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AnimatLab
2
Test
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AnimatLab
2
Test
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The base class for all of the joint type of objects. More...
#include <Joint.h>
Inheritance diagram for AnimatSim::Environment::Joint: Collaboration diagram for AnimatSim::Environment::Joint:Public Member Functions | |
| Joint () | |
| Default constructor. More... | |
| virtual | ~Joint () |
| Destructor. More... | |
| virtual void | AddExternalNodeInput (int iTargetDataType, float fltInput) |
| Adds an external node input. More... | |
| virtual void | AfterResetSimulation () |
| Called after a simulation reset for some objects. More... | |
| virtual RigidBody * | Child () |
| Gets the child RigidBody part for this joint. More... | |
| virtual void | Child (RigidBody *lpValue) |
| Sets the Child RigidBody part for this joint. More... | |
| virtual void | CreateJoint () |
| Creates the joint. More... | |
| virtual bool | EnableLimits () |
| Tells if ConstraintLimits are enabled. More... | |
| virtual void | EnableLimits (bool bVal) |
| Sets whether ContrainLimits are enabled or not. More... | |
| virtual ConstraintFriction * | Friction () |
| Gets the pointer to the friction. More... | |
| virtual void | Friction (ConstraintFriction *lpFriction) |
| Sets the pointer to the friction. More... | |
| virtual void | Friction (std::string strXml) |
| Sets the friction. More... | |
| virtual float * | GetDataPointer (const std::string &strDataType) |
| virtual float | GetLimitRange () |
| Gets the entire range of movement within the limits. If limits are not enabled then it returns -1. More... | |
| virtual float | GetPositionWithinLimits (float fltPos) |
| Gets a position value within the constraint limits. More... | |
| virtual void | Initialize () |
| Initializes this object. More... | |
| virtual float | JointForce () |
| Gets the joint force. More... | |
| virtual void | JointForce (float fltForce) |
| Sets the joint force. More... | |
| virtual float | JointPosition () |
| Gets the joint position. More... | |
| virtual void | JointPosition (float fltPos) |
| Sets the joint position. More... | |
| virtual float | JointVelocity () |
| Gets the joint velocity. More... | |
| virtual void | JointVelocity (float fltVel) |
| Sets the joint velocity. More... | |
| virtual void | Load (CStdXml &oXml) |
| virtual void | QueryProperties (CStdPtrArray< TypeProperty > &aryProperties) |
| virtual ConstraintRelaxation * | Relaxation1 () |
| Gets the pointer to the primary axis displacement relaxation. More... | |
| virtual void | Relaxation1 (ConstraintRelaxation *lpRelax) |
| Sets the pointer to the primary axis displacement relaxation. More... | |
| virtual void | Relaxation1 (std::string strXml) |
| Sets the primary axis displacement relaxation. More... | |
| virtual ConstraintRelaxation * | Relaxation2 () |
| Gets the pointer to the secondary axis displacement relaxation. More... | |
| virtual void | Relaxation2 (ConstraintRelaxation *lpRelax) |
| Sets the pointer to the secondary axis displacement relaxation. More... | |
| virtual void | Relaxation2 (std::string strXml) |
| Sets the secondary axis displacement relaxation. More... | |
| virtual ConstraintRelaxation * | Relaxation3 () |
| Gets the pointer to the secondary axis displacement relaxation. More... | |
| virtual void | Relaxation3 (ConstraintRelaxation *lpRelax) |
| Sets the pointer to the third axis displacement relaxation. More... | |
| virtual void | Relaxation3 (std::string strXml) |
| Sets the third axis displacement relaxation. More... | |
| virtual ConstraintRelaxation * | Relaxation4 () |
| Gets the pointer to the secondary axis rotation relaxation. More... | |
| virtual void | Relaxation4 (ConstraintRelaxation *lpRelax) |
| Sets the pointer to the secondary axis rotation relaxation. More... | |
| virtual void | Relaxation4 (std::string strXml) |
| Sets the secondary axis rotation relaxation. More... | |
| virtual ConstraintRelaxation * | Relaxation5 () |
| Gets the pointer to the thirdary axis rotation relaxation. More... | |
| virtual void | Relaxation5 (ConstraintRelaxation *lpRelax) |
| Sets the pointer to the thirdary axis rotation relaxation. More... | |
| virtual void | Relaxation5 (std::string strXml) |
| Sets the thirdary axis rotation relaxation. More... | |
| virtual ConstraintRelaxation * | Relaxation6 () |
| Gets the pointer to the thirdary axis rotation relaxation. More... | |
| virtual void | Relaxation6 (ConstraintRelaxation *lpRelax) |
| Sets the pointer to the thirdary axis rotation relaxation. More... | |
| virtual void | Relaxation6 (std::string strXml) |
| Sets the thirdary axis rotation relaxation. More... | |
| virtual void | ResetSimulation () |
| Resets the simulation back to time 0. More... | |
| virtual bool | SetData (const std::string &strDataType, const std::string &strValue, bool bThrowError=true) |
| virtual float | Size () |
| Gets the size of the graphical representation of this joint. More... | |
| virtual void | Size (float fltVal, bool bUseScaling=true) |
| Sets the size of the graphical representation of this joint. More... | |
| virtual void | StepSimulation () |
| Step the simulation for this object. More... | |
| virtual void | UpdatePhysicsPosFromGraphics () |
| Updates the physics position from graphics. More... | |
| virtual bool | UsesRadians () |
| Tells whether this joint uses radians or meters for its measurements. More... | |
| virtual int | VisualSelectionType () |
| Gets the visual selection type for this part. More... | |
| virtual void | WakeDynamics () |
| 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 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 | Resize () |
| Called when this object has been resized. More... | |
| 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... | |
| 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 | Enabled (bool bValue) |
| Enables the node. More... | |
| virtual int | GetTargetDataTypeIndex (const std::string &strDataType) |
| Used to convert a string target data type into an integer index. More... | |
| virtual void | Kill (bool bState=true) |
| Kills. 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 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 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 bool | RemoveItem (const std::string &strItemType, const std::string &strID, bool bThrowError=true) |
| Removes a child item from this parent. 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 | SimPausing () |
| Called just before the simulation pauses. 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 (CStdFPoint &oPoint) |
| Sets the absolute position of this body part. (m_oAbsPosition) More... | |
| virtual void | AbsolutePosition (float fltX, float fltY, float fltZ) |
| Sets the absolute position of this body part. (m_oAbsPosition) More... | |
| virtual bool | AllowMouseManipulation () |
| Tells if a given part can be manipulated using the mouse and draggers. 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... | |
| 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... | |
| 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 CStdFPoint | Position () |
| Gets the local position. (m_oPosition) More... | |
| virtual void | Position (CStdFPoint &oPoint, bool bUseScaling=true, bool bFireChangeEvent=false, bool bUpdateMatrix=true) |
| Sets the local position. (m_oPosition) 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 Joint * | 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 | ClearRelaxations () |
| Clears the relaxation pointers. More... | |
| virtual ConstraintFriction * | LoadConstraintFriction (CStdXml &oXml) |
| Loads constraint Friction object. More... | |
| virtual ConstraintRelaxation * | LoadConstraintRelaxation (CStdXml &oXml, std::string strName) |
| Loads constraint relaxation object. 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 | LoadPosition (CStdXml &oXml) |
| Loads the items position. More... | |
| virtual void | LoadRotation (CStdXml &oXml) |
| Loads the items rotation. More... | |
Protected Attributes | |
| ConstraintRelaxation * | m_aryRelaxations [6] |
| The relaxations for the constraints. | |
| bool | m_bEnableLimits |
| If true then any ConstraintLimits for this joint are enabled. | |
| float | m_fltForce |
| The current force being applied to the joint by the motor. | |
| float | m_fltPosition |
| float | m_fltSize |
| Scales the size of the graphics for this joint. | |
| float | m_fltVelocity |
| RigidBody * | m_lpChild |
| The child rigid body for this joint. | |
| ConstraintFriction * | m_lpFriction |
| The friction for this joint. | |
| 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. | |
The base class for all of the joint type of objects.
This class provides the base functionality for a joint. A joint is what glues the different rigid bodies together into a complete structure. Each object is connected by a joint to its parent part. The only exception to this rule is the root rigid body of a structure/organism. The joint is positioned relative to the center of the parent object. This can be a little confusing becuase in the configuration file the joint is actually contained within the child object tag. So you may be tempted to try and make the joint relative to the child object. The different sub classes will define data parameters that specify the motion that they joint can perform. For instance, a HingeJoint is constrained to rotate about one axis just like the hinge on a door.
Some joints can be motorized, and some cannot. Hinge and Prismatic joints are currently the only joints that are motorized. So all of the parameters related to motors are only relevant for those joint types.
| AnimatSim::Environment::Joint::Joint | ( | ) |
Default constructor.
Definition at line 47 of file Joint.cpp.
References m_aryRelaxations, m_bEnableLimits, m_fltForce, m_fltPosition, m_fltSize, m_fltVelocity, m_lpChild, and m_lpFriction.
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Destructor.
Definition at line 68 of file Joint.cpp.
References ClearRelaxations(), m_lpChild, m_lpFriction, AnimatSim::Environment::MovableItem::m_lpParent, and StdUtils::Std_TraceMsg().
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Adds an external node input.
This is used by the adapter to add a new external value to this node. It is up to the node to interpret what that value means. For example, if it is a neuron then it can interpret it to be a current. This value is added to the current total so that multiple adapters can call this in a given time step. It is cleared out to zero at the beginning of the time step. You can now also specify which data you are adding to for this method call. This allows adapters to be setup to change multiple different variables in the system.
| iTargetDataType | The index of the target data type we are adding to. |
| fltInput | The new input. |
Implements AnimatSim::Node.
Reimplemented in AnimatSim::Environment::Joints::Hinge, and AnimatSim::Environment::Joints::Prismatic.
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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::AnimatBase.
Definition at line 734 of file Joint.cpp.
References AnimatSim::Environment::MovableItem::m_lpPhysicsMovableItem.
Referenced by AnimatSim::Environment::RigidBody::AfterResetSimulation().
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Gets the child RigidBody part for this joint.
Definition at line 507 of file Joint.cpp.
References m_lpChild.
Referenced by AnimatSim::Environment::RigidBody::LoadJoint(), and AnimatSim::Environment::RigidBody::~RigidBody().
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Sets the Child RigidBody part for this joint.
| [in,out] | lpValue | IPointer to the child part. |
Definition at line 517 of file Joint.cpp.
References m_lpChild, and AnimatSim::Environment::MovableItem::m_lpPhysicsMovableItem.
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Clears the relaxation pointers.
Definition at line 751 of file Joint.cpp.
References m_aryRelaxations.
Referenced by ~Joint().
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Creates the joint.
This method is called by the derived class in the physics library. It makes the calls necessary to create the actual joint using the chosen phsyics API.
Reimplemented in VortexAnimatSim::Environment::Joints::VsHinge, BulletAnimatSim::Environment::Joints::BlHinge, BulletAnimatSim::Environment::Joints::BlPrismatic, RoboticsAnimatSim::Environment::Joints::RbHinge, VortexAnimatSim::Environment::Joints::VsBallSocket, BulletAnimatSim::Environment::Joints::BlBallSocket, BulletAnimatSim::Environment::Joints::BlRPRO, VortexAnimatSim::Environment::Joints::VsPrismatic, VortexAnimatSim::Environment::Joints::VsRPRO, RoboticsAnimatSim::Environment::Joints::RbPrismatic, BulletAnimatSim::Environment::Joints::BlUniversal, RoboticsAnimatSim::Environment::Joints::RbRPRO, VortexAnimatSim::Environment::Joints::VsDistanceJoint, BulletAnimatSim::Environment::Joints::BlDistanceJoint, VortexAnimatSim::Environment::Joints::VsUniversal, and RoboticsAnimatSim::Environment::Joints::RbUniversal.
