalMapPtr	m_normalMap
	Normal map property. More...

int	m_userTag
	An arbitrary tag, not used by CHAI3D. More...

void *	m_userData
	An arbitrary data pointer, not used by CHAI3D. More...

std::string	m_userName
	Name of current object, not used by CHAI3D. More...

cGenericObject *	m_userExternalObject
	A link to an external cGenericObject object, not used by CHAI3D. More...

cVector3d	m_interactionPoint
	Projection of the most recent haptic point (tool) onto the surface of the virtual object. More...

cVector3d	m_interactionNormal
	Surface normal at the current interaction point. More...

bool	m_interactionInside
	Was the last tool (haptic point) located inside the object? More...

Static Public Attributes
static cColorf	s_boundaryBoxColor
	Color of the boundary box. More...

Protected Member Functions
virtual void	render (cRenderOptions &a_options)
	This method renders this object graphically using OpenGL. More...

virtual void	updateGlobalPositions (const bool a_frameOnly)
	This method update the global position information about this object. More...

virtual void	updateBoundaryBox ()
	This method updates the boundary box of this object. More...

virtual void	scaleObject (const double &a_scaleFactor)
	This method scales the size of this object with given scale factor. More...

virtual void	computeLocalInteraction (const cVector3d &a_toolPos, const cVector3d &a_toolVel, const unsigned int a_IDN)
	This method updates the geometric relationship between the tool and the current object. More...

virtual cVector3d	computeOtherInteractions (const cVector3d &a_toolPos, const cVector3d &a_toolVel, const unsigned int a_IDN, cInteractionRecorder &a_interactions)
	This method computes any additional interactions between the object and the tools. More...

virtual bool	computeOtherCollisionDetection (cVector3d &a_segmentPointA, cVector3d &a_segmentPointB, cCollisionRecorder &a_recorder, cCollisionSettings &a_settings)
	This method computes any additional collisions other than the ones computed by the default collision detector. More...

void	copyGenericObjectProperties (cGenericObject *a_objDest, const bool a_duplicateMaterialData, const bool a_duplicateTextureData, const bool a_duplicateMeshData, const bool a_buildCollisionDetector)
	This method copies all properties of the current generic object to another. More...

Protected Attributes
cGenericObject *	m_parent
	Parent object. More...

cGenericObject *	m_owner

std::vector< cGenericObject * >	m_children
	List of children. More...

cVector3d	m_localPos
	The position of this object in my parent's reference frame. More...

cVector3d	m_globalPos
	The position of this object in the world's reference frame. More...

cMatrix3d	m_localRot
	The rotation matrix that rotates my reference frame into my parent's reference frame. More...

cMatrix3d	m_globalRot
	The rotation matrix that rotates my reference frame into the world's reference frame. More...

cVector3d	m_prevGlobalPos
	Previous position since last haptic computation. More...

cMatrix3d	m_prevGlobalRot
	Previous rotation since last haptic computation. More...

cVector3d	m_boundaryBoxMin
	Minimum position of boundary box. More...

cVector3d	m_boundaryBoxMax
	Maximum position of boundary box. More...

bool	m_boundaryBoxEmpty
	If true, then the boundary box does not include any object. More...

double	m_frameSize
	Size of graphical representation of frame (X-Y-Z). More...

double	m_frameThicknessScale
	Pen thickness of graphical representation of frame (X-Y-Z). More...

bool	m_enabled
	If true, the object may be rendered graphically and haptically. More...

bool	m_showEnabled
	If true, this object is rendered. More...

bool	m_hapticEnabled
	If true, this object can be felt. More...

bool	m_ghostEnabled
	If true, object is enabled as ghost. More...

bool	m_showFrame
	If true, this object's reference frame is rendered as a set of arrows. More...

bool	m_showBoundaryBox
	If true, this object's boundary box is displayed as a set of lines. More...

bool	m_showCollisionDetector
	If true, the collision detector is displayed (if available) at this node. More...

bool	m_useTextureMapping
	Should texture mapping be used? More...

bool	m_useMaterialProperty
	Should material properties be used? More...

bool	m_useVertexColors
	Should per-vertex colors be used? More...

bool	m_useDisplayList
	Should we use a display list to render this mesh? More...

cDisplayList	m_displayList
	Basic display list for current object. More...

int	m_triangleMode
	The polygon rendering mode (GL_FILL or GL_LINE). More...

bool	m_useTransparency

bool	m_cullingEnabled

cShaderProgramPtr	m_shaderProgram
	Shader program. More...

cTransform	m_frameGL
	OpenGL matrix describing my position and orientation transformation. More...

cGenericCollision *	m_collisionDetector
	The collision detector used to test for contact with this object. More...

std::vector< cGenericEffect * >	m_effects
	List of haptic effects programmed for this object. More...

Static Protected Attributes
static cMaterialPtr	s_defaultMaterial = nullptr
	Default material property. More...

Friends
class	cMultiMesh

Detailed Description

This class is the root of basically every render-able object in CHAI3D. It defines a reference frame (position and rotation) and virtual methods for rendering, which are overloaded by useful subclasses.
This class also defines basic methods for maintaining a scene graph, and propagating rendering passes and reference frame changes through a hierarchy of cGenericObjects.
The most important methods to look at here are probably the virtual methods, which are listed last in CGenericObject.h. These methods will be called on each cGenericObject as operations propagate through the scene graph.

Constructor & Destructor Documentation

chai3d::cGenericObject::cGenericObject ( )

Constructor of cGenericObject.

chai3d::cGenericObject::~cGenericObject ( )

virtual

Destructor of cGenericObject.
Deletes all children starting from this point in the scene graph, so if you have objects that shouldn't be deleted, be sure to remove them from the scene graph before deleting their parents.

Member Function Documentation

void chai3d::cGenericObject::setEnabled	(	bool	a_enabled,
		const bool	a_affectChildren = `false`
	)

virtual

This method enables or disables this object.
When an object is disabled, haptic and graphic rendering are no longer performed through the scenegraph and the object is simply ignored. Other operations however will still be active.
Enabling or disabling an object will not affect child objects, unless explicitly specified.

Parameters

a_enabled	If true then object is enabled, false otherwise.
a_affectChildren	If true, then children are updated too.

Reimplemented in chai3d::cMultiMesh.

bool chai3d::cGenericObject::getEnabled ( ) const

inline

virtual cGenericObject* chai3d::cGenericObject::copy	(	const bool	a_duplicateMaterialData = `false`,
		const bool	a_duplicateTextureData = `false`,
		const bool	a_duplicateMeshData = `false`,
		const bool	a_buildCollisionDetector = `true`
	)

inlinevirtual

Reimplemented in chai3d::cLabel, chai3d::cMesh, chai3d::cMultiPoint, chai3d::cMultiSegment, chai3d::cDial, chai3d::cLevel, chai3d::cShapeCylinder, chai3d::cShapeEllipsoid, chai3d::cShapeLine, chai3d::cShapeSphere, chai3d::cViewPanel, chai3d::cMultiMesh, chai3d::cShapeBox, chai3d::cPanel, chai3d::cScope, chai3d::cShapeTorus, chai3d::cBackground, chai3d::cBitmap, and chai3d::cGenericWidget.

virtual void chai3d::cGenericObject::setLocalPos ( const cVector3d & a_localPos )

inlinevirtual

void chai3d::cGenericObject::setLocalPos	(	const double	a_x = `0.0`,
		const double	a_y = `0.0`,
		const double	a_z = `0.0`
	)

inline

cVector3d chai3d::cGenericObject::getLocalPos ( ) const

inline

cVector3d chai3d::cGenericObject::getGlobalPos ( ) const

inline

virtual void chai3d::cGenericObject::setLocalRot ( const cMatrix3d & a_localRot )

inlinevirtual

cMatrix3d chai3d::cGenericObject::getLocalRot ( ) const

inline

cMatrix3d chai3d::cGenericObject::getGlobalRot ( ) const

inline

void chai3d::cGenericObject::setLocalTransform ( const cTransform & a_transform )

inline

cTransform chai3d::cGenericObject::getLocalTransform ( )

inline

cTransform chai3d::cGenericObject::getGlobalTransform ( )

inline

void chai3d::cGenericObject::translate ( const cVector3d & a_translation )

This method translate this object by a specified offset passed as argument.

Parameters

a_translation Translation offset.

void chai3d::cGenericObject::translate	(	const double	a_x,
		const double	a_y,
		const double	a_z = `0.0`
	)

This method translates an object by a specified offset passed as argument.

Parameters

a_x	Translation component X.
a_y	Translation component Y.
a_z	Translation component Z.

void chai3d::cGenericObject::rotateAboutLocalAxisRad	(	const cVector3d &	a_axis,
		const double	a_angleRad
	)

This method rotates this object around a specified rotation axis and angle. The axis is expressed in local coordinates.

Parameters

a_axis	Rotation axis. This vector must be normalized!
a_angleRad	Rotation angle in defined in radians.

void chai3d::cGenericObject::rotateAboutLocalAxisDeg	(	const cVector3d &	a_axis,
		const double	a_angleDeg
	)

inline

void chai3d::cGenericObject::rotateAboutLocalAxisRad	(	const double	a_axisX,
		const double	a_axisY,
		const double	a_axisZ,
		const double	a_angleRad
	)

inline

void chai3d::cGenericObject::rotateAboutLocalAxisDeg	(	const double	a_axisX,
		const double	a_axisY,
		const double	a_axisZ,
		const double	a_angleDeg
	)

inline

void chai3d::cGenericObject::rotateAboutGlobalAxisRad	(	const cVector3d &	a_axis,
		const double	a_angleRad
	)

This method rotates this object around a specified rotation axis and angle. The axis is expressed in global coordinates.

Parameters

a_axis	Rotation axis. This vector must be normalized!
a_angleRad	Rotation angle in defined in radians.

void chai3d::cGenericObject::rotateAboutGlobalAxisDeg	(	const cVector3d &	a_axis,
		const double	a_angleDeg
	)

inline

void chai3d::cGenericObject::rotateAboutGlobalAxisRad	(	const double	a_axisX,
		const double	a_axisY,
		const double	a_axisZ,
		const double	a_angleRad
	)

inline

void chai3d::cGenericObject::rotateAboutGlobalAxisDeg	(	const double	a_axisX,
		const double	a_axisY,
		const double	a_axisZ,
		const double	a_angleDeg
	)

inline

void chai3d::cGenericObject::rotateExtrinsicEulerAnglesRad	(	const double &	a_angleRad1,
		const double &	a_angleRad2,
		const double &	a_angleRad3,
		const cEulerOrder	a_eulerOrder
	)

This method builds a rotation matrix from a set of Euler angles and fixed axes of rotations.

Parameters

a_angleRad1	Angle in radians of the first rotation in the sequence.
a_angleRad2	Angle in radians of the second rotation in the sequence.
a_angleRad3	Angle in radians of the third rotation in the sequence.
a_eulerOrder	The order of the axes about which the rotations are to be applied

void chai3d::cGenericObject::rotateExtrinsicEulerAnglesDeg	(	const double &	a_angleDeg1,
		const double &	a_angleDeg2,
		const double &	a_angleDeg3,
		const cEulerOrder	a_eulerOrder
	)

inline

void chai3d::cGenericObject::rotateIntrinsicEulerAnglesRad	(	const double &	a_angleRad1,
		const double &	a_angleRad2,
		const double &	a_angleRad3,
		const cEulerOrder	a_eulerOrder
	)

This method builds a rotation matrix from a set of Euler angles and co-moving axes of rotations.

Parameters

a_angleRad1	Angle in radians of the first rotation in the sequence.
a_angleRad2	Angle in radians of the second rotation in the sequence.
a_angleRad3	Angle in radians of the third rotation in the sequence.
a_eulerOrder	The order of the axes about which the rotations are to be applied.

void chai3d::cGenericObject::rotateIntrinsicEulerAnglesDeg	(	const double &	a_angleDeg1,
		const double &	a_angleDeg2,
		const double &	a_angleDeg3,
		const cEulerOrder	a_eulerOrder
	)

inline

void chai3d::cGenericObject::computeGlobalPositions	(	const bool	a_frameOnly = `true`,
		const cVector3d &	a_globalPos = `cVector3d(0.0, 0.0, 0.0)`,
		const cMatrix3d &	a_globalRot = `cIdentity3d()`
	)

virtual

This method computes the global position and global rotation matrix given the local position and location rotation of this object, and the global configuration of its parent.
If a_frameOnly is set to false, additional global positions such as vertex positions are computed too (which may be time-consuming!).

Parameters

a_frameOnly	If true then only the global frame is computed
a_globalPos	Global position of parent object.
a_globalRot	Global rotation matrix of parent object.

void chai3d::cGenericObject::computeGlobalPositionsFromRoot ( const bool a_frameOnly = true )

This method computes the global position and global rotation for this object only, by recursively climbing up the scene graph tree until the root is reached.

If argument a_frameOnly is set to false, additional global positions such as vertex positions are computed.

Parameters

a_frameOnly If true then only the global frame is computed.

bool chai3d::cGenericObject::addEffect ( cGenericEffect * a_effect )

This method adds a haptic effect to this object.

Parameters

a_effect Haptic effect to be added to the list.

bool chai3d::cGenericObject::removeEffect ( cGenericEffect * a_effect )

This method removes a haptic effect from this object.

Parameters

a_effect Haptic effect to be removed from the list of effects.

void chai3d::cGenericObject::deleteAllEffects ( )

This method deletes all haptic effects and removes them from the list.

bool chai3d::cGenericObject::createEffectMagnetic ( )

This method creates a magnetic haptic effect.

Returns: true if the operation succeeds, false otherwise.

bool chai3d::cGenericObject::deleteEffectMagnetic ( )

This method deletes the magnetic haptic effect.

Returns: true if the operation succeeds, false otherwise.

bool chai3d::cGenericObject::createEffectStickSlip ( )

This method creates a stick-and-slip haptic effect.

Returns: true if the operation succeeds, false otherwise.

bool chai3d::cGenericObject::deleteEffectStickSlip ( )

This method deletes the stick-and-slip haptic effect.

Returns: true if the operation succeeds, false otherwise.

bool chai3d::cGenericObject::createEffectSurface ( )

This method creates a surface haptic effect.

Returns: true if the operation succeeds, false otherwise.

bool chai3d::cGenericObject::deleteEffectSurface ( )

This method deletes the surface haptic effect.

Returns: true if the operation succeeds, false otherwise.

bool chai3d::cGenericObject::createEffectVibration ( )

This method creates a vibration haptic effect.

Returns: true if the operation succeeds, false otherwise.

bool chai3d::cGenericObject::deleteEffectVibration ( )

This method deletes the current vibration haptic effect.

Returns: true if the operation succeeds, false otherwise.

bool chai3d::cGenericObject::createEffectViscosity ( )

This method creates a viscous haptic effect.

Returns: true if the operation succeeds, false otherwise.

bool chai3d::cGenericObject::deleteEffectViscosity ( )

This method deletes the current viscous haptic effect.

Returns: true if the operation succeeds, false otherwise.

void chai3d::cGenericObject::setHapticEnabled	(	const bool	a_hapticEnabled,
		const bool	a_affectChildren = `true`
	)

virtual

This method enables or disables the object to be felt haptically.
If argument a_affectChildren is set to true then all children are updated with the new value.

Parameters

a_hapticEnabled	If true then the object can be touched when visible.
a_affectChildren	If true then all children are updated too.

Reimplemented in chai3d::cMultiMesh.

bool chai3d::cGenericObject::getHapticEnabled ( ) const

inline

void chai3d::cGenericObject::setStiffness	(	const double	a_stiffness,
		const bool	a_affectChildren = `true`
	)

virtual

This method sets the haptic stiffness for this object, optionally recursively affecting children.

Parameters

a_stiffness	The stiffness to apply to this object.
a_affectChildren	If true, then children are updated too.

Reimplemented in chai3d::cMultiMesh.

void chai3d::cGenericObject::setFriction	(	double	a_staticFriction,
		double	a_dynamicFriction,
		const bool	a_affectChildren = `true`
	)

virtual

This method sets the static and dynamic friction properties for this object, optionally recursively affecting children.

Parameters

a_staticFriction	The static friction to apply to this object.
a_dynamicFriction	The dynamic friction to apply to this object.
a_affectChildren	If true then children are updated too.

Reimplemented in chai3d::cMultiMesh.

void chai3d::cGenericObject::setShowEnabled	(	const bool	a_show,
		const bool	a_affectChildren = `true`
	)

virtual

This method graphically shows or hides this object, optionally recursively affecting children.

Parameters

a_show	If true then object is visible.
a_affectChildren	If true then children are updated too.

Reimplemented in chai3d::cMultiMesh.

bool chai3d::cGenericObject::getShowEnabled ( ) const

inline

void chai3d::cGenericObject::setWireMode	(	const bool	a_showWireMode,
		const bool	a_affectChildren = `false`
	)

virtual

This method enables or disables wireframe rendering, optionally propagating the operation to children.

Parameters

a_showWireMode	If true then wireframe mode is used.
a_affectChildren	If true then children are updated too.

Reimplemented in chai3d::cMultiMesh.

bool chai3d::cGenericObject::getWireMode ( ) const

inline

void chai3d::cGenericObject::setUseCulling	(	const bool	a_useCulling,
		const bool	a_affectChildren = `false`
	)

virtual

This method enables or disables back face culling.
Rendering in OpenGL is much faster with culling enabled.

Parameters

a_useCulling	If true then back faces are culled.
a_affectChildren	If true then then children are updated too.

Reimplemented in chai3d::cMultiMesh.

bool chai3d::cGenericObject::getUseCulling ( ) const

inline

void chai3d::cGenericObject::setUseTransparency	(	const bool	a_useTransparency,
		const bool	a_affectChildren = `false`
	)

virtual

This method specifies whether transparency is enabled. If transparency is enabled then make sure that multi-pass rendering is enabled too. For more information, see class cCamera.

Parameters

a_useTransparency	If true then transparency is enabled.
a_affectChildren	If true then children are updated too.

Reimplemented in chai3d::cMultiMesh.

bool chai3d::cGenericObject::getUseTransparency ( ) const

inline

void chai3d::cGenericObject::setTransparencyLevel	(	const float	a_level,
		const bool	a_applyToVertices = `false`,
		const bool	a_applyToTextures = `false`,
		const bool	a_affectChildren = `false`
	)

virtual

This method sets the alpha value to all components of the object, optionally propagating the operation to children.
Using the 'apply to textures' option causes the actual texture alpha values to be over-written in my texture, if it exists.

Parameters

a_level	Level of transparency ranging from 0.0 to 1.0.
a_applyToTextures	If true, then apply changes to texture pixels.
a_applyToVertices	If true, then apply changes to vertex colors.
a_affectChildren	If true, then children are updated too.

Reimplemented in chai3d::cPanel, chai3d::cMultiSegment, chai3d::cMultiPoint, chai3d::cMultiMesh, and chai3d::cMesh.

void chai3d::cGenericObject::setUseDisplayList	(	const bool	a_useDisplayList,
		const bool	a_affectChildren = `false`
	)

virtual

This method enables the use of display lists for mesh rendering. Display lists significantly speed up rendering for large meshes, but it means that any changes that are made on the object (e.g changing vertex positions) will not take effect until you invalidate the existing display list by calling markForUpdate().

Parameters

a_useDisplayList	If true then a display list is created (cMesh).
a_affectChildren	If true then children are updated too.

Reimplemented in chai3d::cMultiMesh.

bool chai3d::cGenericObject::getUseDisplayList ( ) const

inline

void chai3d::cGenericObject::markForUpdate ( const bool a_affectChildren = false )

virtual

This method invalidates any existing display lists. You should call this on if you're using display lists and you modify mesh options, vertex positions, etc.

Parameters

a_affectChildren If true then children are updated too.

Reimplemented in chai3d::cMultiSegment, chai3d::cMultiPoint, chai3d::cMultiMesh, and chai3d::cMesh.

void chai3d::cGenericObject::setUseVertexColors	(	const bool	a_useColors,
		const bool	a_affectChildren = `false`
	)

virtual

This method enables or disables the use of per-vertex color information of when rendering the mesh.

Parameters

a_useColors	If true then then vertex color information is applied.
a_affectChildren	If true then children are updated too.

Reimplemented in chai3d::cMultiMesh.

bool chai3d::cGenericObject::getUseVertexColors ( ) const

inline

void chai3d::cGenericObject::setUseMaterial	(	const bool	a_useMaterial,
		const bool	a_affectChildren = `false`
	)

virtual

This method enables or disables the use of material properties.

Parameters

a_useMaterial	If true then material properties are used for rendering.
a_affectChildren	If true then children are updated too.

Reimplemented in chai3d::cMultiMesh.

bool chai3d::cGenericObject::getUseMaterial ( ) const

inline

void chai3d::cGenericObject::setMaterial	(	cMaterialPtr	a_material,
		const bool	a_affectChildren = `false`
	)

virtual

This method copies all material properties defined in a_material to the material structure of this object.
Note that this does not affect whether material rendering is enabled; it sets the material that will be rendered if material rendering is enabled. Call method setUseMaterial() to enable or disable material rendering.

Parameters

a_material	The material to apply to this object.
a_affectChildren	If true then children are updated too.

Reimplemented in chai3d::cMultiMesh.

void chai3d::cGenericObject::setMaterial	(	cMaterial &	a_material,
		const bool	a_affectChildren = `false`
	)

virtual

This method copies all material properties defined in a_material to the material structure of this object.
Note that this does not affect whether material rendering is enabled; it sets the material that will be rendered if material rendering is enabled. Call method setUseMaterial() to enable or disable material rendering.

Parameters

a_material	The material to apply to this object
a_affectChildren	If true then children are updated too.

Reimplemented in chai3d::cMultiMesh.

void chai3d::cGenericObject::backupMaterialColors ( const bool a_affectChildren = false )

virtual

This method creates a backup of the material color properties of this object, optionally recursively affecting children.

Parameters

a_affectChildren If true then children are updated too.

Reimplemented in chai3d::cMultiMesh.

void chai3d::cGenericObject::restoreMaterialColors ( const bool a_affectChildren = false )

virtual

This method restores material color properties for this object, optionally recursively affecting children.

Parameters

a_affectChildren If true then children are updated too.

Reimplemented in chai3d::cMultiMesh.

void chai3d::cGenericObject::setUseTexture	(	const bool	a_useTexture,
		const bool	a_affectChildren = `false`
	)

virtual

This method enables or disables texture-mapping, optionally recursively affecting children.

Parameters

a_useTexture	If true then texture mapping is used.
a_affectChildren	If true then children are updated too.

Reimplemented in chai3d::cMultiMesh.

bool chai3d::cGenericObject::getUseTexture ( ) const

inline

void chai3d::cGenericObject::setTexture	(	cTexture1dPtr	a_texture,
		const bool	a_affectChildren = `false`
	)

virtual

This method sets the current texture for this mesh, optionally recursively affecting children.
Note that this does not affect whether texturing is enabled; it sets the texture that will be rendered if texturing is enabled. Call method setUseTexture() to enable or disable texturing.

Parameters

a_texture	The texture to apply to this object.
a_affectChildren	If true then children are updated too.

Reimplemented in chai3d::cMultiMesh.

void chai3d::cGenericObject::setShaderProgram	(	cShaderProgramPtr	a_shaderProgram,
		const bool	a_affectChildren = `false`
	)

virtual

This method assigns a shader program to this object.
If a_affectChildren is set to true then all children are assigned with the shader program.

Parameters

a_shaderProgram	Shader program to be assigned to object.
a_affectChildren	If true then children are updated too.

Reimplemented in chai3d::cGenericTool, and chai3d::cMultiMesh.

virtual cShaderProgramPtr chai3d::cGenericObject::getShaderProgram ( )

inlinevirtual

void chai3d::cGenericObject::setShowBoundaryBox	(	const bool	a_showBoundaryBox,
		const bool	a_affectChildren = `false`
	)

virtual

This method enables or disables the graphic representation of the boundary box of this object.
If a_affectChildren is set to true then all children are updated with the new value.

Parameters

a_showBoundaryBox	If true boundary box is displayed.
a_affectChildren	If true then children are updated too.

Reimplemented in chai3d::cMultiMesh.

bool chai3d::cGenericObject::getShowBoundaryBox ( ) const

inline

cVector3d chai3d::cGenericObject::getBoundaryMin ( ) const

inline

cVector3d chai3d::cGenericObject::getBoundaryMax ( ) const

inline

cVector3d chai3d::cGenericObject::getBoundaryCenter ( ) const

inline

bool chai3d::cGenericObject::getBoundaryBoxEmpty ( )

inline

void chai3d::cGenericObject::computeBoundaryBox ( const bool a_includeChildren = true )

virtual

This method computes the boundary box of this object and all of its children.

If argument a_includeChildren is set to true then each object's bounding box covers its own volume and the volume of its children. If it is set to false, then the object's bounding volume shall only cover its own geometrical elements.

Parameters

a_includeChildren If true, then children are included in the boundary volume of the parent.

void chai3d::cGenericObject::setShowFrame	(	const bool	a_showFrame,
		const bool	a_affectChildren = `false`
	)

virtual

This method enables of disables the display of the reference frame. The reference frame is a set of arrows that represent this object's position and orientation.

If argument a_affectChildren is set to true then all children are updated with the new value.

Parameters

a_showFrame	If true then frame is displayed.
a_affectChildren	If true then children are updated too.

bool chai3d::cGenericObject::getShowFrame ( void ) const

inline

void chai3d::cGenericObject::setFrameSize	(	const double	a_size = `1.0`,
		const bool	a_affectChildren = `false`
	)

virtual

This method sets the display size of the arrows representing my reference frame. The size corresponds to the length of each displayed axis (X-Y-Z).
If argument a_affectChildren is set to true then all children are updated with the new value.

Parameters

a_size	Length of graphical representation of frame.
a_affectChildren	If true then children are updated too.

double chai3d::cGenericObject::getFrameSize ( ) const

inline

void chai3d::cGenericObject::setCollisionDetector ( cGenericCollision * a_collisionDetector )

inline

cGenericCollision* chai3d::cGenericObject::getCollisionDetector ( ) const

inline

void chai3d::cGenericObject::deleteCollisionDetector ( const bool a_affectChildren = false )

virtual

This method deletes any existing collision detector and sets the current collision detector to null.
It's fine for an object to have a null collision detector (that's the default for a new object, in fact), it just means that no collisions will be found.

Parameters

a_affectChildren If true then children are updated too.

Reimplemented in chai3d::cMultiMesh.

bool chai3d::cGenericObject::computeCollisionDetection	(	const cVector3d &	a_segmentPointA,
		const cVector3d &	a_segmentPointB,
		cCollisionRecorder &	a_recorder,
		cCollisionSettings &	a_settings
	)

virtual

This method determines whether a given segment intersects this object or any of its descendants.
The segment is described by a start point a_segmentPointA and end point a_segmentPointB.
All detected collisions are reported in the collision recorder passed by argument a_recorder.
Specifications about the type of collisions reported are specified by argument a_settings.

Parameters

a_segmentPointA	Start point of segment.
a_segmentPointB	End point of segment.
a_recorder	Recorder which stores all collision events.
a_settings	Collision settings information.

Returns: true if one or more collisions have occurred, false otherwise.

Reimplemented in chai3d::cMultiMesh, and chai3d::cWorld.

void chai3d::cGenericObject::setShowCollisionDetector	(	const bool	a_showCollisionDetector,
		const bool	a_affectChildren = `false`
	)

virtual

This method enables or disables graphic representation of the collision detector at this node.
If argument a_affectChildren is set to true then all children are updated with the new value.

Parameters

a_showCollisionDetector	If true then display collision detector graphically.
a_affectChildren	If true then children are updated too.

Reimplemented in chai3d::cMultiMesh.

bool chai3d::cGenericObject::getShowCollisionDetector ( )

inline

void chai3d::cGenericObject::setCollisionDetectorProperties	(	unsigned int	a_displayDepth,
		cColorf &	a_color,
		const bool	a_affectChildren = `false`
	)

virtual

This method sets the rendering properties of the the graphic representation of the collision detector.
If argument a_affectChildren is set to true then all children are updated with the new values.

Parameters

a_color	Color used to render collision detector.
a_displayDepth	Indicated which depth of collision tree needs to be displayed (see cGenericCollision).
a_affectChildren	If true then children are updated too.

Reimplemented in chai3d::cMultiMesh.

void chai3d::cGenericObject::setParent ( cGenericObject * a_parent )

inline

cGenericObject* chai3d::cGenericObject::getParent ( ) const

inline

void chai3d::cGenericObject::setOwner ( cGenericObject * a_owner )

inline

cGenericObject* chai3d::cGenericObject::getOwner ( )

inline

cGenericObject* chai3d::cGenericObject::getChild ( const unsigned int a_index ) const

inline

bool chai3d::cGenericObject::addChild ( cGenericObject * a_object )

This method adds an object to the scene graph below this object.
Note that an object can only be a child of one single object, unless )ghosting_ is enabled.

Parameters

a_object Object to be added to child list.

Returns: true if operation succeeded.

bool chai3d::cGenericObject::removeChild ( cGenericObject * a_object )

This method removes an object from the list of children, without deleting the child object from memory.
This method assigns the child object's parent point to null, so if you're moving an object around in your scene graph, make sure you call this function before you add the child to another node in the scene graph.

Parameters

a_object Object to be removed from my list of children.

Returns: true if the specified object was found on my list of children, false otherwise.

bool chai3d::cGenericObject::removeFromGraph ( )

This method removes this object from its parent's list of children.

Returns: true if operation succeeds, false otherwise.

bool chai3d::cGenericObject::deleteChild ( cGenericObject * a_object )

This method removes an object from its list of children, and deletes the child object from memory.

Parameters

a_object Object to be removed from my list of children and deleted.

Returns: true if the specified object was found in the child list.

void chai3d::cGenericObject::clearAllChildren ( )

This method clears all objects from my list of children, without deleting them.

void chai3d::cGenericObject::deleteAllChildren ( )

This method deletes and clear all objects the list of children.

unsigned int chai3d::cGenericObject::getNumChildren ( )

inline

unsigned int chai3d::cGenericObject::getNumDescendants ( bool a_includeCurrentObject = false )

inline

This method returns the total number of descendants, optionally including this object.

Parameters

a_includeCurrentObject If true then this object is included in the count.

Returns: Number of descendants found.

void chai3d::cGenericObject::setGhostEnabled ( bool a_ghostEnabled )

inline

bool chai3d::cGenericObject::getGhostEnabled ( )

inline

void chai3d::cGenericObject::scale	(	const double &	a_scaleFactor,
		const bool	a_affectChildren = `true`
	)

virtual

This method performs a uniform scale on the object, optionally including children.

Parameters

a_scaleFactor	Scale factor.
a_affectChildren	If true then children are updated too.

Reimplemented in chai3d::cMultiMesh.

void chai3d::cGenericObject::render ( cRenderOptions & a_options )

protectedvirtual

This method render this object. Subclasses will generally override this method. This is called from renderSceneGraph, which subclasses generally do not need to override.

A word on OpenGL conventions:
CHAI3D does not re-initialize the OpenGL state at every rendering pass. The only OpenGL state variables that CHAI3D sets explicitly in a typical rendering pass are:

lighting is enabled (cWorld)
depth-testing is enabled (cWorld)
glColorMaterial is enabled and set to GL_AMBIENT_AND_DIFFUSE/GL_FRONT_AND_BACK (cWorld)
a perspective projection matrix is set up (cCamera)

This adherence to the defaults is nice because it lets an application change an important piece of state globally and not worry about it getting changed by CHAI3D objects.

It is expected that objects will "clean up after themselves" if they change any rendering state besides:

color (glColor)
material properties (glMaterial)
normals (glNormal)

For example, if my object changes the rendering color, I don't need to set it back before returning, but if my object turns on vertex buffering, I should turn it off before returning. Consequently if I care about the current color, I should set it up in my own render() function, because I shouldn't count on it being meaningful when my render() function is called.

Necessary exceptions to these conventions include:

cLight will change the lighting state for his assigned GL_LIGHT
cCamera sets up relevant transformation matrices

Parameters

a_options Rendering options.

Reimplemented in chai3d::cGenericTool, chai3d::cMultiMesh, chai3d::cMesh, chai3d::cMultiPoint, chai3d::cMultiSegment, chai3d::cVoxelObject, chai3d::cSpotLight, chai3d::cWorld, chai3d::cScope, chai3d::cLabel, chai3d::cPositionalLight, chai3d::cShapeLine, chai3d::cGenericLight, chai3d::cShapeEllipsoid, chai3d::cShapeCylinder, chai3d::cBackground, chai3d::cShapeBox, chai3d::cShapeSphere, chai3d::cShapeTorus, chai3d::cDirectionalLight, chai3d::cToolGripper, and chai3d::cToolCursor.

virtual void chai3d::cGenericObject::updateGlobalPositions ( const bool a_frameOnly )

inlineprotectedvirtual

Reimplemented in chai3d::cGenericTool, chai3d::cMultiMesh, chai3d::cMesh, chai3d::cMultiPoint, and chai3d::cMultiSegment.

virtual void chai3d::cGenericObject::updateBoundaryBox ( )

inlineprotectedvirtual

Reimplemented in chai3d::cMultiMesh, chai3d::cMesh, chai3d::cMultiPoint, chai3d::cMultiSegment, chai3d::cDial, chai3d::cShapeLine, chai3d::cShapeEllipsoid, chai3d::cShapeCylinder, chai3d::cShapeBox, chai3d::cShapeSphere, chai3d::cShapeTorus, and chai3d::cGenericWidget.

virtual void chai3d::cGenericObject::scaleObject ( const double & a_scaleFactor )

inlineprotectedvirtual

Reimplemented in chai3d::cMesh, chai3d::cMultiPoint, chai3d::cMultiSegment, chai3d::cShapeLine, chai3d::cShapeEllipsoid, chai3d::cShapeCylinder, chai3d::cShapeBox, chai3d::cShapeSphere, and chai3d::cShapeTorus.

void chai3d::cGenericObject::computeLocalInteraction	(	const cVector3d &	a_toolPos,
		const cVector3d &	a_toolVel,
		const unsigned int	a_IDN
	)

protectedvirtual

This method uses the position of the tool and searches for the nearest point located at the surface of the current object and identifies if the point is located inside or outside of the object.

Parameters

a_toolPos	Position of the tool.
a_toolVel	Velocity of the tool.
a_IDN	Identification number of the force algorithm.

Reimplemented in chai3d::cMesh, chai3d::cShapeLine, chai3d::cShapeEllipsoid, chai3d::cWorld, chai3d::cShapeCylinder, chai3d::cShapeBox, chai3d::cShapeSphere, and chai3d::cShapeTorus.

virtual cVector3d chai3d::cGenericObject::computeOtherInteractions	(	const cVector3d &	a_toolPos,
		const cVector3d &	a_toolVel,
		const unsigned int	a_IDN,
		cInteractionRecorder &	a_interactions
	)

inlineprotectedvirtual

virtual bool chai3d::cGenericObject::computeOtherCollisionDetection	(	cVector3d &	a_segmentPointA,
		cVector3d &	a_segmentPointB,
		cCollisionRecorder &	a_recorder,
		cCollisionSettings &	a_settings
	)

inlineprotectedvirtual

Reimplemented in chai3d::cVoxelObject, chai3d::cShapeLine, chai3d::cShapeEllipsoid, chai3d::cShapeCylinder, chai3d::cLabel, chai3d::cShapeBox, chai3d::cShapeSphere, and chai3d::cShapeTorus.

void chai3d::cGenericObject::copyGenericObjectProperties	(	cGenericObject *	a_obj,
		const bool	a_duplicateMaterialData,
		const bool	a_duplicateTextureData,
		const bool	a_duplicateMeshData,
		const bool	a_buildCollisionDetector
	)

protected

This method copies all material and texture properties from current generic object to another. This function is typically called by copy() method which duplicates an instance of a subclass of cGenericObject.

Parameters

a_obj	Object to which properties are copied to
a_duplicateMaterialData	If true, material (if available) is duplicated, otherwise it is shared.
a_duplicateTextureData	If true, texture data (if available) is duplicated, otherwise it is shared.
a_duplicateMeshData	If true, mesh data (if available) is duplicated, otherwise it is shared.
a_buildCollisionDetector	If true, collision detector (if available) is duplicated, otherwise it is shared.

void chai3d::cGenericObject::renderSceneGraph ( cRenderOptions & a_options )

virtual

This method renders the scene graph starting at this object. This method is called for each object and optionally render the object itself, its reference frame and the collision and/or scenegraph trees.
The object itself is rendered by calling render(), which should be defined for each subclass that has a graphical representation. renderSceneGraph does not generally need to be over-ridden in subclasses.
The a_options parameter is used to allow multiple rendering passes. See CRenderOptionh.h for more information.

Parameters

a_options Rendering options.

void chai3d::cGenericObject::adjustCollisionSegment	(	cVector3d &	a_segmentPointA,
		cVector3d &	a_segmentPointAadjusted
	)

virtual

This method adjusts the collision segment to take into consideration motion from an object. This feature is used by the finger-proxy algorithm to avoid "popping" through objects if their move toward the proxy while the proxy remains till.

Parameters

a_segmentPointA	Start point of segment.
a_segmentPointAadjusted	Adjusted start point of segment.

cVector3d chai3d::cGenericObject::computeInteractions	(	const cVector3d &	a_toolPos,
		const cVector3d &	a_toolVel,
		const unsigned int	a_IDN,
		cInteractionRecorder &	a_interactions
	)

virtual

This method descends through child objects to compute interactions for all cGenericEffect classes defined for each object.

Parameters

a_toolPos	Current position of tool.
a_toolVel	Current position of tool.
a_IDN	Identification number of the force algorithm.
a_interactions	List of recorded interactions.

Returns: Resulting interaction force.

Reimplemented in chai3d::cMultiMesh.

Friends And Related Function Documentation

friend class cMultiMesh

friend

Member Data Documentation

cColorf chai3d::cGenericObject::s_boundaryBoxColor

static

std::string chai3d::cGenericObject::m_name

cMaterialPtr chai3d::cGenericObject::m_material

cTexture1dPtr chai3d::cGenericObject::m_texture

cNormalMapPtr chai3d::cGenericObject::m_normalMap

int chai3d::cGenericObject::m_userTag

void* chai3d::cGenericObject::m_userData

std::string chai3d::cGenericObject::m_userName

cGenericObject* chai3d::cGenericObject::m_userExternalObject

cGenericObject* chai3d::cGenericObject::m_parent

protected

cGenericObject* chai3d::cGenericObject::m_owner

protected

For most objects this value is initialized to point to the object itself. In the case of cMultiMesh, all mesh objects contained in cMultimesh are owned by their parent (cMultiMesh).

std::vector<cGenericObject*> chai3d::cGenericObject::m_children

protected

cVector3d chai3d::cGenericObject::m_localPos

protected

cVector3d chai3d::cGenericObject::m_globalPos

protected

cMatrix3d chai3d::cGenericObject::m_localRot

protected

cMatrix3d chai3d::cGenericObject::m_globalRot

protected

cVector3d chai3d::cGenericObject::m_prevGlobalPos

protected

cMatrix3d chai3d::cGenericObject::m_prevGlobalRot

protected

cVector3d chai3d::cGenericObject::m_boundaryBoxMin

protected

cVector3d chai3d::cGenericObject::m_boundaryBoxMax

protected

bool chai3d::cGenericObject::m_boundaryBoxEmpty

protected

double chai3d::cGenericObject::m_frameSize

protected

double chai3d::cGenericObject::m_frameThicknessScale

protected

bool chai3d::cGenericObject::m_enabled

protected

bool chai3d::cGenericObject::m_showEnabled

protected

bool chai3d::cGenericObject::m_hapticEnabled

protected

bool chai3d::cGenericObject::m_ghostEnabled

protected

bool chai3d::cGenericObject::m_showFrame

protected

bool chai3d::cGenericObject::m_showBoundaryBox

protected

bool chai3d::cGenericObject::m_showCollisionDetector

protected

bool chai3d::cGenericObject::m_useTextureMapping

protected

bool chai3d::cGenericObject::m_useMaterialProperty

protected

bool chai3d::cGenericObject::m_useVertexColors

protected

bool chai3d::cGenericObject::m_useDisplayList

protected

cDisplayList chai3d::cGenericObject::m_displayList

protected

int chai3d::cGenericObject::m_triangleMode

protected

bool chai3d::cGenericObject::m_useTransparency

protected

If true, transparency is enabled... this turns alpha on when the mesh is rendered, and - if multipass transparency is enabled in the rendering camera - uses the camera's multiple rendering passes to approximate back-to-front sorting via culling.

bool chai3d::cGenericObject::m_cullingEnabled

protected

Should culling be used when rendering triangles?
Note that this option only applies when multipass transparency is disabled or during the non-transparent rendering pass when multipass transparency is enabled...
Also note that currently only back-faces are culled during non-transparent rendering; you can't cull front-faces.

cMaterialPtr chai3d::cGenericObject::s_defaultMaterial = nullptr

staticprotected

cShaderProgramPtr chai3d::cGenericObject::m_shaderProgram

protected

cTransform chai3d::cGenericObject::m_frameGL

protected

cGenericCollision* chai3d::cGenericObject::m_collisionDetector

protected

std::vector<cGenericEffect*> chai3d::cGenericObject::m_effects

protected

cVector3d chai3d::cGenericObject::m_interactionPoint

cVector3d chai3d::cGenericObject::m_interactionNormal

bool chai3d::cGenericObject::m_interactionInside

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

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation