Bullet Target Shape for NAIF type 2 DSK models. More...

#include <BulletDskShape.h>

Inheritance diagram for Isis::BulletDskShape:

Collaboration diagram for Isis::BulletDskShape:

Public Member Functions
	BulletDskShape ()
	Default empty constructor. More...

	BulletDskShape (const QString &dskfile)
	Construct a BulletDskShape from a DSK file. More...

virtual	~BulletDskShape ()
	Desctructor. More...

int	getNumTriangles () const
	Return the number of triangles in the shape. More...

int	getNumVertices () const
	Return the number of verticies in the shape. More...

virtual btVector3	getNormal (const int indexId, const int segment=0) const
	Return normal for a given triangle index. More...

virtual btMatrix3x3	getTriangle (const int index, const int segment=0) const
	Get the vertices of a triangle in the mesh. More...

QString	name () const
	Return name of the target shape. More...

void	writeBullet (const QString &btName) const
	Write a serialized version of the target shape to a Bullet file. More...

btCollisionObject *	body () const
	Return a pointer to the Bullet target object/shape. More...

btScalar	maximumDistance () const

Static Public Member Functions
static BulletTargetShape *	load (const QString &dem, const Pvl *conf=0)
	Load a DEM file into the target shape. More...

static BulletTargetShape *	loadPC (const QString &dem, const Pvl *conf=0)
	Load a point cloud type DEM in Bullet. More...

static BulletTargetShape *	loadDSK (const QString &dem, const Pvl *conf=0)
	Load a DSK in Bullet. More...

static BulletTargetShape *	loadCube (const QString &dem, const Pvl *conf=0)
	Load an ISIS cube type DEM in Bullet. More...

Protected Member Functions
void	setTargetBody (btCollisionObject *body)
	Set the Bullet shape object to this object instance More...

void	setMaximumDistance ()
	Calculate and save the maximum distance across the body. More...

Private Member Functions
void	loadFromDsk (const QString &dskfile)
	! Triangular mesh representation of the target shape. More...

Private Attributes
QSharedPointer< btTriangleIndexVertexArray >	m_mesh

QString	m_name

QSharedPointer< btCollisionObject >	m_btbody
	! The name of the body More...

btScalar	m_maximumDistance
	! The Bullet collision object for the body More...

Detailed Description

Bullet Target Shape for NAIF type 2 DSK models.

Author: 2017-03-17 Kris Becker

History:: 2017-03-17 Kris Becker Original Version

Definition at line 26 of file BulletDskShape.h.

Constructor & Destructor Documentation

◆ BulletDskShape() [1/2]

Isis::BulletDskShape::BulletDskShape ( )

Default empty constructor.

Definition at line 34 of file BulletDskShape.cpp.

◆ BulletDskShape() [2/2]

Isis::BulletDskShape::BulletDskShape ( const QString & dskfile )

Construct a BulletDskShape from a DSK file.

Parameters

dskfile The DSK file to load into a Bullet target shape.

Definition at line 42 of file BulletDskShape.cpp.

References loadFromDsk(), and Isis::BulletTargetShape::setMaximumDistance().

◆ ~BulletDskShape()

Isis::BulletDskShape::~BulletDskShape ( )

virtual

Desctructor.

Definition at line 51 of file BulletDskShape.cpp.

Member Function Documentation

◆ body()

btCollisionObject * Isis::BulletTargetShape::body ( ) const

inherited

Return a pointer to the Bullet target object/shape.

Returns: btCollisionObject A target to the Bullet collision object.

Definition at line 150 of file BulletTargetShape.cpp.

References Isis::BulletTargetShape::m_btbody.

Referenced by Isis::BulletWorldManager::addTarget(), and Isis::BulletTargetShape::setTargetBody().

◆ getNormal()

btVector3 Isis::BulletDskShape::getNormal	(	const int	indexId,
		const int	segment = `0`
	)		const

virtual

Return normal for a given triangle index.

This method is particularly useful to return the normal of a triangle plate in a mesh-based target body.

Author: 2017-03-28 Kris Becker

Parameters

indexId The index of the triangle in the mesh.

Returns: btVector3 The local normal for the triangle.

Definition at line 113 of file BulletDskShape.cpp.

References getTriangle().

◆ getNumTriangles()

int Isis::BulletDskShape::getNumTriangles ( ) const

Return the number of triangles in the shape.

Returns: int The number of triangles. If nothing has been loaded, then 0 is returned.

Definition at line 70 of file BulletDskShape.cpp.

◆ getNumVertices()

int Isis::BulletDskShape::getNumVertices ( ) const

Return the number of verticies in the shape.

Returns: int The number of verticies. If nothing has been loaded, then 0 is returned.

Definition at line 88 of file BulletDskShape.cpp.

◆ getTriangle()

btMatrix3x3 Isis::BulletDskShape::getTriangle	(	const int	index,
		const int	segment = `0`
	)		const

virtual

Get the vertices of a triangle in the mesh.

Parameters

index The index of the triangle in the mesh.

Returns: btMatrix3x3 Matrix with each row containing the coordinate of a vertex. The vertices are ordered counter-clockwise around the surface normal of the triangle.

Definition at line 130 of file BulletDskShape.cpp.

Referenced by getNormal().

◆ load()

BulletTargetShape * Isis::BulletTargetShape::load	(	const QString &	dem,
		const Pvl *	conf = `0`
	)

staticinherited

Load a DEM file into the target shape.

Parameters

dem	The DEM file to load.
conf	PVL config for the DEM load. Currently unused.

Returns: BulletTargetShape A target shape containing the DEM

Definition at line 84 of file BulletTargetShape.cpp.

References Isis::FileName::extension(), Isis::BulletTargetShape::loadCube(), Isis::BulletTargetShape::loadDSK(), and Isis::BulletTargetShape::loadPC().

Referenced by Isis::BulletShapeModel::BulletShapeModel().

◆ loadCube()

BulletTargetShape * Isis::BulletTargetShape::loadCube	(	const QString &	dem,
		const Pvl *	conf = `0`
	)

staticinherited

Load an ISIS cube type DEM in Bullet.

Note: Currently not implemented

Parameters

dem	The DEM file to load.
conf	PVL config for the DEM load. Currently unused.

Returns: BulletTargetShape A target shape containing the DEM

Definition at line 130 of file BulletTargetShape.cpp.

Referenced by Isis::BulletTargetShape::load().

◆ loadDSK()

BulletTargetShape * Isis::BulletTargetShape::loadDSK	(	const QString &	dem,
		const Pvl *	conf = `0`
	)

staticinherited

Load a DSK in Bullet.

Parameters

dem	The DEM file to load.
conf	PVL config for the DEM load. Currently unused.

Returns: BulletTargetShape A target shape containing the DEM

Definition at line 117 of file BulletTargetShape.cpp.

Referenced by Isis::BulletTargetShape::load().

◆ loadFromDsk()

void Isis::BulletDskShape::loadFromDsk ( const QString & dskfile )

private

! Triangular mesh representation of the target shape.

Load the contents of a NAIF DSK and create a Bullet triangle mesh.

The vertex ordering is the same as in the DSK file, except the DSK uses 1-based indexing and this uses 0-based indexing.

Author: 2017-03-28 Kris Becker

Parameters

dskfile The DSK file to load.

NAIF DSK parameter setup

< The DAS file handle of the DSK file.

Definition at line 162 of file BulletDskShape.cpp.

References Isis::NaifStatus::CheckErrors(), Isis::FileName::expanded(), Isis::FileName::fileExists(), Isis::BulletTargetShape::setTargetBody(), and Isis::IException::User.

Referenced by BulletDskShape().

◆ loadPC()

BulletTargetShape * Isis::BulletTargetShape::loadPC	(	const QString &	dem,
		const Pvl *	conf = `0`
	)

staticinherited

Load a point cloud type DEM in Bullet.

Note: Currently not implemented

Parameters

dem	The DEM file to load.
conf	PVL config for the DEM load. Currently unused.

Returns: BulletTargetShape A target shape containing the DEM

Definition at line 105 of file BulletTargetShape.cpp.

Referenced by Isis::BulletTargetShape::load().

◆ name()

QString Isis::BulletTargetShape::name ( ) const

inherited

Return name of the target shape.

Returns: QString The target name

Definition at line 71 of file BulletTargetShape.cpp.

Referenced by Isis::BulletShapeModel::BulletShapeModel(), and Isis::BulletWorldManager::getTarget().

◆ setMaximumDistance()

void Isis::BulletTargetShape::setMaximumDistance ( )

protectedinherited

Calculate and save the maximum distance across the body.

This is calculated as the distance from the x, y, z minimum to x, y, z maximum.

Definition at line 54 of file BulletTargetShape.cpp.

References Isis::BulletTargetShape::m_btbody, and Isis::BulletTargetShape::m_maximumDistance.

Referenced by BulletDskShape(), Isis::BulletTargetShape::BulletTargetShape(), and Isis::BulletTargetShape::setTargetBody().

◆ setTargetBody()

void Isis::BulletTargetShape::setTargetBody ( btCollisionObject * body )

protectedinherited

Set the Bullet shape object to this object instance

Definition at line 156 of file BulletTargetShape.cpp.

References Isis::BulletTargetShape::body(), Isis::BulletTargetShape::m_btbody, and Isis::BulletTargetShape::setMaximumDistance().

Referenced by loadFromDsk().

◆ writeBullet()

void Isis::BulletTargetShape::writeBullet ( const QString & btName ) const

inherited

Write a serialized version of the target shape to a Bullet file.

Parameters

btName The name of the file to write the target shape to.

Note: Currently not implemented

Definition at line 141 of file BulletTargetShape.cpp.

Member Data Documentation

◆ m_btbody

QSharedPointer<btCollisionObject> Isis::BulletTargetShape::m_btbody

privateinherited

! The name of the body

Definition at line 58 of file BulletTargetShape.h.

Referenced by Isis::BulletTargetShape::body(), Isis::BulletTargetShape::setMaximumDistance(), and Isis::BulletTargetShape::setTargetBody().

◆ m_maximumDistance

btScalar Isis::BulletTargetShape::m_maximumDistance

privateinherited

! The Bullet collision object for the body

Definition at line 60 of file BulletTargetShape.h.

Referenced by Isis::BulletTargetShape::setMaximumDistance().

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

src/base/objs/BulletDskShape/BulletDskShape.h
src/base/objs/BulletDskShape/BulletDskShape.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BulletDskShape() [1/2]

◆ BulletDskShape() [2/2]

◆ ~BulletDskShape()

Member Function Documentation

◆ body()

◆ getNormal()

◆ getNumTriangles()

◆ getNumVertices()

◆ getTriangle()

◆ load()

◆ loadCube()

◆ loadDSK()

◆ loadFromDsk()

◆ loadPC()

◆ name()

◆ setMaximumDistance()

◆ setTargetBody()

◆ writeBullet()

Member Data Documentation

◆ m_btbody

◆ m_maximumDistance