Definition at line 602 of file Joint.cpp.
Referenced by RoboticsAnimatSim::Environment::Bodies::RbMesh::CreateJoints(), RoboticsAnimatSim::Environment::Bodies::RbSphere::CreateJoints(), RoboticsAnimatSim::Environment::Bodies::RbCylinder::CreateJoints(), RoboticsAnimatSim::Environment::Bodies::RbCone::CreateJoints(), RoboticsAnimatSim::Environment::Bodies::RbEllipsoid::CreateJoints(), RoboticsAnimatSim::Environment::Bodies::RbTorus::CreateJoints(), BulletAnimatSim::Environment::Bodies::BlSphere::CreateJoints(), VortexAnimatSim::Environment::Bodies::VsMesh::CreateJoints(), RoboticsAnimatSim::Environment::Bodies::RbBox::CreateJoints(), BulletAnimatSim::Environment::Bodies::BlCylinder::CreateJoints(), BulletAnimatSim::Environment::Bodies::BlTorus::CreateJoints(), BulletAnimatSim::Environment::Bodies::BlCone::CreateJoints(), BulletAnimatSim::Environment::Bodies::BlEllipsoid::CreateJoints(), VortexAnimatSim::Environment::Bodies::VsTerrain::CreateJoints(), VortexAnimatSim::Environment::Bodies::VsTorus::CreateJoints(), BulletAnimatSim::Environment::Bodies::BlMesh::CreateJoints(), VortexAnimatSim::Environment::Bodies::VsEllipsoid::CreateJoints(), BulletAnimatSim::Environment::Bodies::BlBox::CreateJoints(), VortexAnimatSim::Environment::Bodies::VsBox::CreateJoints(), VortexAnimatSim::Environment::Bodies::VsSphere::CreateJoints(), VortexAnimatSim::Environment::Bodies::VsCylinder::CreateJoints(), VortexAnimatSim::Environment::Bodies::VsCone::CreateJoints(), and BulletAnimatSim::Environment::Bodies::BlTerrain::CreateJoints().
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Tells if ConstraintLimits are enabled.
Definition at line 139 of file Joint.cpp.
References m_bEnableLimits.
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Sets whether ContrainLimits are enabled or not.
| bVal | true to enable. |
Reimplemented in VortexAnimatSim::Environment::Joints::VsHinge, BulletAnimatSim::Environment::Joints::BlHinge, BulletAnimatSim::Environment::Joints::BlPrismatic, RoboticsAnimatSim::Environment::Joints::RbHinge, VortexAnimatSim::Environment::Joints::VsPrismatic, and RoboticsAnimatSim::Environment::Joints::RbPrismatic.
Definition at line 149 of file Joint.cpp.
References m_bEnableLimits.
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Gets the pointer to the friction.
Definition at line 435 of file Joint.cpp.
References m_lpFriction.
Referenced by Friction().
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Sets the pointer to the friction.
Definition at line 445 of file Joint.cpp.
References m_lpFriction.
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Sets the friction.
| strXml | The xml string with the data to load in the friction. |
Definition at line 464 of file Joint.cpp.
References StdUtils::CStdXml::Deserialize(), StdUtils::CStdXml::FindElement(), Friction(), and LoadConstraintFriction().
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Gets the entire range of movement within the limits. If limits are not enabled then it returns -1.
Reimplemented in AnimatSim::Environment::Joints::Hinge, and AnimatSim::Environment::Joints::Prismatic.
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Gets a position value within the constraint limits.
If limits are enabled then it checks to see if the specified position is within the limits. If it is not, then it adjusts the position to be at the limit and returns that value.
| fltPos | The position to check. |
Reimplemented in AnimatSim::Environment::Joints::Hinge, and AnimatSim::Environment::Joints::Prismatic.
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Initializes this object.
After an object is loaded in it must be initialized before it can be used. This allows the object to retrieve any pointers or setup memory that it will need during execution. Each object is responsible for initializing any of its child objects, so you simply need to call this method on the containing class to init all child objects. It also calls VerifySystemPointers to make sure that the system pointers have been setup correctly.
Reimplemented from AnimatSim::Environment::BodyPart.
Reimplemented in AnimatSim::Environment::MotorizedJoint.
Definition at line 605 of file Joint.cpp.
References AnimatSim::Environment::BodyPart::Initialize(), AnimatSim::AnimatBase::Initialize(), m_aryRelaxations, and m_lpFriction.
Referenced by AnimatSim::Environment::MotorizedJoint::Initialize().
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Gets the joint force.
Definition at line 572 of file Joint.cpp.
References m_fltForce.
Referenced by ResetSimulation().
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Sets the joint force.
| fltForce | The new force. |
Definition at line 582 of file Joint.cpp.
References m_fltForce.
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Gets the joint position.
Definition at line 532 of file Joint.cpp.
References m_fltPosition.
Referenced by ResetSimulation().
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Sets the joint position.
| fltPos | The new position. |
Reimplemented in VortexAnimatSim::Environment::Joints::VsHinge, BulletAnimatSim::Environment::Joints::BlHinge, RoboticsAnimatSim::Environment::Joints::RbHinge, BulletAnimatSim::Environment::Joints::BlPrismatic, VortexAnimatSim::Environment::Joints::VsPrismatic, and RoboticsAnimatSim::Environment::Joints::RbPrismatic.
Definition at line 542 of file Joint.cpp.
References m_fltPosition.
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Gets the joint velocity.
Definition at line 552 of file Joint.cpp.
References m_fltVelocity.
Referenced by ResetSimulation().
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Sets the joint velocity.
| fltVel | The new velocity. |
Definition at line 562 of file Joint.cpp.
References m_fltVelocity.
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Loads constraint Friction object.
| [in,out] | oXml | The xml that defines the Friction to load. |
| Throws | an exception if there is a problem creating or loading the Friction. |
Definition at line 870 of file Joint.cpp.
References AnimatSim::Simulator::CreateObject(), StdUtils::CStdXml::FindChildElement(), StdUtils::CStdXml::GetChildString(), StdUtils::CStdXml::IntoElem(), AnimatSim::AnimatBase::m_lpModule, AnimatSim::AnimatBase::m_lpSim, AnimatSim::AnimatBase::m_lpStructure, StdUtils::CStdXml::OutOfElem(), and AnimatSim::AnimatBase::SetSystemPointers().
Referenced by Friction().
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Loads constraint relaxation object.
| [in,out] | oXml | The xml that defines the relaxation to load. |
| Throws | an exception if there is a problem creating or loading the relaxation. |
Definition at line 820 of file Joint.cpp.
References AnimatSim::Simulator::CreateObject(), StdUtils::CStdXml::FindChildElement(), StdUtils::CStdXml::GetChildString(), StdUtils::CStdXml::IntoElem(), AnimatSim::AnimatBase::m_lpModule, AnimatSim::AnimatBase::m_lpSim, AnimatSim::AnimatBase::m_lpStructure, StdUtils::CStdXml::OutOfElem(), and AnimatSim::AnimatBase::SetSystemPointers().
Referenced by Relaxation1(), Relaxation2(), Relaxation3(), Relaxation4(), Relaxation5(), and Relaxation6().
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Gets the pointer to the primary axis displacement relaxation.
Definition at line 159 of file Joint.cpp.
References m_aryRelaxations.
Referenced by Relaxation1().
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Sets the pointer to the primary axis displacement relaxation.
Definition at line 169 of file Joint.cpp.
References m_aryRelaxations.
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Sets the primary axis displacement relaxation.
| strXml | The xml string with the data to load in the relaxation. |
Definition at line 188 of file Joint.cpp.
References StdUtils::CStdXml::Deserialize(), StdUtils::CStdXml::FindElement(), LoadConstraintRelaxation(), and Relaxation1().
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Gets the pointer to the secondary axis displacement relaxation.
Definition at line 205 of file Joint.cpp.
References m_aryRelaxations.
Referenced by Relaxation2().
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Sets the pointer to the secondary axis displacement relaxation.
Definition at line 215 of file Joint.cpp.
References m_aryRelaxations.
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Sets the secondary axis displacement relaxation.
| strXml | The xml string with the data to load in the relaxation. |
Definition at line 234 of file Joint.cpp.
References StdUtils::CStdXml::Deserialize(), StdUtils::CStdXml::FindElement(), LoadConstraintRelaxation(), and Relaxation2().
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Gets the pointer to the secondary axis displacement relaxation.
Definition at line 251 of file Joint.cpp.
References m_aryRelaxations.
Referenced by Relaxation3().
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Sets the pointer to the third axis displacement relaxation.
Definition at line 261 of file Joint.cpp.
References m_aryRelaxations.
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Sets the third axis displacement relaxation.
| strXml | The xml string with the data to load in the relaxation. |
Definition at line 280 of file Joint.cpp.
References StdUtils::CStdXml::Deserialize(), StdUtils::CStdXml::FindElement(), LoadConstraintRelaxation(), and Relaxation3().
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Gets the pointer to the secondary axis rotation relaxation.
Definition at line 297 of file Joint.cpp.
References m_aryRelaxations.
Referenced by Relaxation4().
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Sets the pointer to the secondary axis rotation relaxation.
Definition at line 307 of file Joint.cpp.
References m_aryRelaxations.
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Sets the secondary axis rotation relaxation.
| strXml | The xml string with the data to load in the relaxation. |
Definition at line 326 of file Joint.cpp.
References StdUtils::CStdXml::Deserialize(), StdUtils::CStdXml::FindElement(), LoadConstraintRelaxation(), and Relaxation4().
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Gets the pointer to the thirdary axis rotation relaxation.
Definition at line 343 of file Joint.cpp.
References m_aryRelaxations.
Referenced by Relaxation5().
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Sets the pointer to the thirdary axis rotation relaxation.
Definition at line 353 of file Joint.cpp.
References m_aryRelaxations.
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Sets the thirdary axis rotation relaxation.
| strXml | The xml string with the data to load in the relaxation. |
Definition at line 372 of file Joint.cpp.
References StdUtils::CStdXml::Deserialize(), StdUtils::CStdXml::FindElement(), LoadConstraintRelaxation(), and Relaxation5().
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Gets the pointer to the thirdary axis rotation relaxation.
Definition at line 389 of file Joint.cpp.
References m_aryRelaxations.
Referenced by Relaxation6().
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Sets the pointer to the thirdary axis rotation relaxation.
Definition at line 399 of file Joint.cpp.
References m_aryRelaxations.
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Sets the thirdary axis rotation relaxation.
| strXml | The xml string with the data to load in the relaxation. |
Definition at line 418 of file Joint.cpp.
References StdUtils::CStdXml::Deserialize(), StdUtils::CStdXml::FindElement(), LoadConstraintRelaxation(), and Relaxation6().
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Resets the simulation back to time 0.
This method calls the ResetSimulation method on all subitems in order to reset the simulation back to the beginning.
Reimplemented from AnimatSim::Environment::BodyPart.
Reimplemented in AnimatSim::Environment::MotorizedJoint, AnimatSim::Environment::Joints::Hinge, BulletAnimatSim::Environment::Joints::BlHinge, BulletAnimatSim::Environment::Joints::BlPrismatic, RoboticsAnimatSim::Environment::Joints::RbHinge, and RoboticsAnimatSim::Environment::Joints::RbPrismatic.
Definition at line 722 of file Joint.cpp.
References JointForce(), JointPosition(), JointVelocity(), AnimatSim::Environment::MovableItem::m_lpPhysicsMovableItem, and AnimatSim::Environment::BodyPart::ResetSimulation().
Referenced by AnimatSim::Environment::MotorizedJoint::ResetSimulation(), and AnimatSim::Environment::RigidBody::ResetSimulation().
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Sets the size of the graphical representation of this joint.
| fltVal | The new size value. |
| bUseScaling | true to use unit scaling. |
Definition at line 118 of file Joint.cpp.
References AnimatSim::Simulator::InverseDistanceUnits(), m_fltSize, AnimatSim::AnimatBase::m_lpSim, AnimatSim::Environment::BodyPart::Resize(), and StdUtils::Std_IsAboveMin().
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Step the simulation for this object.
This is called on an object each time it is stepped in the simulation. this is where its simulation code is processed. However, StepSimulation is not necessarily called every single time that the simulation as a whole is stepped. A good example of this is that neural modules can have different integration time steps. So a firing rate module may have a DT of 0.5 ms, while an integrate and fire model may have one of 0.1 ms. So the firing rate module would only get its StepSimulation method called every 5th time that the other module was called. This is all handed in the StepSimulation method of the Simulator and NervousSystem.
Reimplemented from AnimatSim::AnimatBase.
Reimplemented in VortexAnimatSim::Environment::Joints::VsHinge, BulletAnimatSim::Environment::Joints::BlHinge, BulletAnimatSim::Environment::Joints::BlPrismatic, RoboticsAnimatSim::Environment::Joints::RbHinge, VortexAnimatSim::Environment::Joints::VsPrismatic, and RoboticsAnimatSim::Environment::Joints::RbPrismatic.
Definition at line 616 of file Joint.cpp.
References AnimatSim::AnimatBase::StepSimulation(), and AnimatSim::Environment::BodyPart::UpdateData().
Referenced by AnimatSim::Environment::RigidBody::StepSimulation().
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Updates the physics position from graphics.
This updates the position of the physcis node directly from the scenegraph position of the graphics node for this item, and then does the same for all child items.
Reimplemented from AnimatSim::Environment::BodyPart.
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Tells whether this joint uses radians or meters for its measurements.
This is defaulted to true. You must override this and set it to the appropriate value for your derived classes.
Reimplemented in AnimatSim::Environment::Joints::Prismatic.
Definition at line 97 of file Joint.cpp.
Referenced by AnimatSim::Environment::MotorizedJoint::Initialize(), AnimatSim::Environment::ConstraintLimit::LimitPos(), AnimatSim::Environment::MotorizedJoint::MaxForce(), AnimatSim::Environment::MotorizedJoint::MaxVelocity(), AnimatSim::Environment::MotorizedJoint::ResetSimulation(), AnimatSim::Environment::MotorizedJoint::SetPosition(), AnimatSim::Environment::MotorizedJoint::SetVelocity(), and AnimatSim::ExternalStimuli::MotorStimulus::StepSimulation().
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Gets the visual selection type for this part.
In the GUI the user can select several different types of visual selection modes When a user selects an object while in a given selection mode we need to be able to check each object that is in the path of the click to see if it should be selected. So we check the current selection mode with this VisualSelectionType property to see if they match. So if the current VisualSelectionMode is Joints, and this body part is a joint then it will have a matching VisualSelectionType property and we will no it should be selected, but if a rigid body was selected its VisualSelectionType will be different, so we will not select it.
Reimplemented from AnimatSim::Environment::MovableItem.
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The current position of the joint. This value can be in radians or meters depending on the type of joint. UsesRadians lets you know whether it is using radians.
Definition at line 51 of file Joint.h.
Referenced by Joint(), RoboticsAnimatSim::Environment::Joints::RbPrismatic::JointPosition(), VortexAnimatSim::Environment::Joints::VsPrismatic::JointPosition(), BulletAnimatSim::Environment::Joints::BlPrismatic::JointPosition(), RoboticsAnimatSim::Environment::Joints::RbHinge::JointPosition(), BulletAnimatSim::Environment::Joints::BlHinge::JointPosition(), VortexAnimatSim::Environment::Joints::VsHinge::JointPosition(), JointPosition(), and AnimatSim::Environment::Joints::Hinge::UpdateData().
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The current velocity of the joint. Velocities can be in rad/sec or m/s depending on the type of joint. UsesRadians lets you know whether it is using radians.
Definition at line 55 of file Joint.h.
Referenced by Joint(), and JointVelocity().
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