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AnimatLab
2
Test
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AnimatLab
2
Test
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A hinge type of joint. More...
#include <Hinge.h>
Inheritance diagram for AnimatSim::Environment::Joints::Hinge: Collaboration diagram for AnimatSim::Environment::Joints::Hinge:Public Member Functions | |
| Hinge () | |
| Default constructor. More... | |
| virtual | ~Hinge () |
| Destructor. More... | |
| virtual void | AddExternalNodeInput (int iTargetDataType, float fltInput) |
| Adds an external node input. More... | |
| float | CylinderHeight () |
| Gets the height of the cylinder used to display the hinge in the environment. More... | |
| float | CylinderRadius () |
| Gets the radius cylinder of the cylinder used to display the hinge in the environment. More... | |
| virtual void | Enabled (bool bValue) |
| Enables the node. More... | |
| float | FlapWidth () |
| Gets the width of the flaps used to display the hinge in the environment. More... | |
| 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 int | GetTargetDataTypeIndex (const std::string &strDataType) |
| Used to convert a string target data type into an integer index. More... | |
| virtual void | Load (CStdXml &oXml) |
| virtual ConstraintLimit * | LowerLimit () |
| Gets a pointer to the lower limit ConstraintLimit. 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 void | UpdateData () |
| Called to collect any body data for this part. More... | |
| virtual ConstraintLimit * | UpperLimit () |
| Gets a pointer to the upper limit ConstraintLimit. More... | |
| Public Member Functions inherited from AnimatSim::Environment::MotorizedJoint | |
| virtual int | AssistCountdown () |
| Gets the assist countdown. More... | |
| virtual void | AssistCountdown (int iVal) |
| Sets the assist countdown. More... | |
| virtual CStdPID * | AssistPid () |
| Gets a pointer to the motor assist pid controller. More... | |
| virtual float | DesiredPosition () |
| Gets the desired Position. More... | |
| virtual void | DesiredPosition (float fltPosition) |
| Sets the desired Position. More... | |
| virtual float | DesiredVelocity () |
| Gets the desired velocity. More... | |
| virtual void | DesiredVelocity (float fltVelocity) |
| Sets the desired velocity. More... | |
| virtual void | EnableLock (bool bOn, float fltPosition, float fltMaxLockForce) |
| Enables/disables the motor lock. More... | |
| virtual bool | EnableMotor () |
| Tells if the motor is enabled. More... | |
| virtual void | EnableMotor (bool bVal) |
| Enables the motor. More... | |
| virtual float * | GetDataPointer (const std::string &strDataType) |
| virtual void | Initialize () |
| Initializes this object. More... | |
| virtual void | MaxForce (float fltVal, bool bUseScaling=true) |
| Sets the Maximum torque. More... | |
| virtual float | MaxForce () |
| Gets the maximum torque. More... | |
| virtual float | MaxForceNotScaled () |
| Gets the maximum force/torque a motor can apply. This is the unscaled value. More... | |
| virtual float | MaxVelocity () |
| Gets the maximum velocity. More... | |
| virtual void | MaxVelocity (float fltVal, bool bUseScaling=true) |
| Sets the maximum velocity allowed by the motorized joint. More... | |
| virtual CStdFPoint | MotorAssistForceToA () |
| Gets the force vector that the motor assist is applying to body A. (scaled units). More... | |
| virtual void | MotorAssistForceToA (CStdFPoint &vVal) |
| Sets the force vector that the motor assist is applying to body A. (scaled units). More... | |
| virtual CStdFPoint | MotorAssistForceToAReport () |
| Gets the force vector that the motor assist is applying to body A. (un-scaled units). This is used for reporting purposes. More... | |
| virtual void | MotorAssistForceToAReport (CStdFPoint &vVal) |
| Sets the force vector that the motor assist is applying to body A. (un-scaled units). This is used for reporting purposes. More... | |
| virtual CStdFPoint | MotorAssistForceToB () |
| Gets the force vector that the motor assist is applying to body B. (scaled units). More... | |
| virtual void | MotorAssistForceToB (CStdFPoint &vVal) |
| Sets the force vector that the motor assist is applying to body B. (scaled units). More... | |
| virtual CStdFPoint | MotorAssistForceToBReport () |
| Gets the force vector that the motor assist is applying to body B. (scaled units). This is used for reporting purposes. More... | |
| virtual void | MotorAssistForceToBReport (CStdFPoint &vVal) |
| Sets the force vector that the motor assist is applying to body B. (un-scaled units). This is used for reporting purposes. More... | |
| virtual CStdFPoint | MotorAssistTorqueToA () |
| Gets the torque vector that the motor assist is applying to body A. (scaled units). More... | |
| virtual void | MotorAssistTorqueToA (CStdFPoint &vVal) |
| Sets the torque vector that the motor assist is applying to body A. (scaled units). More... | |
| virtual CStdFPoint | MotorAssistTorqueToAReport () |
| Gets the torque vector that the motor assist is applying to body A. (un-scaled units). This is used for reporting purposes. More... | |
| virtual void | MotorAssistTorqueToAReport (CStdFPoint &vVal) |
| Sets the torque vector that the motor assist is applying to body A. (un-scaled units). This is used for reporting purposes. More... | |
| virtual CStdFPoint | MotorAssistTorqueToB () |
| Gets the torque vector that the motor assist is applying to body B. (scaled units). More... | |
| virtual void | MotorAssistTorqueToB (CStdFPoint &vVal) |
| Sets the torque vector that the motor assist is applying to body B. (scaled units). More... | |
| virtual CStdFPoint | MotorAssistTorqueToBReport () |
| Gets the torque vector that the motor assist is applying to body B. (un-scaled units). This is used for reporting purposes. More... | |
| virtual void | MotorAssistTorqueToBReport (CStdFPoint &vVal) |
| Sets the torque vector that the motor assist is applying to body B. (un-scaled units). This is used for reporting purposes. More... | |
| virtual CStdFPoint | MotorForceToA () |
| Gets the force vector that the motor is applying to body A. (un-scaled units). This includes any motor assist within it. More... | |
| virtual void | MotorForceToA (CStdFPoint &vVal) |
| Sets the force vector that the motor is applying to body A. (un-scaled units). This includes any motor assist within it. More... | |
| virtual float | MotorForceToAMagnitude () |
| Gets the magnitude of the force that the motor is applying to body A. (scaled units). More... | |
| virtual void | MotorForceToAMagnitude (float fltVal) |
| Sets the magnitude of the force that the motor is applying to body A. (scaled units). More... | |
| virtual CStdFPoint | MotorForceToB () |
| Gets the force vector that the motor is applying to body B. (un-scaled units). This includes any motor assist within it. More... | |
| virtual void | MotorForceToB (CStdFPoint &vVal) |
| Sets the force vector that the motor is applying to body B. (un-scaled units). This includes any motor assist within it. More... | |
| virtual float | MotorForceToBMagnitude () |
| Gets the magnitude of the force that the motor is applying to body B. (scaled units). More... | |
| virtual void | MotorForceToBMagnitude (float fltVal) |
| Sets the magnitude of the force that the motor is applying to body B. (scaled units). More... | |
| virtual void | MotorInput (float fltInput) |
| Sets the desired velocity. More... | |
| virtual CStdFPoint | MotorTorqueToA () |
| Gets the torque vector that the motor is applying to body A. (un-scaled units). This includes any motor assist within it. More... | |
| virtual void | MotorTorqueToA (CStdFPoint &vVal) |
| Sets the torque vector that the motor is applying to body A. (un-scaled units). This includes any motor assist within it. More... | |
| virtual float | MotorTorqueToAMagnitude () |
| Gets the magnitude of the torque that the motor is applying to body A. (scaled units). More... | |
| virtual void | MotorTorqueToAMagnitude (float fltVal) |
| Sets the magnitude of the torque that the motor is applying to body A. (scaled units). More... | |
| virtual CStdFPoint | MotorTorqueToB () |
| Gets the torque vector that the motor is applying to body B. (un-scaled units). This includes any motor assist within it. More... | |
| virtual void | MotorTorqueToB (CStdFPoint &vVal) |
| Sets the torque vector that the motor is applying to body B. (un-scaled units). This includes any motor assist within it. More... | |
| virtual float | MotorTorqueToBMagnitude () |
| Gets the magnitude of the torque that the motor is applying to body B. (scaled units). More... | |
| virtual void | MotorTorqueToBMagnitude (float fltVal) |
| Sets the magnitude of the torque that the motor is applying to body B. (scaled units). More... | |
| virtual void | MotorType (eJointMotorType eServo) |
| Sets the type of motor to use for this joint. More... | |
| virtual eJointMotorType | MotorType () |
| Gets the type of motor to use for this joint. More... | |
| virtual IMotorizedJoint * | PhysicsMotorJoint () |
| 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 joint.. More... | |
| virtual void | PhysicsMotorJoint (IMotorizedJoint *lpJoint) |
| Sets the physics motorized joint 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 joint.. More... | |
| virtual float | PrevSetPosition () |
| Gets the previous set position. More... | |
| virtual void | PrevSetPosition (float fltVal) |
| Sets the previous desired Position. More... | |
| virtual float | PrevSetVelocity () |
| Gets the previous set etVelocity. More... | |
| virtual void | PrevSetVelocity (float fltVal) |
| Sets the previous desired velocity. More... | |
| virtual float | PrevVelocity () |
| Sets the previous velocity that is actually used by the physics method. More... | |
| virtual void | PrevVelocity (float fltVal) |
| Sets the previous velocity that is actually used by the physics method. More... | |
| virtual void | QueryProperties (CStdPtrArray< TypeProperty > &aryProperties) |
| virtual bool | ReachedSetPosition () |
| Gets whether the servo motor has reached its target position. If it has then it switches to position only control until the user sets a new target position. More... | |
| virtual void | ReachedSetPosition (bool bVal) |
| whether the servo motor has reached its target position. More... | |
| virtual void | RobotMotorControl (RobotPartInterface *lpPart) |
| virtual RobotPartInterface * | RobotMotorControl () |
| Gets the robot motor control interface. More... | |
| virtual void | ServoGain (float fltVal) |
| Sets the servo gain used to calculate the new velocity for maintaining a position with a servo motor. More... | |
| virtual float | ServoGain () |
| Gets the servo gain. More... | |
| virtual float | SetPosition () |
| Gets the position that is actually set using the physics method. More... | |
| virtual void | SetPosition (float fltVal) |
| Sets the Position that is actually set using the physics method. More... | |
| virtual float | SetVelocity () |
| Gets the velocity that is actually set using the physics method. More... | |
| virtual void | SetVelocity (float fltVal) |
| Sets the velocity that is actually set using the physics method. More... | |
| virtual void | SetVelocityToDesired () |
| Sets the desired velocity to use for the motor. More... | |
| virtual float | Temperature () |
| Gets the motor temperature. More... | |
| virtual void | Temperature (float fltVal) |
| Sets the motor temperature. More... | |
| virtual float | Voltage () |
| Gets the motor voltage. More... | |
| virtual void | Voltage (float fltVal) |
| Sets the motor voltage. More... | |
| Public Member Functions inherited from AnimatSim::Environment::Joint | |
| Joint () | |
| Default constructor. More... | |
| virtual | ~Joint () |
| Destructor. 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 | 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 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 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 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 | 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 | 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 Hinge * | CastToDerived (AnimatBase *lpBase) |
| Static Public Member Functions inherited from AnimatSim::Environment::MotorizedJoint | |
| static MotorizedJoint * | CastToDerived (AnimatBase *lpBase) |
| Static Public Member Functions inherited from AnimatSim::Environment::Joint | |
| 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 Attributes | |
| float | m_fltDesiredPositionDeg |
| The desired rotation of the hinge in degrees. | |
| float | m_fltRotationDeg |
| The rotation of the hinge in degrees. | |
| ConstraintLimit * | m_lpLowerLimit |
| Lower limit constring pointer. | |
| ConstraintLimit * | m_lpPosFlap |
| Pointer to a constraint that is used to represent the position flap. | |
| ConstraintLimit * | m_lpUpperLimit |
| Upper limit constring pointer. | |
| Protected Attributes inherited from AnimatSim::Environment::MotorizedJoint | |
| bool | m_bEnableMotor |
| If true then the motor for this joint is enabled. | |
| bool | m_bEnableMotorInit |
| bool | m_bReachedSetPos |
| eJointMotorType | m_eMotorType |
| Determines the type of motor control this joint uses. The default is velocity controlled, but it can be position controlled, or both position and velocity controlled. | |
| float | m_fltDesiredPosition |
| float | m_fltDesiredVelocity |
| float | m_fltMaxForce |
| float | m_fltMaxForceNotScaled |
| The un=scaled maximum force. | |
| float | m_fltMaxVelocity |
| float | m_fltMotorAssistMagnitude |
| The motor assist Force magnitude. | |
| float | m_fltMotorAssistMagnitudeReport |
| The reportable motor assist Force magnitude. | |
| float | m_fltMotorForceAMagnitude |
| The magnitude of the motor Force being applied to body A. (scaled units) | |
| float | m_fltMotorForceBMagnitude |
| The magnitude of the motor Force being applied to body B. (scaled units) | |
| float | m_fltMotorTorqueAMagnitude |
| The magnitude of the motor torque being applied to body A. (scaled units) | |
| float | m_fltMotorTorqueBMagnitude |
| The magnitude of the motor torque being applied to body B. (scaled units) | |
| float | m_fltPrevSetPosition |
| float | m_fltPrevSetVelocity |
| The previous velocity set for the motorized joint in the last time step. | |
| float | m_fltPrevVelocity |
| float | m_fltReportSetPosition |
| This is the variable that is reported to AnimatLab on what the set position was. | |
| float | m_fltReportSetVelocity |
| This is the variable that is reported to AnimatLab on what the set veloicty was. | |
| float | m_fltSetPosition |
| float | m_fltSetPositionDeltaCheck |
| Used to check whether the set position has changed. | |
| float | m_fltSetVelocity |
| float | m_fltTemperature |
| float | m_fltVoltage |
| float | m_ftlServoGain |
| The gain of the servo motor. | |
| int | m_iAssistCountdown |
| PidControl * | m_lpAssistPid |
| The PID controller for the motor assist system. | |
| IMotorizedJoint * | m_lpPhysicsMotorJoint |
| The pointer to the physics joint instance. | |
| RobotPartInterface * | m_lpRobotMotorControl |
| The RobotPartInterface responsible for motor control for this motorized joint. | |
| CStdFPoint | m_vMotorAssistForceToA |
| Force vector that the motor assist is applying to body A. (scaled units). | |
| CStdFPoint | m_vMotorAssistForceToAReport |
| Force vector that the motor assist is applying to body A. (un-scaled units). | |
| CStdFPoint | m_vMotorAssistForceToB |
| Force vector that the motor assist is applying to body B. (scaled units). | |
| CStdFPoint | m_vMotorAssistForceToBReport |
| Force vector that the motor assist is applying to body B. (un-scaled units). | |
| CStdFPoint | m_vMotorAssistTorqueToA |
| Torque vector that the motor assist is applying to body A. (scaled units). | |
| CStdFPoint | m_vMotorAssistTorqueToAReport |
| Torque vector that the motor assist is applying to body A. (un-scaled units). | |
| CStdFPoint | m_vMotorAssistTorqueToB |
| Torque vector that the motor assist is applying to body B. (scaled units). | |
| CStdFPoint | m_vMotorAssistTorqueToBReport |
| Torque vector that the motor assist is applying to body B. (un-scaled units). | |
| CStdFPoint | m_vMotorForceToA |
| CStdFPoint | m_vMotorForceToB |
| CStdFPoint | m_vMotorTorqueToA |
| CStdFPoint | m_vMotorTorqueToB |
| Protected Attributes inherited from AnimatSim::Environment::Joint | |
| 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. | |
Additional Inherited Members | |
| Protected Member Functions inherited from AnimatSim::Environment::MotorizedJoint | |
| virtual void | AddRobotPartInterface (RobotPartInterface *lpPart) |
| virtual void | ApplyMotorAssist () |
| Applies the motor assist. More... | |
| virtual void | ClearAssistForces () |
| Clears the assist forces. More... | |
| virtual void | EnableFeedback () |
| Enables joint feedback. More... | |
| virtual void | RemoveRobotPartInterface (RobotPartInterface *lpPart) |
| Protected Member Functions inherited from AnimatSim::Environment::Joint | |
| 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::MovableItem | |
| virtual void | LoadPosition (CStdXml &oXml) |
| Loads the items position. More... | |
| virtual void | LoadRotation (CStdXml &oXml) |
| Loads the items rotation. More... | |
A hinge type of joint.
This type of joint is constrained so that it can only rotate about one axis. You can define which axis it rotates around in the configuration file using the normalized RotationAxis vector element. You can also specify the rotational constraints for this joint. This prevents it from rotating further than the constrained value.
Also, this joint is motorized. So you can specify a desired velocity of motion at a given time step using a motor velocity stimulus and the physics engine will automatically apply the forces necessary to move the joint at the desired velocity.
| AnimatSim::Environment::Joints::Hinge::Hinge | ( | ) |
Default constructor.
Definition at line 52 of file Hinge.cpp.
References m_fltDesiredPositionDeg, m_fltRotationDeg, m_lpLowerLimit, m_lpPosFlap, and m_lpUpperLimit.
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virtual |
Destructor.
Definition at line 67 of file Hinge.cpp.
References m_lpLowerLimit, m_lpPosFlap, m_lpUpperLimit, 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. |
Reimplemented from AnimatSim::Environment::Joint.
Definition at line 204 of file Hinge.cpp.
References AnimatSim::Environment::MotorizedJoint::m_fltDesiredPosition, and AnimatSim::Environment::MotorizedJoint::m_fltDesiredVelocity.
| float AnimatSim::Environment::Joints::Hinge::CylinderHeight | ( | ) |
Gets the height of the cylinder used to display the hinge in the environment.
Definition at line 114 of file Hinge.cpp.
References AnimatSim::Environment::Joint::m_fltSize.
Referenced by VortexAnimatSim::Environment::Joints::VsHinge::CreateCylinderGraphics().
Here is the caller graph for this function:| float AnimatSim::Environment::Joints::Hinge::CylinderRadius | ( | ) |
Gets the radius cylinder of the cylinder used to display the hinge in the environment.
Definition at line 101 of file Hinge.cpp.
References AnimatSim::Environment::Joint::m_fltSize.
Referenced by VortexAnimatSim::Environment::Joints::VsHinge::CreateCylinderGraphics().
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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.
Definition at line 132 of file Hinge.cpp.
References AnimatSim::Environment::MotorizedJoint::EnableMotor(), AnimatSim::AnimatBase::m_bEnabled, and AnimatSim::Environment::MotorizedJoint::m_bEnableMotorInit.
Here is the call graph for this function:| float AnimatSim::Environment::Joints::Hinge::FlapWidth | ( | ) |
Gets the width of the flaps used to display the hinge in the environment.
Definition at line 127 of file Hinge.cpp.
References AnimatSim::Environment::Joint::m_fltSize.
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virtual |
Gets the entire range of movement within the limits. If limits are not enabled then it returns -1.
Reimplemented from AnimatSim::Environment::Joint.
Definition at line 171 of file Hinge.cpp.
References AnimatSim::Environment::ConstraintLimit::LimitPos(), AnimatSim::Environment::Joint::m_bEnableLimits, m_lpLowerLimit, and m_lpUpperLimit.
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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 from AnimatSim::Environment::Joint.
Definition at line 158 of file Hinge.cpp.
References AnimatSim::Environment::ConstraintLimit::LimitPos(), AnimatSim::Environment::Joint::m_bEnableLimits, m_lpLowerLimit, and m_lpUpperLimit.
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Used to convert a string target data type into an integer index.
We do not want to be doing any string comparisons within the main simulation loop. To avoid this we need to convert the target data type into an index to use when AddExternalNodeInput is called so it knows to which input we are adding.
| strDataType | String descriptor of the target data we want. |
Reimplemented from AnimatSim::Node.
Definition at line 193 of file Hinge.cpp.
References StdUtils::Std_CheckString().
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Gets a pointer to the lower limit ConstraintLimit.
Definition at line 156 of file Hinge.cpp.
References m_lpLowerLimit.
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virtual |
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::MotorizedJoint.
Reimplemented in BulletAnimatSim::Environment::Joints::BlHinge, and RoboticsAnimatSim::Environment::Joints::RbHinge.
Definition at line 212 of file Hinge.cpp.
References m_fltDesiredPositionDeg, m_fltRotationDeg, and AnimatSim::Environment::MotorizedJoint::ResetSimulation().
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Called to collect any body data for this part.
Reimplemented from AnimatSim::Environment::BodyPart.
Definition at line 219 of file Hinge.cpp.
References AnimatSim::Environment::MotorizedJoint::m_fltDesiredPosition, m_fltDesiredPositionDeg, AnimatSim::Environment::Joint::m_fltPosition, m_fltRotationDeg, and AnimatSim::Environment::BodyPart::UpdateData().
Referenced by RoboticsAnimatSim::Environment::Joints::RbHinge::StepSimulation(), BulletAnimatSim::Environment::Joints::BlHinge::StepSimulation(), and VortexAnimatSim::Environment::Joints::VsHinge::StepSimulation().
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Gets a pointer to the upper limit ConstraintLimit.
Definition at line 146 of file Hinge.cpp.
References m_lpUpperLimit.
1.8.10 
