Inheritance diagram for RoboticsAnimatSim::Environment::RbMaterialType:

Collaboration diagram for RoboticsAnimatSim::Environment::RbMaterialType:

Public Member Functions
virtual void	AddRigidBodyAssociation (RigidBody *lpBody)
	Associates a rigid body with this material type. This is used when you change something about this material type. It loops through all associated rigid bodies and informs them. More...

virtual CStdMap< std::string, RigidBody * > *	Bodies ()

virtual void	CreateDefaultUnits ()
	This takes the default values defined in the constructor and scales them according to the distance and mass units to be acceptable values. More...

virtual RigidBody *	FindBodyByID (std::string strID, bool bThrowError=true)

virtual float	FrictionAngularPrimary ()
	Gets the angular primary friction coefficient. More...

virtual void	FrictionAngularPrimary (float fltVal)
	Sets the angular primary friction coefficient. More...

virtual float	FrictionAngularPrimaryConverted ()
	Gets the angular primary friction coefficient converted to match vortex values. More...

virtual float	FrictionLinearPrimary ()
	Gets the primary friction coefficient. More...

virtual void	FrictionLinearPrimary (float fltVal)
	Sets the primary linear friction coefficient. More...

virtual int	GetMaterialID (std::string strName)
	Gets a material identifier used by the physics engine. More...

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

virtual void	Load (CStdXml &oXml)

virtual void	QueryProperties (CStdPtrArray< TypeProperty > &aryProperties)

virtual void	RemoveRigidBodyAssociation (RigidBody *lpBody)
	Removes the rigid body association described by lpBody from this material. More...

virtual float	Restitution ()
	Gets the restitution for collisions between RigidBodies with these two materials. More...

virtual void	Restitution (float fltVal)
	Sets the restitution for collisions between RigidBodies with these two materials. 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...

Public Member Functions inherited from AnimatSim::Environment::MaterialType
	MaterialType ()
	Default constructor. More...

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

virtual long	CalculateSnapshotByteSize ()
	Calculates the snapshot byte size. 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 float *	GetDataPointer (const std::string &strDataType)
	Returns a float pointer to a data item of interest in this object. 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	Kill (bool bState=true)
	Kills. 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	QueryProperties (CStdPtrArray< TypeProperty > &aryProperties)
	Queries this object for a list of properties that can be changed using SetData. More...

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	ResetSimulation ()
	Resets the simulation back to time 0. 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 void	Selected (bool bValue, bool bSelectMultiple)
	Selects this object. 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	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 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...

Protected Member Functions
virtual void	RegisterMaterialType ()
	Registers the material types within the physics engine. More...

virtual void	SetMaterialProperties ()

Protected Attributes
CStdMap< std::string, RigidBody * >	m_aryBodies
	All the rigid bodies associated with this material type.

float	m_fltFrictionAngularPrimary
	The angular primary coefficient of friction parameter.(this simulates rolling resistance)

float	m_fltFrictionLinearPrimary
	The primary linear coefficient of friction parameter.

float	m_fltRestitution
	The restitution of the collision between those two materials.

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..

Additional Inherited Members
Static Public Member Functions inherited from AnimatSim::Environment::MaterialType
static MaterialType *	CastToDerived (AnimatBase *lpBase)

Detailed Description

Definition at line 11 of file RbMaterialType.h.

Member Function Documentation

void RoboticsAnimatSim::Environment::RbMaterialType::AddRigidBodyAssociation ( RigidBody * lpBody )

virtual

Associates a rigid body with this material type. This is used when you change something about this material type. It loops through all associated rigid bodies and informs them.

Author: Dcofer

Date: 10/27/2013

Parameters

[in,out] lpBody If non-null, the pointer to a body.

Definition at line 224 of file RbMaterialType.cpp.

References m_aryBodies.

void RoboticsAnimatSim::Environment::RbMaterialType::CreateDefaultUnits ( )

virtual

This takes the default values defined in the constructor and scales them according to the distance and mass units to be acceptable values.

Author: dcofer

Date: 3/23/2011

Implements AnimatSim::Environment::MaterialType.

Definition at line 153 of file RbMaterialType.cpp.

References m_fltFrictionAngularPrimary, m_fltFrictionLinearPrimary, and m_fltRestitution.

float RoboticsAnimatSim::Environment::RbMaterialType::FrictionAngularPrimary ( )

virtual

Gets the angular primary friction coefficient.

Author: dcofer

Date: 3/23/2011

Returns: friction coefficient.

Definition at line 66 of file RbMaterialType.cpp.

References m_fltFrictionAngularPrimary.

Referenced by SetData().

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void RoboticsAnimatSim::Environment::RbMaterialType::FrictionAngularPrimary ( float fltVal )

virtual

Sets the angular primary friction coefficient.

Author: dcofer

Date: 3/23/2011

Parameters

fltVal The new value.

Definition at line 77 of file RbMaterialType.cpp.

References m_fltFrictionAngularPrimary, and StdUtils::Std_IsAboveMin().

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float RoboticsAnimatSim::Environment::RbMaterialType::FrictionAngularPrimaryConverted ( )

virtual

Gets the angular primary friction coefficient converted to match vortex values.

We need the angular friction value defined and used to match the results from the vortex simulation as closely as possible. These two systems use different methods to implement rolling friction, so they will never match exactly. However, I wanted them to produce at least similar results. I compared output for a sim that had a cylinder rolling on a plane and getting pushed and found how far it rolled in vortex. I then determined the friction required to make the value match in bullet and came up with the conversion factor below.

Author: dcofer

Date: 3/23/2011

Returns: friction coefficient.

Definition at line 100 of file RbMaterialType.cpp.

References m_fltFrictionAngularPrimary.

float RoboticsAnimatSim::Environment::RbMaterialType::FrictionLinearPrimary ( )

virtual

Gets the primary friction coefficient.

Author: dcofer

Date: 3/23/2011

Returns: friction coefficient.

Definition at line 40 of file RbMaterialType.cpp.

References m_fltFrictionLinearPrimary.

Referenced by SetData().

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void RoboticsAnimatSim::Environment::RbMaterialType::FrictionLinearPrimary ( float fltVal )

virtual

Sets the primary linear friction coefficient.

Author: dcofer

Date: 3/23/2011

Parameters

fltVal The new value.

Definition at line 50 of file RbMaterialType.cpp.

References m_fltFrictionLinearPrimary, and StdUtils::Std_IsAboveMin().

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int RoboticsAnimatSim::Environment::RbMaterialType::GetMaterialID ( std::string strName )

virtual

Gets a material identifier used by the physics engine.

This is a pure virtual function that must be overridden in the derived physics class.

Author: dcofer

Date: 3/23/2011

Parameters

strName Name of the string.

Returns: The material identifier.

Implements AnimatSim::Environment::MaterialType.

Definition at line 265 of file RbMaterialType.cpp.

void RoboticsAnimatSim::Environment::RbMaterialType::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.

Definition at line 274 of file RbMaterialType.cpp.

void RoboticsAnimatSim::Environment::RbMaterialType::RegisterMaterialType ( )

protectedvirtual

Registers the material types within the physics engine.

This is a pure virtual function that must be overridden in the derived physics class.

Author: dcofer

Date: 3/23/2011

Parameters

aryMaterialTypes List of types of the ary materials.

Implements AnimatSim::Environment::MaterialType.

Definition at line 270 of file RbMaterialType.cpp.

void RoboticsAnimatSim::Environment::RbMaterialType::RemoveRigidBodyAssociation ( RigidBody * lpBody )

virtual

Removes the rigid body association described by lpBody from this material.

Author: Dcofer

Date: 10/27/2013

Parameters

[in,out] lpBody If non-null, the pointer to a body.

Definition at line 242 of file RbMaterialType.cpp.

References m_aryBodies.

float RoboticsAnimatSim::Environment::RbMaterialType::Restitution ( )

virtual

Gets the restitution for collisions between RigidBodies with these two materials.

When a collision occurs between two rigid bodies, the impulse corresponding to the force is equal to the total change in momentum that each body undergoes. This change of momentum is affected by the degree of resilience of each body, that is, the extent to which energy is diffused.
The coefficient of restitution is a parameter representing the degree of resilience of a particular material pair. To make simulations more efficient, it is best to set a restitution threshold as well. Impacts that measure less than the threshold will be ignored, to avoid jitter in the simulation. Small impulses do not add to the realism of most simulations.

Author: dcofer

Date: 3/23/2011

Returns: Restitution value.

Definition at line 121 of file RbMaterialType.cpp.

References m_fltRestitution.

Referenced by SetData().

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void RoboticsAnimatSim::Environment::RbMaterialType::Restitution ( float fltVal )

virtual

Sets the restitution for collisions between RigidBodies with these two materials.

When a collision occurs between two rigid bodies, the impulse corresponding to the force is equal to the total change in momentum that each body undergoes. This change of momentum is affected by the degree of resilience of each body, that is, the extent to which energy is diffused.
The coefficient of restitution is a parameter representing the degree of resilience of a particular material pair. To make simulations more efficient, it is best to set a restitution threshold as well. Impacts that measure less than the threshold will be ignored, to avoid jitter in the simulation. Small impulses do not add to the realism of most simulations.

Author: dcofer

Date: 3/23/2011

Parameters

fltVal The new value.

Definition at line 139 of file RbMaterialType.cpp.

References m_fltRestitution, and StdUtils::Std_InValidRange().

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bool RoboticsAnimatSim::Environment::RbMaterialType::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.

Definition at line 160 of file RbMaterialType.cpp.

References FrictionAngularPrimary(), FrictionLinearPrimary(), Restitution(), and StdUtils::Std_CheckString().

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation