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AnimatLab
2
Test
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AnimatLab
2
Test
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Base class for Line body part types. More...
#include <LineBase.h>
Inheritance diagram for AnimatSim::Environment::Bodies::LineBase: Collaboration diagram for AnimatSim::Environment::Bodies::LineBase:Public Member Functions | |
| LineBase () | |
| Default constructor. More... | |
| virtual | ~LineBase () |
| Destructor. More... | |
| virtual void | AbsolutePosition (CStdFPoint &oPoint) |
| Sets the absolute position of this body part. (m_oAbsPosition) More... | |
| virtual void | AfterResetSimulation () |
| Called after a simulation reset for some objects. More... | |
| virtual bool | AllowMouseManipulation () |
| Tells if a given part can be manipulated using the mouse and draggers. More... | |
| CStdArray< Attachment * > * | AttachmentPoints () |
| Gets the attachment points. More... | |
| virtual void | AttachmentPoints (std::string srXml) |
| Sets the attachment points for the line. More... | |
| virtual float | CalculateLength () |
| Calculates the length of the line. More... | |
| virtual void | CreateJoints () |
| Allows the rigid body to create its joints using the chosen physics engine. More... | |
| virtual void | CreateParts () |
| Allows the rigid body to create its parts using the chosen physics engine. More... | |
| virtual void | Enabled (bool bValue) |
| Enables the node. More... | |
| virtual float * | GetDataPointer (const std::string &strDataType) |
| virtual bool | HasStaticJoint () |
| Query if this object has a static joint. More... | |
| virtual float | Length () |
| Gets the length of the line. More... | |
| virtual void | Load (CStdXml &oXml) |
| virtual void | OrientNewPart (float fltXPos, float fltYPos, float fltZPos, float fltXNorm, float fltYNorm, float fltZNorm) |
| Orients a new part based on where the parent was clicked and the normal of the surface face. More... | |
| virtual void | Position (CStdFPoint &oPoint, bool bUseScaling=true, bool bFireChangeEvent=false, bool bUpdateMatrix=true) |
| virtual float | PrevLength () |
| Gets the previous length of the line. More... | |
| virtual void | QueryProperties (CStdPtrArray< TypeProperty > &aryProperties) |
| virtual void | Resize () |
| Called when this object has been resized. More... | |
| virtual bool | SetData (const std::string &strDataType, const std::string &strValue, bool bThrowError=true) |
| Public Member Functions inherited from AnimatSim::Environment::RigidBody | |
| RigidBody () | |
| Default constructor. More... | |
| virtual | ~RigidBody () |
| Destructor. More... | |
| virtual void | AddExternalNodeInput (int iTargetDataType, float fltInput) |
| Adds an external node input. More... | |
| virtual void | AddForceAtLocalPos (float fltPx, float fltPy, float fltPz, float fltFx, float fltFy, float fltFz, bool bScaleUnits) |
| Adds a world-coordinate based force vector to this body at a specified local body position. More... | |
| virtual void | AddForceAtWorldPos (float fltPx, float fltPy, float fltPz, float fltFx, float fltFy, float fltFz, bool bScaleUnits) |
| Adds a world-coordinate based force vector to this body at a specified world-coordinate body position. More... | |
| virtual bool | AddItem (const std::string &strItemType, const std::string &strXml, bool bThrowError=true, bool bDoNotInit=false) |
| Adds a new object to this parent. More... | |
| virtual void | AddSurfaceContact (RigidBody *lpContactedSurface) |
| Increments the surface contact count when this part collides with something in the virtual world. More... | |
| virtual void | AddTorque (float fltTx, float fltTy, float fltTz, bool bScaleUnits) |
| Adds a torque to this body about its center. More... | |
| virtual CStdFPoint | AngularDrag () |
| Gets the angular drag coefficients for the three axises for the body. More... | |
| virtual void | AngularDrag (CStdFPoint &oPoint) |
| Sets the angular drag coefficients for the three axises for the body. More... | |
| virtual void | AngularDrag (float fltX, float fltY, float fltZ) |
| Sets the angular drag coefficients for the three axises for the body. More... | |
| virtual void | AngularDrag (std::string strXml) |
| Sets the angular drag coefficients for the three axises for the body. This method is primarily used by the GUI to reset the local position using an xml data packet. More... | |
| virtual float | AngularVelocityDamping () |
| Gets the angular velocity damping. More... | |
| virtual void | AngularVelocityDamping (float fltVal, bool bUseScaling=true) |
| Sets the angular velocity damping. More... | |
| virtual CStdFPoint | BuoyancyCenter () |
| Gets the relative position to the center of the buoyancy in the body. More... | |
| virtual void | BuoyancyCenter (CStdFPoint &oPoint, bool bUseScaling=true) |
| Sets the relative position to the center of the buoyancy in the body. More... | |
| virtual void | BuoyancyCenter (float fltX, float fltY, float fltZ, bool bUseScaling=true) |
| Sets the relative position to the center of the buoyancy in the body. More... | |
| virtual void | BuoyancyCenter (std::string strXml, bool bUseScaling=true) |
| Sets tthe relative position to the center of the buoyancy in the body. This method is primarily used by the GUI to reset the local position using an xml data packet. More... | |
| virtual float | BuoyancyScale () |
| Gets the scale used to calculate the buoyancy value. More... | |
| virtual void | BuoyancyScale (float fltVal) |
| Sets the scale used to calculate the buoyancy value. More... | |
| virtual CStdFPoint | CenterOfMass () |
| Gets the user specified center of mass. More... | |
| virtual void | CenterOfMass (CStdFPoint &vPoint, bool bUseScaling=true) |
| Sets the user specified center of mass for this part. (m_vCenterOfMass). If COM is (0,0,0) then it is not used. More... | |
| virtual void | CenterOfMass (float fltX, float fltY, float fltZ, bool bUseScaling=true) |
| Sets the center of mass position. (m_vCenterOfMass). If COM is (0,0,0) then it is not used. More... | |
| virtual void | CenterOfMass (std::string strXml, bool bUseScaling=true) |
| Sets the center of mass position for the body. (m_vCenterOfMass). This method is primarily used by the GUI to reset the local position using an xml data packet. If COM is (0,0,0) then it is not used. More... | |
| virtual CStdFPoint | CenterOfMassWithStaticChildren () |
| Gets the center of mass of this part with any static children added. More... | |
| virtual CStdPtrArray< RigidBody > * | ChildParts () |
| Gets the array of child parts. More... | |
| virtual void | CreateChildJoints () |
| Loops through all the child parts of this rigid body and call CreateJoints. More... | |
| virtual void | CreateChildParts () |
| Loops through all the child parts of this rigid body and call CreateParts. More... | |
| virtual float | Density () |
| Gets the uniform density. More... | |
| virtual void | Density (float fltVal, bool bUseScaling=true) |
| Sets the uniform density of this part. More... | |
| virtual void | DisableCollision (RigidBody *lpBody) |
| Disables collision between the past-in object and this object. More... | |
| virtual bool | DisplayDebugCollisionGraphic () |
| virtual void | DisplayDebugCollisionGraphic (bool bVal) |
| virtual void | Eat (float fltBiteSize, long lTimeSlice) |
| This item is eating the specified amount of food. More... | |
| virtual void | EnableCollision (RigidBody *lpBody) |
| Enables collision between the past-in object and this object. More... | |
| virtual bool | EnableFluids () |
| Query if this object has fluid interactions turned on. More... | |
| virtual void | EnableFluids (bool bVal) |
| Sets whether this object has fluid interactions turned on. More... | |
| virtual bool | FindCollisionExclusionBody (RigidBody *lpBody, bool bThrowError=true) |
| Searches the exclusion collision list to see if the specified part is already present. More... | |
| virtual float | FoodEaten () |
| Gets the amount of food eaten. More... | |
| virtual void | FoodEaten (float fltVal) |
| Sets the amount of food eaten. More... | |
| virtual float | FoodEnergyContent () |
| Gets the food energy content. More... | |
| virtual void | FoodEnergyContent (float fltVal) |
| Sets the food energy content. More... | |
| virtual float | FoodQuantity () |
| Gets the food quantity. More... | |
| virtual void | FoodQuantity (float fltVal) |
| Sets the Food quantity. More... | |
| virtual float | FoodReplenishRate () |
| Gets the food replenish rate. More... | |
| virtual void | FoodReplenishRate (float fltVal) |
| Sets the food replenish rate. More... | |
| virtual bool | Freeze () |
| Tells if this part is frozen or not. More... | |
| virtual void | Freeze (bool bVal) |
| Freezes. More... | |
| virtual ContactSensor * | GetContactSensor () |
| Gets the receptive field contact sensor. More... | |
| virtual float | GetDensity () |
| Gets the density of this part. More... | |
| virtual std::unordered_set< RigidBody * > * | GetExclusionCollisionSet () |
| virtual float | GetMass () |
| Gets the mass of this part. More... | |
| virtual float | GetMassValueWithStaticChildren () |
| Gets the mass of this part and all static children. More... | |
| virtual int | GetTargetDataTypeIndex (const std::string &strDataType) |
| Used to convert a string target data type into an integer index. More... | |
| virtual CStdFPoint | GetVelocityAtPoint (float x, float y, float z) |
| Gets a velocity of this body at specified point in the body. More... | |
| virtual float | GetVolume () |
| Gets the volume of this part. More... | |
| virtual bool | HasCollisionGeometry () |
| virtual bool | HasStaticChildren () |
| Query if this rigid body has any static children. More... | |
| virtual bool | IsCollisionObject () |
| Query if this object is collision object. More... | |
| virtual void | IsCollisionObject (bool bVal) |
| Sets whether this part is a collision object. More... | |
| virtual bool | IsContactSensor () |
| Query if this object is contact sensor. More... | |
| virtual void | IsContactSensor (bool bVal) |
| Sets whether this is a contact sensor. More... | |
| virtual bool | IsFoodSource () |
| Query if this object is food source. More... | |
| virtual void | IsFoodSource (bool bVal) |
| Sets if this is a food source. More... | |
| virtual bool | IsRoot () |
| Query if this is the root rigid body of the structure or not. More... | |
| virtual bool | IsStickyPart () |
| Query if this object acts as a sticky part. This only applies to contact sensors. If it is set to true and StickOn is true then when this part touches something else it will create a locked joint between those two parts. When StickOn goes to false then that joint will be removed. This allows the contact sensor to act as a kind of sticky pick up pad. More... | |
| virtual void | IsStickyPart (bool bVal) |
| Sets whether this part is a sticky part or not. More... | |
| virtual Joint * | JointToParent () |
| Gets the joint to parent. More... | |
| virtual void | JointToParent (Joint *lpValue) |
| Sets the joint to parent. More... | |
| virtual void | Kill (bool bState=true) |
| Kills. More... | |
| virtual CStdFPoint | LinearDrag () |
| Gets the linear drag coefficients for the three axises for the body. More... | |
| virtual void | LinearDrag (CStdFPoint &oPoint) |
| Sets the linear drag coefficients for the three axises for the body. More... | |
| virtual void | LinearDrag (float fltX, float fltY, float fltZ) |
| Sets the linear drag coefficients for the three axises for the body. More... | |
| virtual void | LinearDrag (std::string strXml) |
| Sets the linear drag coefficients for the three axises for the body. This method is primarily used by the GUI to reset the local position using an xml data packet. More... | |
| virtual float | LinearVelocityDamping () |
| Gets the linear velocity damping for this body part. More... | |
| virtual void | LinearVelocityDamping (float fltVal, bool bUseScaling=true) |
| Sets the Linear velocity damping. More... | |
| virtual float | Magnus () |
| Gets the Magnus coefficient for the body. More... | |
| virtual void | Magnus (float fltVal) |
| Sets the Magnus coefficient for the body. More... | |
| virtual float | Mass () |
| virtual void | Mass (float fltVal, bool bUseScaling=true) |
| virtual float | MassWithChildren () |
| virtual std::string | MaterialID () |
| Gets the material ID for this part. More... | |
| virtual void | MaterialID (std::string strID) |
| Sets the Material ID for this part. More... | |
| virtual float | MaxFoodQuantity () |
| Gets the maximum food quantity. More... | |
| virtual void | MaxFoodQuantity (float fltVal) |
| Sets the maximum Food quantity. More... | |
| virtual float | MaxHydroForce () |
| Gets the maximum linear hydrodynamic force that can be applied to this part. More... | |
| virtual void | MaxHydroForce (float fltVal, bool bUseScaling=true) |
| Sets the maximum linear hydrodynamic force that can be applied to this part. More... | |
| virtual float | MaxHydroTorque () |
| Gets the maximum angular hydrodynamic torque that can be applied to this part. More... | |
| virtual void | MaxHydroTorque (float fltVal, bool bUseScaling=true) |
| Sets the maximum angular hydrodynamic torque that can be applied to this part. More... | |
| virtual RigidBody * | ParentWithCollisionGeometry () |
| Gets a parent that has collision geometry. More... | |
| virtual CStdFPoint | Position () |
| Gets the local position. (m_oPosition) More... | |
| virtual bool | RemoveItem (const std::string &strItemType, const std::string &strID, bool bThrowError=true) |
| Removes a child item from this parent. More... | |
| virtual void | RemoveSurfaceContact (RigidBody *lpContactedSurface) |
| Decrements the surface contact count when this part stops colliding with something in the virtual world. More... | |
| virtual void | ResetSimulation () |
| Resets the simulation back to time 0. More... | |
| virtual void | SetSurfaceContactCount (int iCount) |
| Direclty sets the surface contact count for when this part is contacting another rigid body part. More... | |
| virtual void | SimPausing () |
| Called just before the simulation pauses. More... | |
| virtual float | StaticChildrenMass () |
| Gets the mass of all static children. More... | |
| virtual void | StepSimulation () |
| Step the simulation for this object. More... | |
| virtual RigidBody * | StickyChild () |
| Gets the child body part we are stuck to for a sticky part. More... | |
| virtual void | StickyChild (RigidBody *lpChild) |
| Sets the child part that we are stuck to if this is a sticky part. More... | |
| virtual float | StickyOn () |
| Query if this stickyness is turned on or not. This only applies to contact sensors that also have IsStickyPart true. More... | |
| virtual void | StickyOn (float fltVal) |
| Sets whether this part has sticky on or not. More... | |
| virtual float | SurfaceContactCount () |
| Gets the surface contact count. More... | |
| virtual void | UpdateChildPhysicsPosFromGraphics () |
| virtual void | UpdatePhysicsPosFromGraphics () |
| Updates the physics position from graphics. More... | |
| virtual int | VisualSelectionType () |
| Gets the visual selection type for this part. More... | |
| virtual float | Volume () |
| virtual void | Volume (float fltVal, bool bUseScaling=true) |
| Public Member Functions inherited from AnimatSim::Environment::BodyPart | |
| BodyPart (void) | |
| Default constructor. More... | |
| virtual | ~BodyPart (void) |
| Destructor. More... | |
| virtual void | AddBodyClicked (float fltPosX, float fltPosY, float fltPosZ, float fltNormX, float fltNormY, float fltNormZ) |
| Called when the user clicks on this object while the AddBody mode is active. More... | |
| virtual void | AddRobotPartInterface (RobotPartInterface *lpPart) |
| virtual int | FindRobotPartListIndex (std::string strID, bool bThrowError=true) |
| Finds the index of a robot part attached to this body part with the matching ID. More... | |
| virtual CStdArray< RobotPartInterface * > * | GetRobotPartInterfaces () |
| Gets a pointer to the roboto part interface associated with this body part. More... | |
| virtual void | Initialize () |
| Initializes this object. More... | |
| virtual bool | NeedsRobotSynch () |
| virtual IPhysicsBody * | PhysicsBody () |
| Gets the physics body interface pointer. This is an interface reference to the Vs version of this object. It will allow us to call methods directly in the Vs (OSG) version of the object directly without having to overload a bunch of methods in each box, sphere, etc.. More... | |
| virtual void | PhysicsBody (IPhysicsBody *lpBody) |
| Sets the physics body interface pointer. This is an interface reference to the Vs version of this object. It will allow us to call methods directly in the Vs (OSG) version of the object directly without having to overload a bunch of methods in each box, sphere, etc.. More... | |
| virtual void | RemoveRobotPartInterface (RobotPartInterface *lpPart) |
| virtual void | Selected (bool bValue, bool bSelectMultiple) |
| virtual void | SetSystemPointers (Simulator *lpSim, Structure *lpStructure, NeuralModule *lpModule, Node *lpNode, bool bVerify) |
| virtual float | SynchUpdateInterval () |
| This is how often we need to update this particular adapter. More... | |
| virtual void | SynchUpdateInterval (float fltVal) |
| Determines how often we need to update this particular adapter. More... | |
| virtual bool | SynchWithRobot () |
| Gets whether the m_bRobotAdpaterSynch flag applies to this adapter. More... | |
| virtual void | SynchWithRobot (bool bVal) |
| Determines whether the m_bRobotAdpaterSynch flag applies to this adapter. More... | |
| virtual void | TimeStepModified () |
| If the time step is modified then we need to recalculate the length of the delay buffer. More... | |
| virtual void | UpdateExtraData () |
| UpdateData is called during this body parts sim update call, and before any of its child updates because those children may need import information like this parts position. However, there are a number of pieces of information that are not critical to the part itself, but that a user may have asked for. I do not want to collect that info for every part if it is not needed. So instead, if a user asks for it then this part is added to a list on the simulation. After all parts have been updated for a simulation step then we loop through the list of just the necessary parts and call UpdateExtraData to collect this additional data. It is important that this be done after all parts have stepped becasue some of this data will only be correct at the end. An example of this is force applied to a part. Forces can be added by any child parts, so it is only at the end that these values are valid. More... | |
| virtual void | VisualSelectionModeChanged (int iNewMode) |
| Called when the visual selection mode changed in GUI. More... | |
| virtual void | WakeDynamics () |
| Public Member Functions inherited from AnimatSim::Node | |
| Node () | |
| Default constructor. More... | |
| virtual | ~Node () |
| Destructor. More... | |
| virtual void | Copy (CStdSerialize *lpSource) |
| virtual bool | Enabled () |
| Tells whether this node is enabled. More... | |
| virtual void | SetSystemPointers (Simulator *lpSim, Structure *lpStructure, NeuralModule *lpModule, Node *lpNode, bool bVerify) |
| Sets the system pointers. More... | |
| virtual void | VerifySystemPointers () |
| Verify that system pointers have been set correctly. More... | |
| Public Member Functions inherited from AnimatSim::AnimatBase | |
| AnimatBase () | |
| Constructs an AnimatBase object. More... | |
| virtual | ~AnimatBase () |
| Destroys the AnimatBase object.. More... | |
| virtual long | CalculateSnapshotByteSize () |
| Calculates the snapshot byte size. More... | |
| virtual NeuralModule * | GetNeuralModule () |
| Gets the neural module. More... | |
| virtual Node * | GetNode () |
| Gets the node. More... | |
| virtual Simulator * | GetSimulator () |
| Gets the simulator pointer. More... | |
| virtual Structure * | GetStructure () |
| Gets the structure for this node. More... | |
| virtual bool | HasProperty (const std::string &strName) |
| Queries this object if it has a property with the given name. More... | |
| virtual std::string | ID () |
| Gets the unique GUID ID of this object. More... | |
| virtual void | ID (std::string strValue) |
| Sets the unique GUID ID of the object. More... | |
| virtual void | Load (StdUtils::CStdXml &oXml) |
| Loads the item using an XML data packet. More... | |
| virtual void | LoadKeyFrameSnapshot (byte *aryBytes, long &lIndex) |
| Loads a key frame snapshot. More... | |
| virtual std::string | Name () |
| Gets the name of this object. More... | |
| virtual void | Name (std::string strValue) |
| Sets the name of the object. Blank is acceptable. More... | |
| virtual AnimatPropertyType | PropertyType (const std::string &strName) |
| virtual void | ReInitialize () |
| Re-initialize this object. More... | |
| virtual void | Reset () |
| Resets this object. More... | |
| virtual void | RigidBodyAdded (std::string strID) |
| virtual void | RigidBodyRemoved (std::string strID) |
| virtual void | SaveKeyFrameSnapshot (byte *aryBytes, long &lIndex) |
| Saves a key frame snapshot. More... | |
| virtual bool | Selected () |
| Tells if this items is selected or not. More... | |
| virtual bool | SetData (const std::string &strDataType, const float fltValue, bool bThrowError=true) |
| Set a variable based on a string data type name. More... | |
| virtual bool | SetData (const std::string &strDataType, const long lValue, bool bThrowError=true) |
| Set a variable based on a string data type name. More... | |
| virtual void | SimStarting () |
| Called just before the simulation starts. More... | |
| virtual void | SimStopping () |
| Called just before the simulation stops. More... | |
| virtual std::string | Type () |
| returns the string type name of this object. More... | |
| virtual void | Type (std::string strValue) |
| Sets the class type for this object. More... | |
| Public Member Functions inherited from AnimatSim::Environment::MovableItem | |
| MovableItem (void) | |
| Default constructor. More... | |
| virtual | ~MovableItem (void) |
| Destructor. More... | |
| virtual CStdFPoint | AbsolutePosition () |
| Gets the absolute position of this body part. More... | |
| virtual void | AbsolutePosition (float fltX, float fltY, float fltZ) |
| Sets the absolute position of this body part. (m_oAbsPosition) More... | |
| virtual bool | AllowRotateDragX () |
| Gets whether this body part can be rotated along the x-axis by the user with the drag handlers. More... | |
| virtual bool | AllowRotateDragY () |
| Gets whether this body part can be rotated along the y-axis by the user with the drag handlers. More... | |
| virtual bool | AllowRotateDragZ () |
| Gets whether this body part can be rotated along the z-axis by the user with the drag handlers. More... | |
| virtual bool | AllowTranslateDragX () |
| Gets whether this body part can be translated along the x-axis by the user with the drag handlers. More... | |
| virtual bool | AllowTranslateDragY () |
| Gets whether this body part can be translated along the y-axis by the user with the drag handlers. More... | |
| virtual bool | AllowTranslateDragZ () |
| Gets whether this body part can be translated along the z-axis by the user with the drag handlers. More... | |
| virtual float | Alpha () |
| Gets the current alpha. More... | |
| virtual void | Alpha (float fltAlpha) |
| Sets the current alpha. More... | |
| virtual CStdColor * | Ambient () |
| Gets the ambient color value. More... | |
| virtual void | Ambient (CStdColor &aryColor) |
| virtual void | Ambient (float *aryColor) |
| Sets the Ambient color. More... | |
| virtual void | Ambient (std::string strXml) |
| Loads the Ambient color from an XML data packet. More... | |
| virtual bool | CalculateLocalPosForWorldPos (float fltWorldX, float fltWorldY, float fltWorldZ, CStdFPoint &vLocalPos) |
| Calculates the local position values for matrix transform for the part to be in a specific world position. More... | |
| virtual IMovableItemCallback * | Callback () |
| Gets the callback interface pointer. This is an interface pointer to a callback class that allows us to notify the GUI of events that occur within the simulation. More... | |
| virtual void | Callback (IMovableItemCallback *lpCallback) |
| Sets the callback interface pointer. This is an interface pointer to a callback class that allows us to notify the GUI of events that occur within the simulation. More... | |
| virtual float | CollisionsAlpha () |
| Gets the collisions alpha. More... | |
| virtual void | CollisionsAlpha (float fltVal) |
| Sets the collisions alpha. More... | |
| virtual CStdColor * | Diffuse () |
| Gets the diffuse color. More... | |
| virtual void | Diffuse (CStdColor &aryColor) |
| virtual void | Diffuse (float *aryColor) |
| Sets the Diffuse color. More... | |
| virtual void | Diffuse (std::string strXml) |
| Loads the Diffuse color from an XML data packet. More... | |
| virtual BoundingBox | GetBoundingBox () |
| Gets the bounding box for this part. More... | |
| virtual float | GetBoundingRadius () |
| Gets the bounding radius of this part. More... | |
| virtual CStdFPoint | GetCurrentPosition () |
| Gets the current position of this part. More... | |
| virtual float | GraphicsAlpha () |
| Gets the graphics alpha. More... | |
| virtual void | GraphicsAlpha (float fltVal) |
| Sets the graphics alpha. More... | |
| virtual bool | IsSelected () |
| Query if this object is selected. More... | |
| virtual bool | IsVisible () |
| Query if this object is visible. More... | |
| virtual void | IsVisible (bool bVal) |
| Sets whether this part is visible or not. More... | |
| virtual float | JointsAlpha () |
| Gets the joints alpha. More... | |
| virtual void | JointsAlpha (float fltVal) |
| Sets the joints alpha. More... | |
| virtual std::string | LocalTransformationMatrixString () |
| Returns a string representation of the transformation matrix of this object. This is primarily used to save off the transform matrix into the project file. More... | |
| RigidBody * | Parent () |
| Gets the parent RigidBody of this part. More... | |
| void | Parent (RigidBody *lpValue) |
| Sets the parent RigidBody of this part. More... | |
| virtual IPhysicsMovableItem * | PhysicsMovableItem () |
| Gets the physics body interface pointer. This is an interface reference to the Vs version of this object. It will allow us to call methods directly in the Vs (OSG) version of the object directly without having to overload a bunch of methods in each box, sphere, etc.. More... | |
| virtual void | PhysicsMovableItem (IPhysicsMovableItem *lpBase) |
| Sets the physics body interface pointer. This is an interface reference to the Vs version of this object. It will allow us to call methods directly in the Vs (OSG) version of the object directly without having to overload a bunch of methods in each box, sphere, etc.. More... | |
| virtual void | Position (float fltX, float fltY, float fltZ, bool bUseScaling=true, bool bFireChangeEvent=false, bool bUpdateMatrix=true) |
| Sets the local position. (m_oPosition) More... | |
| virtual void | Position (std::string strXml, bool bUseScaling=true, bool bFireChangeEvent=false, bool bUpdateMatrix=true) |
| Sets the local position. (m_oPosition). This method is primarily used by the GUI to reset the local position using an xml data packet. More... | |
| virtual float | ReceptiveFieldsAlpha () |
| Gets the receptive fields alpha. More... | |
| virtual void | ReceptiveFieldsAlpha (float fltVal) |
| Sets the receptive fields alpha. More... | |
| virtual CStdFPoint | ReportPosition () |
| Gets the reported local position. (m_oReportPosition). More... | |
| virtual void | ReportPosition (CStdFPoint &oPoint) |
| Sets the reported local position. (m_oReportPosition). More... | |
| virtual void | ReportPosition (float fltX, float fltY, float fltZ) |
| Sets the reported local position. (m_oReportPosition). More... | |
| virtual CStdFPoint | ReportRotation () |
| Gets the reported rotation of this part. (m_oReportRotation) More... | |
| virtual void | ReportRotation (CStdFPoint &oPoint) |
| Sets the reported rotation of this part. (m_oReportRotation) More... | |
| virtual void | ReportRotation (float fltX, float fltY, float fltZ) |
| Sets the reported rotation of this part. (m_oReportRotation) More... | |
| virtual CStdFPoint | ReportWorldPosition () |
| Gets the reported world position. (m_oReportWorldPosition) More... | |
| virtual void | ReportWorldPosition (CStdFPoint &oPoint) |
| Sets the reported world position (m_oReportWorldPosition) More... | |
| virtual void | ReportWorldPosition (float fltX, float fltY, float fltZ) |
| Sets the reported world position (m_oReportWorldPosition) More... | |
| virtual CStdFPoint | Rotation () |
| Gets the rotation of this body in radians. More... | |
| virtual void | Rotation (CStdFPoint &oPoint, bool bFireChangeEvent=false, bool bUpdateMatrix=true) |
| Sets the rotation of this body in radians. (m_oRotation) More... | |
| virtual void | Rotation (float fltX, float fltY, float fltZ, bool bFireChangeEvent=false, bool bUpdateMatrix=true) |
| Sets the rotation of this body in radians. (m_oRotation) More... | |
| virtual void | Rotation (std::string strXml, bool bFireChangeEvent=false, bool bUpdateMatrix=true) |
| Sets the rotation of this body in radians. (m_oRotation). This method is primarily used by the GUI to reset the rotation using an xml data packet. More... | |
| virtual CStdFPoint | SelectedVertex () |
| Gets the relative position of the selected vertex. (m_vSelectedVertex) More... | |
| virtual void | SelectedVertex (CStdFPoint &vPoint, bool bFireChangeEvent=false, bool bUpdatePhysics=true) |
| Sets the relative position of the selected vertex. (m_vSelectedVertex) More... | |
| virtual void | SelectedVertex (float fltX, float fltY, float fltZ, bool bFireChangeEvent=false, bool bUpdatePhysics=true) |
| Sets the relative position of the selected vertex. (m_vSelectedVertex) More... | |
| virtual void | SetBoundingBox (int iIdx, float fltVal) |
| Sets one dimension of the bounding box. This does nothing for all parts except a mesh. More... | |
| virtual float | Shininess () |
| Gets the shininess. More... | |
| virtual void | Shininess (float fltVal) |
| Sets the shininess value. More... | |
| virtual float | SimulationAlpha () |
| Gets the simulation alpha. More... | |
| virtual void | SimulationAlpha (float fltVal) |
| Sets the simulation alpha. More... | |
| virtual CStdColor * | Specular () |
| Gets the specular color. More... | |
| virtual void | Specular (CStdColor &aryColor) |
| virtual void | Specular (float *aryColor) |
| Sets the Specular color. More... | |
| virtual void | Specular (std::string strXml) |
| Loads the Specular color from an XML data packet. More... | |
| virtual std::string | Texture () |
| Gets the texture filename. More... | |
| virtual void | Texture (std::string strValue) |
| Sets the Texture filename. More... | |
| virtual CStdFPoint | UpdateAbsolutePosition () |
| virtual void | UserDefinedDraggerRadius (float fltRadius) |
| User defined dragger radius. More... | |
| virtual float | UserDefinedDraggerRadius () |
| Gets the user defined dragger radius. More... | |
Static Public Member Functions | |
| static LineBase * | CastToDerived (AnimatBase *lpBase) |
| Static Public Member Functions inherited from AnimatSim::Environment::RigidBody | |
| static RigidBody * | CastToDerived (AnimatBase *lpBase) |
| Static Public Member Functions inherited from AnimatSim::Environment::BodyPart | |
| static BodyPart * | CastToDerived (AnimatBase *lpBase) |
| Static Public Member Functions inherited from AnimatSim::Node | |
| static Node * | CastToDerived (AnimatBase *lpBase) |
Protected Member Functions | |
| virtual void | AttachedPartMovedOrRotated (std::string strID) |
| virtual void | InitializeAttachments () |
| Initializes the attachments. More... | |
| virtual void | LoadAttachments (CStdXml &oXml) |
| Loads the attachment points list. More... | |
| Protected Member Functions inherited from AnimatSim::Environment::RigidBody | |
| virtual void | AddContactSensor (std::string strXml) |
| Creates and adds a ContactSensor. More... | |
| virtual void | AddOdor (Odor *lpOdor) |
| Adds an odor source to this body part. More... | |
| virtual void | AddOdor (std::string strXml, bool bDoNotInit) |
| virtual RigidBody * | AddRigidBody (std::string strXml) |
| Creates and adds a rigid body. More... | |
| virtual void | CenterOfMass (CStdFPoint &vPoint, bool bUseScaling, bool bPhysicsCallback) |
| virtual int | FindChildListPos (std::string strID, bool bThrowError=true) |
| Finds the array index for the child part with the specified ID. More... | |
| virtual void | Freeze (bool bVal, bool bPhysicsCallback) |
| virtual void | LoadContactSensor (CStdXml &oXml) |
| virtual Joint * | LoadJoint (CStdXml &oXml) |
| Loads a child joint. More... | |
| virtual Odor * | LoadOdor (CStdXml &oXml) |
| Loads an odor source. More... | |
| virtual void | LoadPosition (CStdXml &oXml) |
| Loads the items position. More... | |
| virtual RigidBody * | LoadRigidBody (CStdXml &oXml) |
| Loads a child rigid body. More... | |
| virtual void | Mass (float fltVal, bool bUseScaling, bool bPhysicsCallback) |
| virtual void | RemoveCollisionExclusions () |
| Called by the desctructor. It removes this object from all other collision exclusion lists. This prevents any attempt to reference this deleted object while looping through collision exclusions. More... | |
| virtual void | RemoveContactSensor (std::string strID, bool bThrowError=true) |
| Removes the ContactSensor. More... | |
| virtual void | RemoveOdor (std::string strID, bool bThrowError=true) |
| virtual void | RemoveRigidBody (std::string strID, bool bThrowError=true) |
| Removes the rigid body with the specified ID. More... | |
| Protected Member Functions inherited from AnimatSim::Environment::BodyPart | |
| virtual void | UpdateData () |
| Called to collect any body data for this part. More... | |
| Protected Member Functions inherited from AnimatSim::Environment::MovableItem | |
| virtual void | LoadRotation (CStdXml &oXml) |
| Loads the items rotation. More... | |
Protected Attributes | |
| CStdArray< std::string > | m_aryAttachmentPointIDs |
| The ID's of the attachment points for this muscle. This is used during the load/initialization process. | |
| CStdArray< Attachment * > | m_aryAttachmentPoints |
| A pointer to the primary attachment part. | |
| float | m_fltLength |
| Current length of the line. | |
| float | m_fltPrevLength |
| Length of the line in the previous timestep. | |
| Protected Attributes inherited from AnimatSim::Environment::RigidBody | |
| CStdPtrArray< RigidBody > | m_aryChildParts |
| std::unordered_set< RigidBody * > | m_aryExcludeCollisionSet |
| This is the list of other parts that this part is excluded from colliding with. | |
| CStdPtrMap< std::string, Odor > | m_aryOdorSources |
| The array odor sources attached to this part. | |
| bool | m_bDisplayDebugCollisionGraphic |
| bool | m_bEnableFluids |
| true to enable fluid interactions. | |
| bool | m_bFoodSource |
| Tells if this body is considered a food source. | |
| bool | m_bFreeze |
| bool | m_bIsCollisionObject |
| This determines whether the object is a collision geometry object. | |
| bool | m_bIsContactSensor |
| bool | m_bIsStickyPart |
| bool | m_bUsesJoint |
| float | m_fltAngularVelocityDamping |
| The angular velocity damping for this part. | |
| float | m_fltBuoyancyScale |
| float | m_fltDensity |
| Uniform density for the rigid body. | |
| float | m_fltFoodEaten |
| Tells how much food is being eaten. | |
| float | m_fltFoodEnergyContent |
| The energy content of the food in calories. | |
| float | m_fltFoodQuantity |
| The quantity of food that this part contains. | |
| float | m_fltFoodQuantityInit |
| The initial food quantity to use when simulation is reset. | |
| float | m_fltFoodReplenishRate |
| The rate at which food is replenished. | |
| float | m_fltLinearVelocityDamping |
| The linear velocity damping for this body part. | |
| float | m_fltMagnus |
| The Magnus coefficient for the body. This is defaulted to zero because it almost always negligble for most body parts. | |
| float | m_fltMass |
| The mass of the object. | |
| float | m_fltMaxFoodQuantity |
| The maximum food quantity that this part can contain. | |
| float | m_fltMaxHydroForce |
| The maximum hyrdodynamic force that can be applied. | |
| float | m_fltMaxHydroTorque |
| The maximum hyrdodynamic torque that can be applied. | |
| float | m_fltReportDensity |
| The density value reported to the GUI. | |
| float | m_fltReportMass |
| The mass of the object to report to GUI. | |
| float | m_fltReportVolume |
| The volume of the object to report to GUI. | |
| float | m_fltStickyOn |
| If this is a suction part then this controls when stickness is on. | |
| float | m_fltSurfaceContactCount |
| float | m_fltVolume |
| The volume for the rigid body. | |
| long | m_lEatTime |
| Keeps track of how many time slices this part can eat. | |
| ContactSensor * | m_lpContactSensor |
| Joint * | m_lpJointToParent |
| RigidBody * | m_lpStickyChild |
| If we are doing a sticky lock then this is the child part that was locked on. | |
| std::string | m_strMaterialID |
| Identifier for the material type this part will use. | |
| CStdFPoint | m_vAngularDrag |
| This is the drag coefficients for the three axises for the body. | |
| CStdFPoint | m_vBuoyancyCenter |
| This is the relative position to the center of the buoyancy in the body. | |
| CStdFPoint | m_vCenterOfMass |
| CStdFPoint | m_vLinearDrag |
| This is the drag coefficients for the three axises for the body. | |
| Protected Attributes inherited from AnimatSim::Environment::BodyPart | |
| CStdArray< RobotPartInterface * > | m_aryRobotParts |
| Array of pointers to robot part interfaces connected to this body part. | |
| bool | m_bSynchWithRobot |
| float | m_fltSynchUpdateInterval |
| This is how often we need to update this particular adapter. | |
| int | m_iSynchCount |
| Keeps track of the last time we did a synch for the robot. | |
| int | m_iSynchUpdateInterval |
| The number of ticks between each call to update for this adapter till the next update time. | |
| IPhysicsBody * | m_lpPhysicsBody |
| Protected Attributes inherited from AnimatSim::Node | |
| bool | m_bInitEnabled |
| Keeps track of the enabled state at sim startup. | |
| float | m_fltEnabled |
| This is used for reporting the enabled state in a GetDataPointer call. | |
| Organism * | m_lpOrganism |
| The pointer to this node's organism. | |
| Protected Attributes inherited from AnimatSim::AnimatBase | |
| bool | m_bEnabled |
| Tells if this item is enabled or not. If it is not enabled then it is not run. | |
| bool | m_bSelected |
| Tells whether the object is selected or not. | |
| AnimatSim::Behavior::NeuralModule * | m_lpModule |
| The pointer to this items parentNeuralModule. If this is not relevant for this object then this is NULL. | |
| Node * | m_lpNode |
| The pointer to this items parent Node. If this is not relevant for this object then this is NULL. | |
| Simulator * | m_lpSim |
| The pointer to a Simulation. | |
| AnimatSim::Environment::Structure * | m_lpStructure |
| The pointer to this items parent Structure. If this is not relevant for this object then this is NULL. | |
| std::string | m_strID |
| The unique Id for this object. | |
| std::string | m_strName |
| The name for this object. | |
| std::string | m_strType |
| The type for this object. Examples are Box, Plane, Neuron, etc.. | |
| Protected Attributes inherited from AnimatSim::Environment::MovableItem | |
| bool | m_bIsSelected |
| Keeps track of whether this movable item has been selected or not. | |
| bool | m_bIsVisible |
| float | m_fltAlpha |
| The current alpha transparency for this body part. | |
| float | m_fltCollisionsAlpha |
| The alpha transparency used in the Collisions VisualSelectionMode. | |
| float | m_fltGraphicsAlpha |
| The alpha transparency used in the Graphics VisualSelectionMode. | |
| float | m_fltJointsAlpha |
| The alpha transparency used in the Joints VisualSelectionMode. | |
| float | m_fltReceptiveFieldsAlpha |
| The alpha transparency used in the Receptive Fields VisualSelectionMode. | |
| float | m_fltReportIsVisible |
| float | m_fltShininess |
| The shininess of the part. A value between 0 and 128. | |
| float | m_fltSimulationAlpha |
| The alpha transparency used in the Simulation VisualSelectionMode. | |
| float | m_fltUserDefinedDraggerRadius |
| User defined drag handle radius. If this is -1 then the user has not set the value and the default is used. | |
| IMovableItemCallback * | m_lpCallback |
| Simulator * | m_lpMovableSim |
| The pointer to a Simulation. | |
| RigidBody * | m_lpParent |
| IPhysicsMovableItem * | m_lpPhysicsMovableItem |
| CStdFPoint | m_oAbsPosition |
| CStdFPoint | m_oPosition |
| These are rotation and position coords relative to the parent if this is a body part. | |
| CStdFPoint | m_oReportPosition |
| This is used for reporting the position back to the GUI. It is the position scaled for distance units. | |
| CStdFPoint | m_oReportRotation |
| CStdFPoint | m_oReportWorldPosition |
| This is used for reporting the position back to the GUI. It is the world position scaled for distance units. | |
| CStdFPoint | m_oRotation |
| std::string | m_strTexture |
| An optional texture to apply to the rigid body. | |
| CStdColor | m_vAmbient |
| The ambient color to apply to this part. It is specified as red, green, blue, and alpha. | |
| CStdColor | m_vDiffuse |
| The diffuse color to apply to this part. It is specified as red, green, blue, and alpha. | |
| CStdFPoint | m_vSelectedVertex |
| The relative position of the selected vertex. | |
| CStdColor | m_vSpecular |
| The specular color to apply to this part. It is specified as red, green, blue, and alpha. | |
Base class for Line body part types.
This is the base class for all body part types that create lines to display in the simulation. Examples of this type of object are muscles and springs. Attachment points are specified by the user and the muscle is drawn between these points.
Definition at line 25 of file LineBase.h.
| AnimatSim::Environment::Bodies::LineBase::LineBase | ( | ) |
Default constructor.
Definition at line 55 of file LineBase.cpp.
References AnimatSim::AnimatBase::m_bEnabled, AnimatSim::Environment::RigidBody::m_fltDensity, m_fltLength, m_fltPrevLength, and AnimatSim::Environment::RigidBody::m_lpJointToParent.
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virtual |
Destructor.
Definition at line 72 of file LineBase.cpp.
References m_aryAttachmentPointIDs, m_aryAttachmentPoints, and StdUtils::Std_TraceMsg().
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Sets the absolute position of this body part. (m_oAbsPosition)
| [in,out] | oPoint | The new position. |
Reimplemented from AnimatSim::Environment::MovableItem.
Definition at line 119 of file LineBase.cpp.
|
virtual |
Called after a simulation reset for some objects.
This method is only used by some objects because they need to do some processing after the simulation has been reset.
Reimplemented from AnimatSim::Environment::RigidBody.
Reimplemented in AnimatSim::Environment::Bodies::LinearHillMuscle, VortexAnimatSim::Environment::Bodies::VsLinearHillMuscle, BulletAnimatSim::Environment::Bodies::BlLinearHillMuscle, and RoboticsAnimatSim::Environment::Bodies::RbLinearHillMuscle.
Definition at line 210 of file LineBase.cpp.
References AnimatSim::Environment::RigidBody::AfterResetSimulation(), CalculateLength(), m_fltLength, and m_fltPrevLength.
Referenced by AnimatSim::Environment::Bodies::LinearHillMuscle::AfterResetSimulation().
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Tells if a given part can be manipulated using the mouse and draggers.
Reimplemented from AnimatSim::Environment::MovableItem.
Definition at line 112 of file LineBase.cpp.
| CStdArray< Attachment * > * AnimatSim::Environment::Bodies::LineBase::AttachmentPoints | ( | ) |
Gets the attachment points.
Definition at line 134 of file LineBase.cpp.
References m_aryAttachmentPoints.
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virtual |
Sets the attachment points for the line.
This loads in the list of attchment points from an xml string and then initializes the list again to find those points for the line.
| strXml | The xml to load. |
Definition at line 147 of file LineBase.cpp.
References StdUtils::CStdXml::Deserialize(), StdUtils::CStdXml::FindChildElement(), StdUtils::CStdXml::FindElement(), InitializeAttachments(), LoadAttachments(), and Resize().
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Calculates the length of the line.
Definition at line 169 of file LineBase.cpp.
References AnimatSim::Simulator::DistanceUnits(), AnimatSim::Environment::MovableItem::GetCurrentPosition(), m_aryAttachmentPoints, AnimatSim::AnimatBase::m_bEnabled, AnimatSim::AnimatBase::m_lpSim, and StdUtils::Std_CalculateDistance().
Referenced by AfterResetSimulation(), AnimatSim::Environment::Bodies::Spring::CalculateTension(), AnimatSim::Environment::Bodies::LinearHillMuscle::CalculateTension(), Enabled(), InitializeAttachments(), AnimatSim::Environment::Bodies::Spring::ResetSimulation(), and Resize().
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Allows the rigid body to create its joints using the chosen physics engine.
This function can not be truly implemented in the Animat library. It must be implemented in the next layer sitting above it. The reason for this is that the Animat library was made to be generalized so it could work with a number of different physics engines. Therefore it is not tightly coupled with any one engine. This in turn means that we can not implement the code in this library neccessary to create a part or joint in the chosen engine. Several overridable functions have been provided that allow you to do this. The two that will always have to be overridden are the CreateParts and CreateJoints methods. CreateJoints makes the API calls to the physics engine to create the joint and constraints and motors. You should still call the base class method at the end of your overridden method so the rigid body can walk down the tree and create the joints for its children.
Reimplemented from AnimatSim::Environment::RigidBody.
Reimplemented in AnimatSim::Environment::Bodies::LinearHillMuscle, VortexAnimatSim::Environment::Bodies::VsSpring, VortexAnimatSim::Environment::Bodies::VsLinearHillMuscle, VortexAnimatSim::Environment::Bodies::VsLinearHillStretchReceptor, BulletAnimatSim::Environment::Bodies::BlLinearHillMuscle, RoboticsAnimatSim::Environment::Bodies::RbLinearHillMuscle, BulletAnimatSim::Environment::Bodies::BlLinearHillStretchReceptor, RoboticsAnimatSim::Environment::Bodies::RbLinearHillStretchReceptor, BulletAnimatSim::Environment::Bodies::BlSpring, and RoboticsAnimatSim::Environment::Bodies::RbSpring.
Definition at line 317 of file LineBase.cpp.
References InitializeAttachments().
Referenced by AnimatSim::Environment::Bodies::LinearHillMuscle::CreateJoints().
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virtual |
Allows the rigid body to create its parts using the chosen physics engine.
This function can not be truly implemented in the Animat library. It must be implemented in the next layer sitting above it. The reason for this is that the Animat library was made to be generalized so it could work with a number of different physics engines. Therefore it is not tightly coupled with any one engine. This in turn means that we can not implement the code in this library neccessary to create a part or joint in the chosen engine. Several overridable functions have been provided that allow you to do this. The two that will always have to be overridden are the CreateParts and CreateJoints methods. CreateParts makes the API calls to the physics engine to create the collision models, graphics models and so on. You should still call the base class method at the end of your overridden method so the rigid body can walk down the tree and create the parts for its children.
Reimplemented from AnimatSim::Environment::RigidBody.
Reimplemented in AnimatSim::Environment::Bodies::Spring.
Definition at line 313 of file LineBase.cpp.
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virtual |
Enables the node.
Some types of nodes can be enabled/disabled. This sets the enabled state of the object.
| bValue | true to enable. |
Reimplemented from AnimatSim::Node.
Reimplemented in AnimatSim::Environment::Bodies::LinearHillMuscle, AnimatSim::Environment::Bodies::MuscleBase, and VortexAnimatSim::Environment::Bodies::VsSpring.
Definition at line 83 of file LineBase.cpp.
References CalculateLength(), AnimatSim::Node::Enabled(), m_fltLength, and m_fltPrevLength.
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Query if this object has a static joint.
Reimplemented from AnimatSim::Environment::RigidBody.
Definition at line 56 of file LineBase.h.
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protectedvirtual |
Initializes the attachments.
This goes through the list of attachment IDs and finds each one and adds it to the list of attachment points. If there are less than two points then it sets enabled to false. It also recalculates the length of the line.
Reimplemented in VortexAnimatSim::Environment::Bodies::VsSpring.
Definition at line 290 of file LineBase.cpp.
References CalculateLength(), AnimatSim::Node::Enabled(), AnimatSim::Environment::Structure::FindRigidBody(), m_aryAttachmentPointIDs, m_aryAttachmentPoints, m_fltLength, m_fltPrevLength, and AnimatSim::AnimatBase::m_lpStructure.
Referenced by AttachmentPoints(), and CreateJoints().
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Gets the length of the line.
Definition at line 100 of file LineBase.cpp.
References m_fltLength.
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protectedvirtual |
Loads the attachment points list.
| [in,out] | oXml | The xml to load in. |
Definition at line 353 of file LineBase.cpp.
References AnimatSim::Node::Enabled(), StdUtils::CStdXml::FindChildByIndex(), StdUtils::CStdXml::FindChildElement(), StdUtils::CStdXml::GetChildString(), StdUtils::CStdXml::IntoElem(), m_aryAttachmentPointIDs, StdUtils::CStdXml::NumberOfChildren(), and StdUtils::CStdXml::OutOfElem().
Referenced by AttachmentPoints().
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Orients a new part based on where the parent was clicked and the normal of the surface face.
| fltXPos | The click x position. |
| fltYPos | The click y position. |
| fltZPos | The click z position. |
| fltXNorm | The face normal x coordinate. |
| fltYNorm | Th face normale y coordinat. |
| fltZNorm | The face normal z coordinate. |
Reimplemented from AnimatSim::Environment::MovableItem.
Definition at line 123 of file LineBase.cpp.
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virtual |
For the RigidBody if it is the root then we are going to set the position of the structure.
Reimplemented from AnimatSim::Environment::RigidBody.
Definition at line 115 of file LineBase.cpp.
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virtual |
Gets the previous length of the line.
Definition at line 110 of file LineBase.cpp.
References m_fltPrevLength.
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virtual |
Called when this object has been resized.
This method is called when an item is resized. It is overloaded in the derived class and allows that child class to perform any necessary graphics/physics calls for the resize event.
Reimplemented from AnimatSim::Environment::BodyPart.
Definition at line 201 of file LineBase.cpp.
References CalculateLength(), m_fltLength, m_fltPrevLength, and AnimatSim::Environment::BodyPart::Resize().
Referenced by AttachmentPoints().
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1.8.10 
