A "static" structure in the simulation. More...

#include <Structure.h>

Inheritance diagram for AnimatSim::Environment::Structure:

Collaboration diagram for AnimatSim::Environment::Structure:

Public Member Functions
	Structure ()
	Default constructor. More...

virtual	~Structure ()
	Destructor. More...

virtual void	AddCollisionPair (std::string strID1, std::string strID2)
	Adds a collision pair to m_aryExcludeCollisionList. 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...

void	AddJoint (Joint *lpJoint)
	Adds a new joint to the list of all joints for this structure. More...

void	AddRigidBody (RigidBody *lpBody)
	Adds a new rigid body to the list of all bodies for this structure. 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 void	Body (RigidBody *lpBody)
	Sets the root body. More...

virtual RigidBody *	Body ()
	Gets the root body. More...

virtual long	CalculateSnapshotByteSize ()
	Calculates the snapshot byte size. More...

virtual void	Create ()

virtual void	DisableCollision (RigidBody *lpCollisionBody)
	Disables collision between the past-in object and all rigid bodies of this structure. More...

virtual void	EnableCollision (RigidBody *lpCollisionBody)
	Enables collision between the past-in object and all rigid bodies of this structure. More...

virtual void	EnableMotor (std::string strJointID, bool bVal)
	Enables the given joints motor. More...

virtual CStdPtrArray< CollisionPair >	ExclusionList ()
	Gets the collision exclusion list as an array. More...

virtual Joint *	FindJoint (std::string strJointID, bool bThrowError=true)
	Finds a joint with a specified ID within this structure. More...

virtual Node *	FindNode (std::string strID, bool bThrowError=true)
	Searches for a Node with the given ID. More...

virtual RigidBody *	FindRigidBody (std::string strBodyID, bool bThrowError=true)
	Finds a rigid body with a specified ID within this structure. More...

virtual float *	GetDataPointer (const std::string &strDataType)
	Returns a float pointer to a data item of interest in this object. More...

virtual RobotInterface *	GetRobotInterface ()

virtual void	Initialize ()
	Initializes this object. More...

virtual void	Kill (bool bState=true)
	Kills. More...

virtual void	Load (CStdXml &oXml)

virtual void	LoadKeyFrameSnapshot (byte *aryBytes, long &lIndex)
	Loads a key frame snapshot. More...

virtual void	MinTimeStep (float &fltMin)

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	QueryProperties (CStdPtrArray< TypeProperty > &aryProperties)
	Queries this object for a list of properties that can be changed using SetData. More...

virtual bool	RemoveItem (const std::string &strItemType, const std::string &strID, bool bThrowError=true)
	Removes a child item from this parent. More...

void	RemoveJoint (std::string strID)
	Removes the joint with the specified ID. More...

void	RemoveRigidBody (std::string strID)
	Removes the rigid body with the specified ID. More...

virtual void	ResetSimulation ()
	Resets the simulation back to time 0. More...

virtual void	SaveKeyFrameSnapshot (byte *aryBytes, long &lIndex)
	Saves a key frame snapshot. More...

virtual void	Script (ScriptProcessor *lpScript)

virtual ScriptProcessor *	Script ()

virtual void	Selected (bool bValue, bool bSelectMultiple)
	Selects this object. More...

virtual bool	SetData (const std::string &strDataType, const std::string &strValue, bool bThrowError=true)
	Set a variable based on a string data type name. More...

virtual void	SetMotorInput (std::string strJointID, float fltInput)
	Sets the velocity for the specified joint. More...

virtual void	SetSystemPointers (Simulator lpSim, Structure lpStructure, NeuralModule lpModule, Node lpNode, bool bVerify)

void	Sim (Simulator *lpSim)
	Sets the simulator object. 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 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	StepPhysicsEngine ()
	Allows the organism and its parts to update at each time slice. More...

virtual void	UpdatePhysicsPosFromGraphics ()

Public Member Functions inherited from AnimatSim::AnimatBase
	AnimatBase ()
	Constructs an AnimatBase object. More...

virtual	~AnimatBase ()
	Destroys the AnimatBase object.. More...

virtual void	AfterResetSimulation ()
	Called after a simulation reset for some objects. More...

virtual void	Copy (CStdSerialize *lpSource)

virtual void	Enabled (bool bVal)
	Tells whether this item is enabled or not. This is not actually used for all objects, only specific ones. I am putting it in the base class though to prevent numerous duplications. More...

virtual bool	Enabled ()
	Tells whether this item is enabled or not. This is not actually used for all objects, only specific ones. I am putting it in the base class though to prevent numerous duplications. 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 std::string	Name ()
	Gets the name of this object. More...

virtual void	Name (std::string strValue)
	Sets the name of the object. Blank is acceptable. More...

virtual AnimatPropertyType	PropertyType (const std::string &strName)

virtual void	ReInitialize ()
	Re-initialize this object. More...

virtual void	Reset ()
	Resets this object. More...

virtual void	RigidBodyAdded (std::string strID)

virtual void	RigidBodyRemoved (std::string strID)

virtual 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	SetSystemPointers (Simulator lpSim, Structure lpStructure, NeuralModule lpModule, Node lpNode, bool bVerify)
	Sets the system pointers. More...

virtual void	StepSimulation ()
	Step the simulation for this object. More...

virtual void	TimeStepModified ()
	Notification method that the time step modified has been modified. Objects should recalculate any slice times as needed. 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...

virtual void	VerifySystemPointers ()
	Verify that system pointers have been set correctly. More...

virtual void	VisualSelectionModeChanged (int iNewMode)
	Visual selection mode changed. 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 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 bool	AllowMouseManipulation ()
	Tells if a given part can be manipulated using the mouse and draggers. 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 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...

virtual void	VisualSelectionModeChanged (int iNewMode)
	Called when the visual selection mode changed in GUI. More...

virtual int	VisualSelectionType ()
	Gets the visual selection type for this part. More...

Static Public Member Functions
static Structure *	CastToDerived (AnimatBase *lpBase)

Protected Member Functions
virtual void	AddRoot (std::string strXml)
	Creates and adds a root body part. More...

virtual void	AddScript (std::string strXml)
	Creates and adds a scripting object to this structure. More...

virtual void	LoadCollisionPair (CStdXml &oXml)
	Loads a collision pair. More...

virtual void	LoadLayout (CStdXml &oXml)
	Loads the layout for this structure from an asl configuration file. More...

virtual RigidBody *	LoadRoot (CStdXml &oXml)
	Loads the root rigid body. More...

virtual ScriptProcessor *	LoadScript (CStdXml &oXml)
	Loads the script. More...

virtual void	RemoveRoot (std::string strID, bool bThrowError=true)
	Removes the root based on ID. More...

virtual void	RemoveScript (std::string strID, bool bThrowError=true)
	Removes the script based on ID. More...

virtual void	UpdateData ()
	Collects reporting data for the structure at each time step. 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
CStdPtrArray< CollisionPair >	m_aryExcludeCollisionList
	This is the list of other body part ID's to exclude from collision tests.

CStdMap< std::string, Joint * >	m_aryJoints

CStdMap< std::string, RigidBody * >	m_aryRigidBodies

float	m_fltSize
	The radius of the graphical sphere shown for the structure position.

RigidBody *	m_lpBody
	The root rigid body object of this structure.

IMovableItemCallback *	m_lpCallback

ScriptProcessor *	m_lpScript
	Script processor for running python or other scripting systems related to this structure.

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.

Detailed Description

A "static" structure in the simulation.

Remarks: This object is a "static" structure in the simulation. I say "static" because can move, but it is part of the background environment and does not have a brain controlling its movement. For example, if you wanted to have a house as an obstacle in the environemt then that house would probably have a door. The door would be connected to the wall of the house using a hinge joint. So the door can open and close, but it does not have a brain to control its movement. Another example is a rock. If you create a rock and place it at a precarious position on the top of a hill then it will move by rolling down the hill, but this is a passive effect of gravity acting on the body of the rock, and not something that the rock actively did. An organism on the other hand does have a neural network that actively controls the movements of its limbs to change its position and orientation within the world.

See also: Structure, Organism, Body, Joint

Definition at line 84 of file Structure.h.

Constructor & Destructor Documentation

AnimatSim::Environment::Structure::Structure ( )

Default constructor.

Author: dcofer

Date: 2/25/2011

Definition at line 53 of file Structure.cpp.

References m_fltSize, m_lpBody, AnimatSim::Environment::MovableItem::m_lpPhysicsMovableItem, m_lpScript, and AnimatSim::AnimatBase::m_lpSim.

AnimatSim::Environment::Structure::~Structure ( )

virtual

Destructor.

Author: dcofer

Date: 2/25/2011

Definition at line 68 of file Structure.cpp.

References m_aryExcludeCollisionList, m_aryJoints, m_aryRigidBodies, m_lpBody, m_lpScript, and StdUtils::Std_TraceMsg().

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Member Function Documentation

void AnimatSim::Environment::Structure::AddCollisionPair	(	std::string	strID1,
		std::string	strID2
	)

virtual

Adds a collision pair to m_aryExcludeCollisionList.

Author: dcofer

Date: 2/25/2011

Parameters

strID1	GUID ID of the first rigid body in the pair.
strID2	GUID ID of the second rigid body in the pair.

Definition at line 914 of file Structure.cpp.

References m_aryExcludeCollisionList, AnimatSim::Environment::CollisionPair::m_strPart1ID, and AnimatSim::Environment::CollisionPair::m_strPart2ID.

bool AnimatSim::Environment::Structure::AddItem	(	const std::string &	strItemType,
		const std::string &	strXml,
		bool	bThrowError = `true`,
		bool	bDoNotInit = `false`
	)

virtual

Adds a new object to this parent.

Generic method to add a new child item to this parent by specifying a string item type descriptor and an xml packet that can be used to load in the new object. The GUI uses this method to create new items that were added with the user interface. The item type lets the method determine what type of item is being created, like synapse, neuron, body part, etc.. It then gets the modulename, classname, and type from the xml and calls CreateObject to create the appropriate type of object. Then it passes in the xml packet to the new objects load method and does any needed initialization and adds it to the parent.

Author: dcofer

Date: 2/22/2011

Parameters

strItemType	String descriptor of the type of item that is being created.
strXml	XML packet that is used to create and load the new item.
bThrowError	If true then throw an error if there is a problem, otherwise return false.

Returns: true if it succeeds, false if it fails.

Reimplemented from AnimatSim::AnimatBase.

Reimplemented in AnimatSim::Environment::Organism.

Definition at line 578 of file Structure.cpp.

References AddRoot(), AddScript(), and StdUtils::Std_CheckString().

Referenced by AnimatSim::Environment::Organism::AddItem().

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void AnimatSim::Environment::Structure::AddJoint ( Joint * lpJoint )

Adds a new joint to the list of all joints for this structure.

There are two reasons for this method. The first is to get a list of references to all joints in this structure that is mapped to their ID value. This allows us to use the STL find funtions to find joints. This is more efficeient that using a loop and recursion. The second reason is that this also allows us to ensure that each joint that is being added has a unique ID value. If you attempt to add a joint that has a ID that is already in the list then an exception will be thrown. Note that this method is NOT creating the object itself, that is done elsewhere. It is simply adding a reference to that created object to the list. Also, items in that list are not destroyed when the list is destroyed. It is a list of references only.

Author: dcofer

Date: 2/25/2011

Parameters

[in,out] lpJoint pointer to a joint.

Definition at line 344 of file Structure.cpp.

References AnimatSim::AnimatBase::ID(), m_aryJoints, StdUtils::CStdErrorInfo::m_lError, StdUtils::CStdErrorInfo::m_strError, AnimatSim::AnimatBase::m_strName, and AnimatSim::AnimatBase::Name().

Referenced by AnimatSim::Environment::RigidBody::LoadJoint().

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void AnimatSim::Environment::Structure::AddRigidBody ( RigidBody * lpBody )

Adds a new rigid body to the list of all bodies for this structure.

There are two reasons for this method. The first is to get a list of references to all rigid bodies in this structure that is mapped to their ID value. This allows us to use the STL find funtions to find bodies. This is more efficeient that using a loop and recursion. The second reason is that this also allows us to ensure that each body that is being added has a unique ID value. If you attempt to add a body that has a ID that is already in the list then an exception will be thrown. Note that this method is NOT creating the object itself, that is done elsewhere. It is simply adding a reference to that created object to the list. Also, items in that list are not destroyed when the list is destroyed. It is a list of references only.

Author: dcofer

Date: 2/25/2011

Parameters

[in,out] lpBody The pointer to a body.

Definition at line 400 of file Structure.cpp.

References AnimatSim::AnimatBase::ID(), m_aryRigidBodies, StdUtils::CStdErrorInfo::m_lError, StdUtils::CStdErrorInfo::m_strError, AnimatSim::AnimatBase::m_strName, and AnimatSim::AnimatBase::Name().

Referenced by AnimatSim::Environment::RigidBody::LoadRigidBody(), and LoadRoot().

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void AnimatSim::Environment::Structure::AddRoot ( std::string strXml )

protectedvirtual

Creates and adds a root body part.

This method is primarily used by the GUI to add a new root body to the structure. It creates the root from info in the XML packet and then uses the XML to load in the new body part. It then initializes it and calls CreateParts, and CreateJoints.

Author: dcofer

Date: 2/25/2011

Parameters

strXml The xml configuration data packet.

Definition at line 636 of file Structure.cpp.

References AnimatSim::Environment::RigidBody::CreateJoints(), AnimatSim::Environment::RigidBody::CreateParts(), StdUtils::CStdXml::Deserialize(), StdUtils::CStdXml::FindChildElement(), StdUtils::CStdXml::FindElement(), AnimatSim::AnimatBase::ID(), AnimatSim::Environment::BodyPart::Initialize(), LoadRoot(), m_lpBody, and AnimatSim::AnimatBase::m_lpSim.

Referenced by AddItem().

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void AnimatSim::Environment::Structure::AddScript ( std::string strXml )

protectedvirtual

Creates and adds a scripting object to this structure.

This method is primarily used by the GUI to add a new script objects to the structure. It creates the ScriptProcessor from info in the XML packet and then uses the XML to load in the new script.

Author: dcofer

Date: 5/23/2014

Parameters

strXml The xml configuration data packet.

Definition at line 696 of file Structure.cpp.

References StdUtils::CStdXml::Deserialize(), StdUtils::CStdXml::FindChildElement(), StdUtils::CStdXml::FindElement(), AnimatSim::AnimatBase::Initialize(), LoadScript(), and m_lpScript.

Referenced by AddItem().

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bool AnimatSim::Environment::Structure::AllowRotateDragX ( )

virtual

Gets whether this body part can be rotated along the x-axis by the user with the drag handlers.

Author: dcofer

Date: 4/21/2011

Returns: true if can rotate along x-axis.

Reimplemented from AnimatSim::Environment::MovableItem.

Definition at line 175 of file Structure.cpp.

bool AnimatSim::Environment::Structure::AllowRotateDragY ( )

virtual

Gets whether this body part can be rotated along the y-axis by the user with the drag handlers.

Author: dcofer

Date: 4/21/2011

Returns: true if can rotate along y-axis.

Reimplemented from AnimatSim::Environment::MovableItem.

Definition at line 177 of file Structure.cpp.

bool AnimatSim::Environment::Structure::AllowRotateDragZ ( )

virtual

Gets whether this body part can be rotated along the z-axis by the user with the drag handlers.

Author: dcofer

Date: 4/21/2011

Returns: true if can rotate along z-axis.

Reimplemented from AnimatSim::Environment::MovableItem.

Definition at line 179 of file Structure.cpp.

bool AnimatSim::Environment::Structure::AllowTranslateDragX ( )

virtual

Gets whether this body part can be translated along the x-axis by the user with the drag handlers.

Author: dcofer

Date: 4/21/2011

Returns: true if can drag along x-axis.

Reimplemented from AnimatSim::Environment::MovableItem.

Definition at line 169 of file Structure.cpp.

bool AnimatSim::Environment::Structure::AllowTranslateDragY ( )

virtual

Gets whether this body part can be translated along the y-axis by the user with the drag handlers.

Author: dcofer

Date: 4/21/2011

Returns: true if can drag along y-axis.

Reimplemented from AnimatSim::Environment::MovableItem.

Definition at line 171 of file Structure.cpp.

bool AnimatSim::Environment::Structure::AllowTranslateDragZ ( )

virtual

Gets whether this body part can be translated along the z-axis by the user with the drag handlers.

Author: dcofer

Date: 4/21/2011

Returns: true if can drag along z-axis.

Reimplemented from AnimatSim::Environment::MovableItem.

Definition at line 173 of file Structure.cpp.

void AnimatSim::Environment::Structure::Body ( RigidBody * lpBody )

virtual

Sets the root body.

Author: dcofer

Date: 5/10/2011

Parameters

[in,out] lpBody Pointer to the root body.

Definition at line 103 of file Structure.cpp.

References m_lpBody.

Referenced by AnimatSim::Environment::RigidBody::IsRoot().

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RigidBody * AnimatSim::Environment::Structure::Body ( )

virtual

Gets the root body.

Gets the root body of the structure.

Author: dcofer

Date: 2/25/2011

Returns: null if it fails, else.

Definition at line 115 of file Structure.cpp.

References m_lpBody.

Referenced by LoadRoot().

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long AnimatSim::Environment::Structure::CalculateSnapshotByteSize ( )

virtual

Calculates the snapshot byte size.

Sometimes the user may want to capture a snapshot of the simulation at a given point in time, and then be able to go back to that specific point. To do this we grab a snapshot of all the data in the system, including the neural variables. We essentially serialize the data into a binary format for later re-use. This method calculates the number of bytes that will be required to store the entire nervous system.

Author: dcofer

Date: 2/24/2011

Returns: The calculated snapshot byte size.

Reimplemented from AnimatSim::AnimatBase.

Reimplemented in AnimatSim::Environment::Organism.

Definition at line 850 of file Structure.cpp.

Referenced by AnimatSim::Simulator::CalculateSnapshotByteSize().

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void AnimatSim::Environment::Structure::DisableCollision ( RigidBody * lpCollisionBody )

virtual

Disables collision between the past-in object and all rigid bodies of this structure.

This method disables collision responses between the rigid body being past in and all rigid bodies in the structure.

Author: dcofer

Date: 2/25/2011

Parameters

[in,out] lpCollisionBody This is a pointer to the body to disable collisions on.

Definition at line 825 of file Structure.cpp.

References AnimatSim::Environment::RigidBody::DisableCollision(), and m_aryRigidBodies.

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void AnimatSim::Environment::Structure::EnableCollision ( RigidBody * lpCollisionBody )

virtual

Enables collision between the past-in object and all rigid bodies of this structure.

This method enables collision responses between the rigid body being past in and all rigid bodies in the structure.

Author: dcofer

Date: 2/25/2011

Parameters

[in,out] lpCollisionBody his is a pointer to the body to enable collisions on.

Definition at line 802 of file Structure.cpp.

References AnimatSim::Environment::RigidBody::EnableCollision(), and m_aryRigidBodies.

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void AnimatSim::Environment::Structure::EnableMotor	(	std::string	strJointID,
		bool	bVal
	)

virtual

Enables the given joints motor.

Author: dcofer

Date: 2/25/2011

Parameters

strJointID	GUID ID of the joint.
bVal	Enable/disable value.

Definition at line 760 of file Structure.cpp.

References AnimatSim::Environment::MotorizedJoint::EnableMotor(), and FindJoint().

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CStdPtrArray< CollisionPair > AnimatSim::Environment::Structure::ExclusionList ( )

virtual

Gets the collision exclusion list as an array.

The collision exclusion list in an array of CollisionPair objects. Collisions between the two objects in the pair are disabled during the simulation. This allows the user to manually configure instances where rigid bodies should not have collisions between them. This is often important in making a stable and fast simulation. For instance, if you have items that may hit each other often and bind within a given structure you should disable the collisions between them to prevent this from occuring.

Author: dcofer

Date: 2/25/2011

Returns: Array of CollisionPair objects that will be excluded from collisions.

Definition at line 210 of file Structure.cpp.

References m_aryExcludeCollisionList.

Joint * AnimatSim::Environment::Structure::FindJoint	(	std::string	strJointID,
		bool	bThrowError = `true`
	)

virtual

Finds a joint with a specified ID within this structure.

This function searches the list of joints associated with this structure to find one that matches the ID in a case-insensitive manner. If it finds it then it returns a pointer to that joint. If it does not find it then it will either throw an exception or return NULL based on the bThrowError parameter.

Author: dcofer

Date: 2/25/2011

Parameters

strJointID	ID of the joint to find. This is not case sensitive.
bThrowError	If this is true and the ID is not found then an exception is thrown. If this is false and the ID is not found then NULL is returned.

Returns: null if it fails and bThrowError is false, else the pointer to the found joint.

Definition at line 457 of file Structure.cpp.

References m_aryJoints, AnimatSim::AnimatBase::m_strName, and StdUtils::Std_CheckString().

Referenced by EnableMotor(), AnimatSim::Simulator::FindJoint(), FindNode(), and SetMotorInput().

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Node * AnimatSim::Environment::Structure::FindNode	(	std::string	strID,
		bool	bThrowError = `true`
	)

virtual

Searches for a Node with the given ID.

Author: dcofer

Date: 2/25/2011

Parameters

strID	GUID string ID of the Node..
bThrowError	true to throw error if not found.

Returns: null if it fails and bThrowError=false, else the found node.

Definition at line 515 of file Structure.cpp.

References FindJoint(), FindRigidBody(), and AnimatSim::AnimatBase::m_strName.

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RigidBody * AnimatSim::Environment::Structure::FindRigidBody	(	std::string	strBodyID,
		bool	bThrowError = `true`
	)

virtual

Finds a rigid body with a specified ID within this structure.

This function searches the list of rigid bodies associated with this structure to find one that matches the ID in a case-insensitive manner. If it finds it then it returns a pointer to that body. If it does not find it then it will either throw an exception or return NULL based on the bThrowError parameter.

Author: dcofer

Date: 2/25/2011

Parameters

strBodyID	ID of the body to find. This is not case sensitive.
bThrowError	If this is true and the ID is not found then an exception is thrown. If this is false and the ID is not found then NULL is returned.

Returns: null if it fails and bThrowError is false, else the pointer to the found rigid body.

Definition at line 489 of file Structure.cpp.

References m_aryRigidBodies, AnimatSim::AnimatBase::m_strName, and StdUtils::Std_CheckString().

Referenced by FindNode(), AnimatSim::Simulator::FindRigidBody(), AnimatSim::ExternalStimuli::ForceStimulus::Initialize(), and AnimatSim::Environment::Bodies::LineBase::InitializeAttachments().

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float * AnimatSim::Environment::Structure::GetDataPointer ( const std::string & strDataType )

virtual

Returns a float pointer to a data item of interest in this object.

This is a generic method used to get a pointer to data variable of interest. It is used by a variety of systems in the simulation. The most prominent are the data charting and stimulus classes. Within this method we associate a variable with a string name. By passing in the name of the data type we are interested in we can recieve back a float pointer to that data type. We can use that to read or set the data item in other classes. For example, the data charting system gets the pointer and then each time it needs to log a data point it reads the value into an array.

Author: dcofer

Date: 2/22/2011

Parameters

strDataType name of the data item for which we are looking.

Returns: float pointer of the data item. If not found then it throws an exception.

Exceptions

If	DataType is not found.

Reimplemented from AnimatSim::AnimatBase.

Definition at line 541 of file Structure.cpp.

References StdUtils::Std_CheckString().

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void AnimatSim::Environment::Structure::Initialize ( )

virtual

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.

Author: dcofer

Date: 3/1/2011

Reimplemented from AnimatSim::AnimatBase.

Reimplemented in AnimatSim::Environment::Organism.

Definition at line 301 of file Structure.cpp.

References AnimatSim::AnimatBase::Initialize(), and m_lpScript.

Referenced by AnimatSim::Environment::Organism::Initialize().

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void AnimatSim::Environment::Structure::Kill ( bool bState = true )

virtual

Kills.

Called to kill the organism, nervous system, neurons, and body parts. All neural items are disabled to prevent any further neural activity, and all joints are disabled to allow free rotation, and all biomechancical components are disabled so they can no longer produce forces. This method is only relevant to these types of objects, but I am putting the definition in the base class because a variety of different types of classes all need this method and I want it consolidated. Those classes that do not need it do not have to call it or do anything when it is called.

Author: dcofer

Date: 3/3/2011

Parameters

bState true to state.

Reimplemented from AnimatSim::AnimatBase.

Reimplemented in AnimatSim::Environment::Organism.

Definition at line 308 of file Structure.cpp.

References AnimatSim::AnimatBase::Kill(), and m_lpScript.

Referenced by AnimatSim::Environment::Organism::Kill().

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void AnimatSim::Environment::Structure::LoadCollisionPair ( CStdXml & oXml )

protectedvirtual

Loads a collision pair.

Author: dcofer

Date: 2/25/2011

Parameters

[in,out] oXml The xml data packet to load.

Definition at line 931 of file Structure.cpp.

References StdUtils::CStdXml::GetChildString(), StdUtils::CStdXml::IntoElem(), m_aryExcludeCollisionList, AnimatSim::Environment::CollisionPair::m_strPart1ID, AnimatSim::Environment::CollisionPair::m_strPart2ID, and StdUtils::CStdXml::OutOfElem().

Referenced by LoadLayout().

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void AnimatSim::Environment::Structure::LoadKeyFrameSnapshot	(	byte *	aryBytes,
		long &	lIndex
	)

virtual

Loads a key frame snapshot.

Sometimes the user may want to capture a snapshot of the simulation at a given point in time, and then be able to go back to that specific point. To do this we grab a snapshot of all the data in the system, including the neural variables. We essentially serialize the data into a binary format for later re-use. This method goes through each module and loads its data from the byte array.

Author: dcofer

Date: 2/24/2011

Parameters

[in,out]	aryBytes	The array of bytes where the data is being stored.
[in,out]	lIndex	Current zero-based index of the read position in the array.

Reimplemented from AnimatSim::AnimatBase.

Reimplemented in AnimatSim::Environment::Organism.

Definition at line 884 of file Structure.cpp.

Referenced by AnimatSim::Simulator::LoadKeyFrameSnapshot().

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void AnimatSim::Environment::Structure::LoadLayout ( CStdXml & oXml )

protectedvirtual

Loads the layout for this structure from an asl configuration file.

This method opens up the Animat Structure Layout (ASL) file that was associated with this structure in the Animat Simulation (ASIM) file. Once it has loaded the file into a CStdXml object it then calls the second method to actually create the structure from the configuration file.

Author: dcofer

Date: 2/25/2011

Parameters

[in,out] oXml The xml data packet to load.

Definition at line 975 of file Structure.cpp.

References StdUtils::CStdXml::FindChildByIndex(), StdUtils::CStdXml::FindChildElement(), StdUtils::CStdXml::GetChildFloat(), StdUtils::CStdXml::IntoElem(), LoadCollisionPair(), LoadRoot(), m_fltSize, m_lpBody, StdUtils::CStdXml::NumberOfChildren(), StdUtils::CStdXml::OutOfElem(), and Size().

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RigidBody * AnimatSim::Environment::Structure::LoadRoot ( CStdXml & oXml )

protectedvirtual

Loads the root rigid body.

Author: dcofer

Date: 2/25/2011

Parameters

[in,out] oXml The xml data packet to load.

Returns: The root.

Definition at line 1020 of file Structure.cpp.

References AddRigidBody(), Body(), AnimatSim::Simulator::CreateObject(), StdUtils::CStdXml::GetChildString(), StdUtils::CStdXml::IntoElem(), m_lpBody, AnimatSim::AnimatBase::m_lpSim, StdUtils::CStdXml::OutOfElem(), and AnimatSim::Environment::MovableItem::Parent().

Referenced by AddRoot(), and LoadLayout().

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ScriptProcessor * AnimatSim::Environment::Structure::LoadScript ( CStdXml & oXml )

protectedvirtual

Loads the script.

Author: dcofer

Date: 5/23/2014

Parameters

[in,out] oXml The xml data packet to load.

Returns: The script.

Definition at line 1072 of file Structure.cpp.

References AnimatSim::Simulator::CreateObject(), StdUtils::CStdXml::GetChildString(), StdUtils::CStdXml::IntoElem(), AnimatSim::AnimatBase::Load(), AnimatSim::AnimatBase::m_lpSim, StdUtils::CStdXml::OutOfElem(), and AnimatSim::AnimatBase::SetSystemPointers().

Referenced by AddScript().

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CStdFPoint AnimatSim::Environment::Structure::Position ( )

virtual

Gets the local position. (m_oPosition)

Author: dcofer

Date: 3/2/2011

Returns: returns m_oPosition.

Reimplemented from AnimatSim::Environment::MovableItem.

Definition at line 118 of file Structure.cpp.

References AnimatSim::Environment::MovableItem::Position().

Referenced by AnimatSim::Environment::RigidBody::LoadPosition(), and AnimatSim::Environment::RigidBody::Position().

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void AnimatSim::Environment::Structure::Position	(	CStdFPoint &	oPoint,
		bool	bUseScaling = `true`,
		bool	bFireChangeEvent = `false`,
		bool	bUpdateMatrix = `true`
	)

virtual

Sets the local position. (m_oPosition)

Author: dcofer

Date: 3/2/2011

Parameters

[in,out]	oPoint	The new point to use to set the local position.
	bUseScaling	If true then the position values that are passed in will be scaled by the unit scaling values.
	bFireChangeEvent	If true then this will call the IMovableItemCallback->PositionChanged callback method to inform the GUI that the part has moved. If false then this callback will be skipped.
	bUpdateMatrix	If true then the IPhysicsMovableItem->Physics_UpdateMatrix method will be called so that the osg graphics will be updated. If false then this will be skipped.

When we change the position of the structure we need to let the rigid body know that.

Reimplemented from AnimatSim::Environment::MovableItem.

Definition at line 120 of file Structure.cpp.

References AnimatSim::Environment::MovableItem::Callback(), m_lpBody, AnimatSim::Environment::MovableItem::PhysicsMovableItem(), AnimatSim::Environment::MovableItem::Position(), and AnimatSim::IMovableItemCallback::PositionChanged().

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void AnimatSim::Environment::Structure::QueryProperties ( CStdPtrArray< TypeProperty > & aryProperties )

virtual

Queries this object for a list of properties that can be changed using SetData.

The method provides a list of the properties that can be set using the SetData method. It gives the property name and the type of data that should be passed to it. Valid date types are Boolean, Float, Integer, and Xml.

Author: dcofer

Date: 2/22/2011

Parameters

aryNames	Array list of the property names.
strTypes	Array list of the type that is associated with the cooresponding name in the list.

Returns: Nothing.

Reimplemented from AnimatSim::AnimatBase.

Definition at line 572 of file Structure.cpp.

References AnimatSim::AnimatBase::QueryProperties().

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bool AnimatSim::Environment::Structure::RemoveItem	(	const std::string &	strItemType,
		const std::string &	strID,
		bool	bThrowError = `true`
	)

virtual

Removes a child item from this parent.

This is a generic method that is used to delete a child object from this parent. The GUI uses this method to remove objects from the simulation that have been deleted in the UI. The item type lets the method determine what type of item is being deleted, like synapse, neuron, body part, etc.. The ID is then used to delete that specific item.

Author: dcofer

Date: 2/22/2011

Parameters

strItemType	String descriptor of the type of item that is being created.
strID	Unique ID of the item that will be removed.
bThrowError	If true then throw an error if there is a problem, otherwise return false.

Returns: true if it succeeds, false if it fails.

Reimplemented from AnimatSim::AnimatBase.

Reimplemented in AnimatSim::Environment::Organism.

Definition at line 601 of file Structure.cpp.

References RemoveRoot(), RemoveScript(), and StdUtils::Std_CheckString().

Referenced by AnimatSim::Environment::Organism::RemoveItem().

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void AnimatSim::Environment::Structure::RemoveJoint ( std::string strID )

Removes the joint with the specified ID.

Author: dcofer

Date: 3/2/2011

Parameters

strID ID of the joint to remove

Exceptions

If	ID is not found.

Definition at line 369 of file Structure.cpp.

References m_aryJoints, StdUtils::CStdErrorInfo::m_lError, StdUtils::CStdErrorInfo::m_strError, and AnimatSim::AnimatBase::m_strName.

void AnimatSim::Environment::Structure::RemoveRigidBody ( std::string strID )

Removes the rigid body with the specified ID.

Author: dcofer

Date: 3/2/2011

Parameters

strID ID of the body to remove

Exceptions

If	ID is not found.

Definition at line 426 of file Structure.cpp.

References m_aryRigidBodies, StdUtils::CStdErrorInfo::m_lError, StdUtils::CStdErrorInfo::m_strError, and AnimatSim::AnimatBase::m_strName.

Referenced by AnimatSim::Environment::RigidBody::RemoveRigidBody().

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void AnimatSim::Environment::Structure::RemoveRoot	(	std::string	strID,
		bool	bThrowError = `true`
	)

protectedvirtual

Removes the root based on ID.

This is primarily used by the GUI to remove the root from the structure when the user does this in the GUI.

Author: dcofer

Date: 2/25/2011

Parameters

strID	GUI ID of the root to remove
bThrowError	If true then throw an error if there is a problem, otherwise return false

Returns: true if it succeeds, false if it fails.

Definition at line 670 of file Structure.cpp.

References AnimatSim::AnimatBase::ID(), m_lpBody, and AnimatSim::AnimatBase::m_lpSim.

Referenced by RemoveItem().

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void AnimatSim::Environment::Structure::RemoveScript	(	std::string	strID,
		bool	bThrowError = `true`
	)

protectedvirtual

Removes the script based on ID.

This is primarily used by the GUI to remove the script from the structure when the user does this in the GUI.

Author: dcofer

Date: 5/23/2014

Parameters

strID	GUI ID of the script to remove
bThrowError	If true then throw an error if there is a problem, otherwise return false

Returns: true if it succeeds, false if it fails.

Definition at line 738 of file Structure.cpp.

References AnimatSim::AnimatBase::ID(), and m_lpScript.

Referenced by RemoveItem().

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void AnimatSim::Environment::Structure::ResetSimulation ( )

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.

Author: dcofer

Date: 3/1/2011

Reimplemented from AnimatSim::AnimatBase.

Reimplemented in AnimatSim::Environment::Organism, VortexAnimatSim::Environment::VsStructure, OsgAnimatSim::Environment::OsgStructure, VortexAnimatSim::Environment::VsOrganism, OsgAnimatSim::Environment::OsgOrganism, RoboticsAnimatSim::Environment::RbStructure, and RoboticsAnimatSim::Environment::RbOrganism.

Definition at line 249 of file Structure.cpp.

References AnimatSim::Environment::RigidBody::AfterResetSimulation(), m_lpBody, AnimatSim::Environment::MovableItem::m_lpPhysicsMovableItem, m_lpScript, AnimatSim::AnimatBase::ResetSimulation(), AnimatSim::Environment::RigidBody::ResetSimulation(), UpdateData(), and AnimatSim::Environment::RigidBody::UpdatePhysicsPosFromGraphics().

Referenced by AnimatSim::Environment::Organism::ResetSimulation(), and AnimatSim::Simulator::ResetSimulation().

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void AnimatSim::Environment::Structure::SaveKeyFrameSnapshot	(	byte *	aryBytes,
		long &	lIndex
	)

virtual

Saves a key frame snapshot.

Sometimes the user may want to capture a snapshot of the simulation at a given point in time, and then be able to go back to that specific point. To do this we grab a snapshot of all the data in the system, including the neural variables. We essentially serialize the data into a binary format for later re-use. This method goes through each module and saves its data into the byte array.

Author: dcofer

Date: 2/24/2011

Parameters

[in,out]	aryBytes	The array of bytes where the data is being stored.
[in,out]	lIndex	Current zero-based index of the write position in the array.

Reimplemented from AnimatSim::AnimatBase.

Reimplemented in AnimatSim::Environment::Organism.

Definition at line 867 of file Structure.cpp.

Referenced by AnimatSim::Simulator::SaveKeyFrameSnapshot().

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void AnimatSim::Environment::Structure::Selected	(	bool	bValue,
		bool	bSelectMultiple
	)

virtual

Selects this object.

Selects or deselects this object. If selectmultiple is true and bValue is true then it will try and add this item to a group of selected items. If selectmultiple is false then the currently selected item will be deselected and this one will be selected. All of this selection logic is actually taking place in the GUI. All the simulation does is have this variable that keeps track of whether THIS item is selected or not. Determining if it should be part of a group or not is done in the GUI project workspace.

Author: dcofer

Date: 2/22/2011

Parameters

bValue	true to select, false to deselect.
bSelectMultiple	If true then this items is added as part of a group. If false then it is removed from a group.

Reimplemented from AnimatSim::AnimatBase.

Definition at line 162 of file Structure.cpp.

References AnimatSim::AnimatBase::Selected().

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bool AnimatSim::Environment::Structure::SetData	(	const std::string &	strDataType,
		const std::string &	strValue,
		bool	bThrowError = `true`
	)

virtual

Set a variable based on a string data type name.

This is a generic method that can be used to set any variable in an AnimatBase object by specifying the name of the variable and a string representation of that data. The GUI uses this method to set data into variables in the simulation when the user changes them in the UI. The value string can be as simple as a float or int, or as complex as an xml packet. It is the developers responsibilty to know what type of data is needed and to process it accordingly.

Author: dcofer

Date: 2/22/2011

Parameters

strDataType	string name of the data type to set.
strValue	The string value of the data. It is up to the developer to determine what this should be. For example, in most cases it is simply a float and you just have to convert it to a float and make the appropriate mutator method call. However, it can be any type of string, including an entire xml packet. It is the developers responsibility to know how to set and process the data as required.
bThrowError	true to throw error if there is a problem. If false then it will not return an error, just return false.

Returns: true if it succeeds, false if it fails.

Reimplemented from AnimatSim::AnimatBase.

Reimplemented in AnimatSim::Environment::Organism.

Definition at line 555 of file Structure.cpp.

References AnimatSim::AnimatBase::SetData(), and StdUtils::Std_CheckString().

Referenced by AnimatSim::Environment::Organism::SetData().

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void AnimatSim::Environment::Structure::SetMotorInput	(	std::string	strJointID,
		float	fltInput
	)

virtual

Sets the velocity for the specified joint.

This method attempts to locate a joint within a structure and set its velocity. The velocity will only have any effect if the motor for that joint has been enabled.

Author: dcofer

Date: 2/25/2011

Parameters

strJointID	The ID of the joint.
fltInput	The velocity to set this joint to use.

Definition at line 782 of file Structure.cpp.

References FindJoint(), and AnimatSim::Environment::MotorizedJoint::MotorInput().

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void AnimatSim::Environment::Structure::Sim ( Simulator * lpSim )

Sets the simulator object.

Author: dcofer

Date: 2/25/2011

Parameters

[in,out] lpSim The pointer to a simulation.

Definition at line 91 of file Structure.cpp.

References AnimatSim::AnimatBase::m_lpSim.

void AnimatSim::Environment::Structure::SimPausing ( )

virtual

Called just before the simulation pauses.

This method is called on each AnimatBase object when the simulation pauses. It allows it to perform any intialization prior to the pause of the simulation that is needed.

Author: dcofer

Date: 3/1/2011

Reimplemented from AnimatSim::AnimatBase.

Definition at line 318 of file Structure.cpp.

void AnimatSim::Environment::Structure::SimStarting ( )

virtual

Called just before the simulation starts.

This method is called on each AnimatBase object when the simulation starts. It allows it to perform any intialization prior to the beginning of the simulation that is needed.

Author: dcofer

Date: 3/1/2011

Reimplemented from AnimatSim::AnimatBase.

Definition at line 314 of file Structure.cpp.

void AnimatSim::Environment::Structure::SimStopping ( )

virtual

Called just before the simulation stops.

This method is called on each AnimatBase object when the simulation stops. It allows it to perform any intialization prior to the stop of the simulation that is needed.

Author: dcofer

Date: 3/1/2011

Reimplemented from AnimatSim::AnimatBase.

Definition at line 322 of file Structure.cpp.

float AnimatSim::Environment::Structure::Size ( )

virtual

Gets the size of the graphical representation of this joint.

Author: dcofer

Date: 3/22/2011

Returns: Size for the graphics object.

Definition at line 142 of file Structure.cpp.

References m_fltSize.

Referenced by LoadLayout().

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void AnimatSim::Environment::Structure::Size	(	float	fltVal,
		bool	bUseScaling = `true`
	)

virtual

Sets the size of the graphical representation of this joint.

Author: dcofer

Date: 3/22/2011

Parameters

fltVal	The new size value.
bUseScaling	true to use unit scaling.

Definition at line 153 of file Structure.cpp.

References AnimatSim::Simulator::InverseDistanceUnits(), m_fltSize, AnimatSim::AnimatBase::m_lpSim, and StdUtils::Std_IsAboveMin().

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void AnimatSim::Environment::Structure::StepPhysicsEngine ( )

virtual

Allows the organism and its parts to update at each time slice.

This function is called for each structure/organism at every time slice. It gives the structures a chance to update any values. For instance, the hydrodynamic simulation code needs to manually add drag and buoyancy forces to each rigid body every time slice. You need to be VERY careful to keep all code within the StepSimulation methods short, sweet, and very fast. They are in the main processing loop and even a small increase in the amount of processing time that occurrs within this loop will lead to major impacts on the ultimate performance of the system.

Author: dcofer

Date: 2/25/2011

Reimplemented in AnimatSim::Environment::Organism.

Definition at line 286 of file Structure.cpp.

References m_lpBody, m_lpScript, AnimatSim::Environment::RigidBody::StepSimulation(), and UpdateData().

Referenced by AnimatSim::Environment::Organism::StepPhysicsEngine(), and AnimatSim::Simulator::StepPhysicsEngine().

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void AnimatSim::Environment::Structure::UpdateData ( )

protectedvirtual

Collects reporting data for the structure at each time step.

This is called during StepSimulation of the structure so that we can collect or setup any data that needs to be reported back to other systems. An example of this is setting the ReportPosition and ReportRotation values.

Author: dcofer

Date: 2/25/2011

Definition at line 223 of file Structure.cpp.

References AnimatSim::Environment::MovableItem::m_lpPhysicsMovableItem.

Referenced by ResetSimulation(), and StepPhysicsEngine().

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Member Data Documentation

CStdMap<std::string, Joint *> AnimatSim::Environment::Structure::m_aryJoints

protected

A list of joints contained within this structure. The objects in this list are references only. They are not destroyed by this list. It is used primarily for finding joints and ensuring that only unique ID's are used for the joints.

Definition at line 102 of file Structure.h.

Referenced by AddJoint(), FindJoint(), RemoveJoint(), and ~Structure().

CStdMap<std::string, RigidBody *> AnimatSim::Environment::Structure::m_aryRigidBodies

protected

A list of rigid bodies contained within this structure. The objects in this list are references only. They are not destroyed by this list. It is used primarily for finding rigid bodies and ensuring that only unique ID's are used for the rigid bodies.

Definition at line 95 of file Structure.h.

Referenced by AddRigidBody(), DisableCollision(), EnableCollision(), FindRigidBody(), RemoveRigidBody(), and ~Structure().

IMovableItemCallback* AnimatSim::Environment::Structure::m_lpCallback

protected

This is a pointer to an instance of the IMovableItemCallback interface. This interface is used to send back information to the GUI. If you are running in simulation mode only then this will be NULL and no info will be sent back up. If you are running with the GUI then it makes the calls back up to it.

Definition at line 111 of file Structure.h.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation