Inheritance diagram for RoboticsAnimatSim::RbSimulator:

Collaboration diagram for RoboticsAnimatSim::RbSimulator:

Public Member Functions
virtual void	ConvertV1MeshFile (std::string strOriginalMeshFile, std::string strNewMeshFile, std::string strTexture)

virtual void	GenerateCollisionMeshFile (std::string strOriginalMeshFile, std::string strCollisionMeshFile, float fltScaleX, float fltScaleY, float fltScaleZ)

virtual void	GetPositionAndRotationFromD3DMatrix (float(&aryTransform)[4][4], CStdFPoint &vPos, CStdFPoint &vRot)

virtual unsigned long long	GetTimerTick ()

virtual void	Initialize (int argc, const char **argv)
	Initializes this object. More...

virtual bool	InSimulation ()
	Used to determine if we are running in a simulation, or in a real control mode. More...

virtual void	MicroSleep (unsigned int iMicroTime)

virtual bool	PauseSimulation ()
	Pauses the simulation. More...

virtual void	Reset ()
	Resets all objects of the simulation to their unloaded state. More...

virtual void	ResetSimulation ()
	Resets the the simulation to its orginal settings at time 0. More...

virtual void	ShutdownSimulation ()
	Shuts down the simulation. More...

virtual bool	StartSimulation ()
	Starts the simulation. More...

virtual void	StopSimulation ()
	Stops the simulation and resets it. More...

virtual double	TimerDiff_m (unsigned long long lStart, unsigned long long lEnd)

virtual double	TimerDiff_n (unsigned long long lStart, unsigned long long lEnd)

virtual double	TimerDiff_s (unsigned long long lStart, unsigned long long lEnd)

virtual double	TimerDiff_u (unsigned long long lStart, unsigned long long lEnd)

virtual void	ToggleSimulation ()
	Toggles the simulation between running and paused. More...

virtual void	WriteToConsole (std::string strMessage)

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

virtual	~Simulator ()
	Destructor. More...

virtual bool	AddBodiesMode ()
	Gets the Adds bodies mode. More...

virtual void	AddBodiesMode (bool bVal)
	Sets the AddBodies mode. More...

virtual void	AddFoodSource (RigidBody *lpFood)

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 std::string	AddKeyFrame (std::string strType, long lStart, long lEnd)
	Adds a key frame. More...

virtual void	AddNeuralModuleFactory (std::string strModuleName, NeuralModule *lpModule)

virtual void	AddToExtractExtraData (BodyPart *lpPart)

virtual void	AddToObjectList (AnimatBase *lpItem)
	Adds an object to the list of all simulation objects. More...

virtual float	AlphaThreshold ()

virtual void	AlphaThreshold (float fltValue)

virtual float	AngularCompliance ()
	Gets the angular compliance of the simulation. More...

virtual void	AngularCompliance (float fltVal, bool bUseScaling=true)
	Sets the angular compliance of the simulation. More...

virtual float	AngularDamping ()
	Gets the angular damping of the simulation. More...

virtual void	AngularDamping (float fltVal, bool bUseScaling=true)
	Sets the angular damping of the simulation. More...

virtual float	AngularKineticLoss ()
	Gets the angular kinetic loss of teh simulation. More...

virtual void	AngularKineticLoss (float fltVal, bool bUseScaling=true)
	Sets the angular kinetic loss of the simulation. More...

virtual void	AttachSourceAdapter (Structure lpStructure, Adapter lpAdapter)

virtual void	AttachTargetAdapter (Structure lpStructure, Adapter lpAdapter)

virtual bool	AutoGenerateRandomSeed ()
	Gets whether to automatically generate a random seed. More...

virtual void	AutoGenerateRandomSeed (bool bVal)
	Sets whether to automatically generate random seed. More...

virtual CStdColor *	BackgroundColor ()
	Gets the background color. More...

virtual void	BackgroundColor (CStdColor &aryColor)
	Sets the background color. More...

virtual void	BackgroundColor (float *aryColor)
	Sets the background color. More...

virtual void	BackgroundColor (std::string strXml)
	Loads the background color from an XML data packet. More...

virtual void	BlockSimulation ()
	Blocks the simulation from stepping. More...

virtual CStdSerialize *	CreateObject (std::string strModule, std::string strClassName, std::string strType, bool bThrowError=true)
	Creates an object using a class factory. More...

virtual float	DenominatorDistanceUnits ()
	Gets the denominator distance units. More...

virtual int	DesiredFrameRate ()
	Gets the frame rate used for the simulation windows in cylces per second. More...

virtual void	DesiredFrameRate (int iVal)
	Sets the frame rate in cycles per second. More...

virtual float	DesiredFrameStep ()
	Gets the frame step time. More...

virtual void	DisableCollision (RigidBody *lpBody)
	Disables collision between the past-in body and all rigid bodies of the simulator. More...

virtual void	DisableCollisions (Structure *lpStruct, CStdPtrArray< CollisionPair > &m_aryCollisionList)

virtual void	DisableVideoPlayback ()
	Disables the video playback. More...

virtual float	DisplayMassUnits ()
	Gets the density mass units. More...

virtual void	DistanceUnits (std::string strUnits)
	Sets the distance units. More...

virtual float	DistanceUnits ()
	Gets the distance units used in the simulation. More...

virtual void	EnableCollision (RigidBody *lpBody)
	Enables collision between the past-in body and all rigid bodies of the simulator. More...

virtual void	EnableCollisions (Structure *lpStruct, CStdPtrArray< CollisionPair > &m_aryCollisionList)

virtual bool	EnableSimRecording ()
	Tells whehter simulation recording is enabled. More...

virtual void	EnableSimRecording (bool bVal)
	Sets whether simulation recording is Enabled. More...

virtual void	EnableVideoPlayback (std::string strKeyFrameID)
	Enables the video playback. More...

virtual float	EndSimTime ()
	Gets the time at which to automatically end the simulation. More...

virtual void	EndSimTime (float fltVal)
	Sets the time at which to automatically end the simulation. More...

virtual long	EndSimTimeSlice ()
	Gets the time slice at which to automatically end the simulation. More...

virtual void	EndSimTimeSlice (long lVal)
	Sets the time slice at which to automatically end the simulation. More...

virtual std::string	ExecutablePath ()
	Gets the directory path to the executable. More...

virtual void	ExecutablePath (std::string strPath)
	Sets the Executable path. More...

virtual AnimatBase *	FindByID (std::string strID, bool bThrowError=true)
	Searches for the object with the specified ID. More...

virtual void	FindClosestFoodSources (CStdFPoint &oMouthPos, float fltMinRadius, CStdArray< RigidBody * > &arySources, CStdArray< float > &aryDistances)

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

virtual IStdClassFactory *	FindNeuralModuleFactory (std::string strModuleName, bool bThrowError=false)
	Searches for the first neural module factory with the matching name. More...

virtual OdorType *	FindOdorType (std::string strOdorID, bool bThrowError=true)
	Searches for the first odor type with the specified ID. More...

virtual Organism *	FindOrganism (std::string strOrganismID, bool bThrowError=true)
	Searches for the first organism with the specified ID. More...

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

virtual Structure *	FindStructure (std::string strStructureID, bool bThrowError=true)
	Searches for the first structure with the specified ID. More...

virtual Structure *	FindStructureFromAll (std::string strStructureID, bool bThrowError=true)
	Searches for the first structure with the specified ID. More...

virtual bool	ForceFastMoving ()
	Gets whether we have set the simulation to force fast moving calculations. More...

virtual void	ForceFastMoving (bool bVal)
	Set simulation to Force fast moving caculations. More...

virtual bool	ForceNoWindows ()

virtual void	ForceNoWindows (bool bVal)

virtual DataChartMgr *	GetDataChartMgr ()
	Gets the data chart manager. More...

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

virtual ExternalStimuliMgr *	GetExternalStimuliMgr ()
	Gets the external stimuli manager. More...

virtual LightManager *	GetLightMgr ()
	Gets the light manager. More...

virtual int	GetMaterialID (std::string strID)
	Gets a material identifier from the physics engine for the specified unique ID. More...

virtual Materials *	GetMaterialMgr ()
	Gets the material manager. More...

virtual SimulationRecorder *	GetSimulationRecorder ()
	Gets the simulation recorder. More...

virtual SimulationWindowMgr *	GetWindowMgr ()
	Gets the window manager. More...

virtual float	Gravity ()
	Gets the gravity value. More...

virtual void	Gravity (float fltVal, bool bUseScaling=true)
	Sets the Gravity value. More...

virtual void	IncrementPhysicsBodyCount ()

virtual bool	InDrag ()

virtual void	InDrag (bool bVal)

virtual void	Initialize ()
	Initializes this object with no argc/argv params. More...

virtual bool	Initialized ()
	Tells if the simulation has been initialized or not. More...

virtual void	Initialized (bool bVal)
	Sets whether the simulation has been Initialized. More...

virtual float	InverseDistanceUnits ()
	Gets the inverse distance units. More...

virtual float	InverseMassUnits ()
	Gets the inverse mass units. More...

virtual bool	IsPhysicsAdapter (Adapter *lpAdapter)

virtual bool	IsPhysicsBeingUpdated ()
	Query if this object is physics being updated on this time slice. More...

virtual bool	IsResetting ()
	Returns true if the simulation is in the process of resetting. False otherwise. More...

virtual float	LinearCompliance ()
	Gets the linear compliance of the simulation. More...

virtual void	LinearCompliance (float fltVal, bool bUseScaling=true)
	Sets the linear compliance of the simulation. More...

virtual float	LinearDamping ()
	Gets the linear damping of the simulation. More...

virtual void	LinearDamping (float fltVal, bool bUseScaling=true)
	Sets the linear damping of the simulation. More...

virtual float	LinearKineticLoss ()
	Gets the linear kinetic loss of the simulation. More...

virtual void	LinearKineticLoss (float fltVal, bool bUseScaling=true)
	Sets the linear kinetic loss of the simulation. More...

virtual void	Load (std::string strFileName="")
	Loads the simulation from an xml configuration file. More...

virtual void	Load (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 int	ManualRandomSeed ()
	Gets the manual random seed value. More...

virtual void	ManualRandomSeed (int iSeed)
	Sets the manual random seed value. More...

virtual bool	ManualStepSimulation ()
	Gets whether the simulation is being stepped manually by the user. More...

virtual void	ManualStepSimulation (bool bVal)
	Sets whether the simulation is being stepped manually by the user. More...

virtual void	MassUnits (std::string strUnits)
	Sets the mass units. More...

virtual float	MassUnits ()
	Gets the mass units. More...

virtual void	MicroWait (unsigned int iMicroTime)

virtual long	Millisecond ()
	Gets the current simulation time in millisecond. More...

virtual long	MillisecondToSlice (long lMillisecond)
	Calculates the number of time slices from a supplied number of milliseconds. More...

virtual float	MinTimeStep ()

virtual float	MouseSpringDamping ()
	Gets the mouse spring damping. More...

virtual void	MouseSpringDamping (float fltVal, bool bUseScaling=true)
	Sets the mouse spring damping. More...

virtual float	MouseSpringDampingForceMagnitude ()
	Gets the magnitude of the mouse spring damping force applied at each time step. More...

virtual void	MouseSpringDampingForceMagnitude (float fltVal, bool bUseScaling=true)
	Sets the mouse spring damping force that was used in the current timestep. This is for reporting purposes only. More...

virtual float	MouseSpringForceMagnitude ()
	Gets the magnitude of the mouse spring force applied at each time step. More...

virtual void	MouseSpringForceMagnitude (float fltVal, bool bUseScaling=true)
	Sets the mouse spring force that was used in the current timestep. This is for reporting purposes only. More...

virtual float	MouseSpringLengthMagnitude ()
	Gets the magnitude of the mouse spring length at each time step. More...

virtual void	MouseSpringLengthMagnitude (float fltVal, bool bUseScaling=true)
	Sets the mouse spring length that was used in the current timestep. This is for reporting purposes only. More...

virtual float	MouseSpringStiffness ()
	Gets the mouse spring stiffness. More...

virtual void	MouseSpringStiffness (float fltVal, bool bUseScaling=true)
	Sets the mouse spring stiffness. More...

virtual std::string	MoveKeyFrame (std::string strID, long lStart, long lEnd)
	Move key frame. More...

virtual void	MoveSimulationToKeyFrame (std::string strKeyFrameID)
	Move simulation to key frame. More...

virtual void	NotifyRigidBodyAdded (std::string strID)

virtual void	NotifyRigidBodyRemoved (std::string strID)

virtual CStdMap< std::string, AnimatBase * > *	ObjectList ()
	Gets the list of pointers to all objects in the simulation. More...

virtual bool	Paused ()
	Gets whether the Simulation is paused. More...

virtual void	Paused (bool bVal)
	Sets the Paused flag. More...

virtual long	PhysicsSliceCount ()
	Gets the physics time slice count. More...

virtual void	PhysicsSliceCount (long lVal)
	Sets the physics time slice count. More...

virtual long	PhysicsStepCount ()
	Gets the physics step count. More...

virtual short	PhysicsStepInterval ()
	Gets the physics step interval. More...

virtual void	PhysicsStepInterval (short iVal)
	Sets the physics step interval. More...

virtual void	PhysicsSubsteps (int iVal)
	This is used only for the bullet physics engine. It allows the user to specify how many substeps should be made for the physics time step specified. This allows you to keep the overall physics time step you wanted but subdivide it more finely if that is required. However, The larger this number the slower your simulation will run. More...

virtual int	PhysicsSubsteps ()
	Gets the physics substeps. More...

virtual float	PhysicsSubstepTime ()
	Gets the physics substep time. More...

virtual void	PhysicsTimeStep (float fltVal)
	Sets the integration time step for the physics engine. More...

virtual float	PhysicsTimeStep ()
	Gets the integration time step for the physics engine. More...

virtual int	PlaybackControlMode ()
	Gets the playback control mode. More...

virtual void	PlaybackControlMode (int iMode)
	Sets the playback control mode. More...

virtual float	PresetPlaybackTimeStep ()
	Gets the preset playback time step. More...

virtual void	PresetPlaybackTimeStep (float fltTimeStep)
	Sets the preset playback time step in milliseconds. More...

virtual std::string	ProjectPath ()
	Gets the project path. More...

virtual void	ProjectPath (std::string strPath)
	Sets the project path. More...

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

virtual float	RealTime ()
	Returns the real time since the simulation was started. More...

virtual float	RecFieldSelRadius ()

virtual void	RecFieldSelRadius (float fltValue, bool bUseScaling=true, bool bUpdateAllBodies=true)

virtual void	RemoveFoodSource (RigidBody *lpFood)

virtual void	RemoveFromExtractExtraData (BodyPart *lpPart)

virtual void	RemoveFromObjectList (AnimatBase *lpItem)
	Removes an object from the list of all simulation objects. 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	RemoveKeyFrame (std::string strID)
	Removes the key frame described by strID. More...

virtual void	RemoveSourceAdapter (Structure lpStructure, Adapter lpAdapter)

virtual void	RemoveTargetAdapter (Structure lpStructure, Adapter lpAdapter)

virtual bool	RobotAdpaterSynch ()
	Gets whether we need to synch the physics adapters in a simulation to the robot physics time step. More...

virtual void	RobotAdpaterSynch (bool bVal)
	Sets whether we need to synch the physics adapters in a simulation to the robot physics time step. More...

virtual void	RunSimulation ()
	Runs the simulation. More...

virtual void	Save (std::string strFilename)
	Saves the simulation file. More...

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

virtual void	SaveVideo (std::string strPath)
	Saves a video. More...

virtual void	Script (ScriptProcessor *lpScript)

virtual ScriptProcessor *	Script ()

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 bool	SetEndSimTime ()
	Gets whether to use the set simulation end time. More...

virtual void	SetEndSimTime (bool bVal)
	Sets whether to use the simulation end time. More...

virtual bool	ShuttingDown ()
	Tells whether the simulation is shutting down or not. More...

virtual ISimGUICallback *	SimCallback ()
	Calback object from the simulation. More...

virtual void	SimCallBack (ISimGUICallback *lpCallback)
	Sets the calback object from the simulation. More...

virtual bool	SimRunning ()
	Gets whether the simulation is running. More...

virtual void	Simulate ()
	Simulates the system. More...

virtual bool	SimulateHydrodynamics ()
	Gets whether the simulation uses hydrodynamics. More...

virtual void	SimulateHydrodynamics (bool bVal)
	Sets whether the simulation uses hydrodynamics. More...

virtual bool	SimulationBlockConfirm ()
	Confirms that the simulation has been blocked. More...

virtual std::string	SimulationFile ()
	Gets the simulation filename. More...

virtual void	SimulationFile (std::string strFile)
	Sets the simulation filename. More...

virtual long	SliceToMillisecond (long lSlice)
	Calculates the number of milliseconds from a supplied number of time slices. More...

virtual long	SnapshotByteSize ()
	Gets the snapshot byte size. More...

virtual float	StabilityScale ()
	Sets the linear scaling factor that controls the simulation stability parameters. More...

virtual void	StabilityScale (float fltVal)
	Sets the linear scaling factor that controls the simulation stability parameters. More...

virtual unsigned long long	StartSimTick ()
	The time slice tick at which the simulation start. More...

virtual void	StartVideoPlayback ()
	Starts a video playback. More...

virtual unsigned long long	StepSimEndTick ()

virtual unsigned long long	StepStartTick ()

virtual void	StepVideoPlayback (int iFrameCount=1)
	Step video playback. More...

virtual bool	Stopped ()
	Tells if the simulation has been stopped. More...

virtual void	StopVideoPlayback ()
	Stop video playback. More...

virtual float	Time ()
	Gets the current simulation time in seconds. More...

virtual long	TimeSlice ()
	Gets the current time slice. More...

virtual void	TimeSlice (long lVal)
	Sets the current time slice. More...

virtual float	TimeStep ()
	Gets the smallest integration time step used within the simulation. More...

virtual void	UnblockSimulation ()
	Unblock simulation. More...

virtual int	VideoLoops ()
	Gets the video loops. More...

virtual void	VideoLoops (int iVal)
	Sets the video loops. More...

virtual KeyFrame *	VideoPlayback ()
	Gets the video playback frame. More...

virtual void	VideoPlayback (KeyFrame *lpFrame)
	Sets the video playback frame. More...

virtual KeyFrame *	VideoRecorder ()
	Gets the video recorder. More...

virtual void	VideoRecorder (KeyFrame *lpFrame)
	Sets the video recorder. More...

virtual long	VideoSliceCount ()
	Gets the video slice count. More...

virtual void	VideoSliceCount (long lVal)
	Sets the video slice count. More...

virtual int	VisualSelectionMode ()
	Gets the visual selection mode. More...

virtual void	VisualSelectionMode (int iVal)
	Sets the visual selection mode. More...

virtual bool	WaitForSimulationBlock (long lTimeout=6000)
	Wait for simulation block. More...

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	Kill (bool bState=true)
	Kills. 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	RigidBodyAdded (std::string strID)

virtual void	RigidBodyRemoved (std::string strID)

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	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 AnimatSim::Recording::SimulationRecorder *	CreateSimulationRecorder ()
	Creates the simulation recorder. More...

void	InitializeRobotics (int argc, const char **argv)

void	SetSimulationStabilityParams ()

virtual void	SimulateEnd ()
	Called at the end of the Simulate method. More...

virtual void	SnapshotStopFrame ()
	Takes a snapshot of the current frame. More...

virtual void	StepSimulation ()
	Steps the entire simulation forward by one physics integration time step. More...

virtual void	UpdateSimulationWindows ()

Protected Member Functions inherited from AnimatSim::Simulator
virtual void	AddOdorType (OdorType *lpOdorType)

virtual void	AddOdorType (std::string strXml, bool bDoNotInit)

virtual void	AddOrganism (Organism *lpOrganism)
	Adds a new organism to the list of structures for this simulation. More...

virtual void	AddOrganism (std::string strXml)
	Adds an organism defined by an xml data packet. More...

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

virtual void	AddStructure (Structure *lpStructure)
	Adds a new "static" structure to the list of structures for this simulation. More...

virtual void	AddStructure (std::string strXml)
	Adds an structure defined by an xml data packet. More...

virtual void	AfterStepSimulation ()
	Method called for the base Simulator object to run code after the physics engine has been fully stepped. This is primarily being used to collect extra data if needed after the physics engine has been run. If you are building your own physics engine you will need to remember to call this after you have stepped it. More...

virtual double	CalculateRemainingPlaybackTime ()

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

virtual void	CheckEndSimulationTime ()
	Checks the simulation end time. More...

virtual bool	CheckSimulationBlock ()
	Checks whether or not a simulation block has been requested. More...

float	ConvertDenominatorDistanceUnits (std::string strUnits)
	Convert the string ID of the distance units to a conversion factor for the denominator of the distance units. More...

float	ConvertDisplayMassUnits (std::string strUnits)
	Convert the string ID of the display units to a conversion factor. More...

float	ConvertDistanceUnits (std::string strUnits)
	Convert the string ID of the distance units to a conversion factor. More...

float	ConvertMassUnits (std::string strUnits)
	Convert the string ID of the mass units to a conversion factor. More...

virtual double	CurrentRealTimeForStep_n ()

virtual double	CurrentRealTimeForStep_s ()

virtual int	FindAdapterListIndex (CStdArray< Adapter * > aryAdapters, std::string strID, bool bThrowError=true)

virtual int	FindExtraDataIndex (BodyPart *lpPart)

virtual int	FindFoodSourceIndex (RigidBody *lpFood)
	Searches for the index of the food source. More...

virtual void	GenerateAutoSeed ()
	Generates an automatic seed value based on the current time. More...

virtual void	HandleCriticalError (std::string strError)

virtual void	HandleNonCriticalError (std::string strError)

virtual void	InitializeRandomNumbers ()
	Initializes the random number generation system. More...

virtual void	InitializeStructures ()
	Initializes all of the structures of this simulation. More...

virtual void	LoadEnvironment (CStdXml &oXml)
	Loads all structures from from the configuration file for this simulation. More...

OdorType *	LoadOdorType (CStdXml &oXml)
	Loads an odor type. More...

Organism *	LoadOrganism (CStdXml &oXml)
	Loads an organism. More...

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

Structure *	LoadStructure (CStdXml &oXml)
	Loads a structure. More...

virtual void	NotifyTimeStepModified ()
	Notifies the objects that time step has been modified. More...

virtual void	ProcessSimulationStep ()
	Process the an entire step of the simulation. This includes the simulation portion, video and calculating timing. More...

virtual void	RecordAddedPlaybackTime ()

virtual void	RecordSimulationStepTimer ()

virtual void	RecordSimulationTotalStepTimer ()

virtual void	RecordVideoFrame ()
	Record video frame. More...

virtual double	RemainingVideoFrameTime ()

virtual void	RemoveOdorType (std::string strID, bool bThrowError=true)

virtual void	RemoveOrganism (std::string strID, bool bThrowError=true)
	Removes an organism by its ID. More...

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

virtual void	RemoveStructure (std::string strID, bool bThrowError=true)
	Removes a structure by its ID. More...

virtual void	ResetSimulationTimingParams ()
	Resets the variables that are used to keep track of the time that each component of the time step takes to execute. More...

virtual void	SimPausing ()
	Simulation pausing event. More...

virtual void	SimStarting ()
	Simulation starting event. More...

virtual void	SimStopping ()
	Simulation stopping event. More...

virtual void	SimulateBegin ()
	Called at the beginning of the Simulate method. More...

virtual void	StartSimulationStepTimer ()

virtual void	StartVideoFrameTimer ()

virtual void	Step ()
	Steps the simulation forward by one time slice. More...

virtual void	StepDataCharts ()

virtual void	StepExternalStimuli ()

virtual void	StepNeuralEngine ()
	Step the neural engine of each organism. More...

virtual void	StepPhysicsEngine ()
	Calls StepPhysicsEngine of all structures. More...

virtual void	StepPlaybackControl ()

virtual void	StepSimRecorder ()

virtual void	StepVideoFrame ()

virtual double	TimeBetweenVideoFrames ()

Protected Attributes
double	m_dblTotalVortexStepTime

long	m_lStepVortexTimeCount

Protected Attributes inherited from AnimatSim::Simulator
CStdMap< std::string, Structure * >	m_aryAllStructures

CStdArray< BodyPart * >	m_aryExtraDataParts

CStdArray< RigidBody * >	m_aryFoodSources
	An Array of RigidBody parts that also act as food sources within the environment.

CStdMap< std::string, IStdClassFactory * >	m_aryNeuralModuleFactories

CStdMap< std::string, AnimatBase * >	m_aryObjectList
	A list of all animatbase objects in the simulation.

CStdPtrMap< std::string, OdorType >	m_aryOdorTypes

CStdPtrMap< std::string, Organism >	m_aryOrganisms

CStdArray< Adapter * >	m_arySourcePhysicsAdapters
	Array of source physics adapters.

CStdPtrMap< std::string, Structure >	m_aryStructures

CStdArray< Adapter * >	m_aryTargetPhysicsAdapters
	Array of target physics adapters.

bool	m_bAddBodiesMode
	true if the AddBodies mode is enabled within the GUI.

bool	m_bAutoGenerateRandomSeed

bool	m_bBlockSimulation
	true to block simulation. See WaitForBlock for more info.

bool	m_bEnableSimRecording
	true to enable simulation recording

bool	m_bForceFastMoving
	true if we need to set the physics system to force handling of fast moving objects.

bool	m_bForceNoWindows
	If this is set to true then no graphical simulation windows will be created regardless of what the config files says.

bool	m_bForceSimulationStop
	Set to true to stop the simulation. This is a more forceful way of stopping the sim.

bool	m_bInDrag
	Tells if we are in the middle of a mouse drag operation to move or rotate a part.

bool	m_bInitialized
	true if the simulation has been initialized.

bool	m_bIsResetting
	True if we are in the process of resetting the simulation. False otherwise.

bool	m_bManualStepSimulation
	If true then the user is manually stepping the simulation.

bool	m_bPaused
	true if the simulation is paused.

bool	m_bRecordVideo
	true to record video

bool	m_bRobotAdpaterSynch

bool	m_bSetEndSim
	true if we the user has manually set the simulation end time.

bool	m_bShuttingDown
	True if the simulation is shutting down. This is used by other objects in their destructor to know whether to do certain operations or not.

bool	m_bSimBlockConfirm
	true to confirm that a simulation block is in place.

bool	m_bSimRunning
	true if the simulation is running

bool	m_bSimulateHydrodynamics

bool	m_bSteppingSim
	true if stepping of simulation has begun. This is set to true once the Simulate methods has been called.

bool	m_bStopSimulation
	Set to true to stop the simulation.

double	m_dblTime

double	m_dblTimeStep

double	m_dblTotalStepTime
	This is a temp variable for measuring sim time for a set period for each simulation.

float	m_fltActualFrameRate
	The frame rate for the current frame.

float	m_fltAlphaThreshold
	The threshold value to use when setting the AlphaFunc for the entire scene.

float	m_fltAngularCompliance
	The angular compliance of the simulation environment.

float	m_fltAngularDamping
	The angular damping of the simulation environment.

float	m_fltAngularKineticLoss
	The angular kinetic loss of the simulation environment.

float	m_fltDataChartStepTime
	time to process data charts for this step.

float	m_fltDenominatorDistanceUnits

float	m_fltDesiredFrameStep
	The desired time value duration of the video frame step.

float	m_fltDisplayMassUnits
	Tells how many kilograms/m^3 each unit of density is worth within the simulation environment.

float	m_fltDistanceUnits
	Tells how many meters each unit of distance is worth within the simulation environment.

float	m_fltEndSimTime
	The time when the simulation should end.

float	m_fltExternalStimuliStepTime
	Time to process external stimuli for this step.

float	m_fltGravity
	The acceleration of gravity to use in the simulation.

float	m_fltInverseDistanceUnits
	The inverse of the distance units.

float	m_fltInverseMassUnits
	The inverse of the mass units.

float	m_fltLinearCompliance
	The linear compliance of the simulation environment.

float	m_fltLinearDamping
	The linear damping of the simulation environment.

float	m_fltLinearKineticLoss
	The linear kinetic loss of the simulation environment.

float	m_fltMassUnits
	Tells how many kilograms each unit of mass is worth within the simulation environment.

float	m_fltMouseSpringDampingForceMagnitude
	The magnitude of the damping component of the force being applied by the mosue spring at each step.

float	m_fltMouseSpringForceMagnitude
	The magnitude of the force being applied by the mosue spring at each step.

float	m_fltMouseSpringLengthMagnitude
	The magnitude of the length of the mouse spring at each step.

float	m_fltMouseSpringStiffness
	The stiffness of the user mouse spring.

float	m_fltPhysicsStepTime
	This is the time pers step for the physics engine.

float	m_fltPhysicsSubstepTime

float	m_fltPhysicsTimeStep
	The time increment for each time slice of the physics simulation.

float	m_fltPlaybackAdditionRealTimeToStep

float	m_fltPresetPlaybackTimeStep

float	m_fltPrevPhysicsStepTime

float	m_fltPrevTotalRealTimeForStep
	Previous total time for the step. Used for exponential smoothing algorithm.

float	m_fltRealTime
	This keeps track of the real time from the begginning of the simulation.

float	m_fltRecFieldSelRadius

float	m_fltRemainingStepTime

float	m_fltSimRecorderStepTime
	Time to process simulation recorder for this step.

float	m_fltSimulationRealTimeToStep

float	m_fltStabilityScale
	A linear scaling factor for setting the simulation parameters.

float	m_fltTime
	The current simulation time.

float	m_fltTimeStep
	This is the minimum integration time step taken for all neural modules and the physics engine.

float	m_fltTotalMicroSleepCount
	Total number of times we called microsleep during playback pause calculations.

float	m_fltTotalMicroSleepTime
	Total time we were in microsleep during playback pause calculations;.

float	m_fltTotalMicroWaitCount
	Total number of loop iterations for microwait during playback pause calculations.

float	m_fltTotalMicroWaitTime
	Total time we were in microwait during playback pause calculations;.

float	m_fltTotalNeuralStepTime
	Total time for processing of all neural items for this step.

float	m_fltTotalRealTimeForStep
	This is the total time it takes to complete one physics time step.

float	m_fltTotalRealTimeForStepSmooth
	Current value of the exponential smoothing algorith for real time step.

float	m_fltVideoEndTime
	Time of the video end.

float	m_fltVideoPlaybackFrameTime
	Time of the video playback frame.

float	m_fltVideoRecordFrameTime
	Time of the video record frame.

float	m_fltVideoStartTime
	Time of the video start.

float	m_ftlMouseSpringDamping
	The damping of the user mouse spring.

int	m_iDesiredFrameRate
	Desired frame rate of the simulation video.

int	m_iExtraDataCount
	Number of parts that require extra data to be collected.

int	m_iManualRandomSeed

int	m_iPhysicsBodyCount

int	m_iPhysicsStepCount

short	m_iPhysicsStepInterval

int	m_iPhysicsSubsteps

int	m_iPlaybackControlMode
	Determines the mode used for playback control. See the accessor method for more details.

int	m_iSelectionMode
	This is the currect visual selection mode used within the GUI.

int	m_iTargetAdapterCount
	Number of target adapters.

int	m_iVideoLoops
	Zero-based index of the video loops.

int	m_iVideoStep
	Zero-based index of the video step.

int	m_iVideoStepSize
	Size of the i video step.

float	m_lEndSimTimeSlice
	The time slice when the simulation should end.

unsigned long long	m_lLastTickTaken
	This is the last tick taken by a GetTickCount. It is used in debugging.

IStdClassFactory *	m_lpAnimatClassFactory

long	m_lPhysicsSliceCount
	The number of slices that the physics engine has been updated.

ThreadProcessor *	m_lpIOThread
	The pointer to an i/o thread processor.

ThreadProcessor *	m_lpNeuralThread
	The pointer to a neural thread processor.

ThreadProcessor *	m_lpPhysicsThread
	The pointer to the physics thread processor.

ScriptProcessor *	m_lpScript

Organism *	m_lpSelOrganism
	The pointer to a selected organism.

Structure *	m_lpSelStructure
	The pointer to a selected structure.

ISimGUICallback *	m_lpSimCallback

SimulationRecorder *	m_lpSimRecorder
	The pointer to a simulation recorder.

KeyFrame *	m_lpSimStopPoint
	The pointer to a simulation stop point.

KeyFrame *	m_lpVideoPlayback
	The pointer to a video playback.

KeyFrame *	m_lpVideoRecorder
	The pointer to a video recorder.

SimulationWindowMgr *	m_lpWinMgr
	Manager for SimulationWindows.

long	m_lSnapshotByteSize
	Size of a memory snapshot in bytes.

unsigned long long	m_lStartSimTick
	The tick count for when the simulation first begins running.

unsigned long long	m_lStepSimEndTick
	The tick count for when the simulation procressing of the step ends.

unsigned long long	m_lStepStartTick
	This is the tick count that is taken when a step is started.

long	m_lStepTimeCount
	This is a temp variable for measuring sim time for a set period for each simulation.

long	m_lTimeSlice
	The current time slice. This a long value.

long	m_lVideoEndSlice
	The video end slice.

long	m_lVideoFrame
	The video frame.

unsigned long long	m_lVideoFrameStartTick
	The tick when a new video frame time starts.

long	m_lVideoSliceCount
	Current video slice time slice.

long	m_lVideoStartSlice
	The video start slice.

DataChartMgr	m_oDataChartMgr
	Manager for data charts.

ExternalStimuliMgr	m_oExternalStimuliMgr
	Manager for external stimuli.

LightManager	m_oLightMgr
	Manager for the light objects.

Materials	m_oMaterialMgr
	Manager for Materials.

CStdMap< std::string, Organism * >::iterator	m_oOrganismIterator
	An organism iterator.

CStdMap< std::string, Structure * >::iterator	m_oStructureIterator
	A structure iterator.

std::string	m_strExecutablePath
	The directory path where the executable is located.

std::string	m_strProjectPath
	The directory path where the simulation configuration files are located.

std::string	m_strSimulationFile
	The name of the Animat Simulation (ASIM) file.

std::string	m_strVideoFilename
	Filename of the video file.

CStdColor	m_vBackgroundColor
	The background color to use when drawing the environment.

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::Simulator
static Simulator *	CastToDerived (AnimatBase *lpBase)

static Simulator *	CreateAndInitializeSimulator (std::string strSimFile, bool bForceNoWindows=false)
	Creates a simulator from a specified file and initializes it. More...

static Simulator *	CreateSimulator (std::string strAnimatModule, std::string strSimulationFile, bool bForceNoWindows=false)
	Creates a simulator from a simulator file. More...

static Simulator *	CreateSimulator (std::string strSimFile, bool bForceNoWindows=false)
	Creates a simulator from a specified file. More...

static Simulator *	CreateSimulator (std::string strAnimatModule, CStdXml &oXml)
	Creates a simulator from an xml packet. More...

static Simulator *	CreateSimulator (std::string strAnimatModule, std::string strProjectPath, std::string strExecutablePath)
	Creates a simulator from passed in settings.. More...

static Simulator *	CreateSimulator (int argc, const char **argv)
	Creates a simulator from the command line. More...

static IStdClassFactory *	LoadClassFactory (std::string strModuleName, bool bThrowError=true)
	Loads the class factory specified in the DLL module name. More...

Static Protected Member Functions inherited from AnimatSim::Simulator
static void	LoadAnimatModuleName (std::string strFile, std::string &strAnimatModule)
	Loads an animat module name. More...

static void	LoadAnimatModuleName (CStdXml &oXml, std::string &strAnimatModule)
	Loads an animat module name. More...

Detailed Description

Definition at line 14 of file RbSimulator.h.

Member Function Documentation

SimulationRecorder * RoboticsAnimatSim::RbSimulator::CreateSimulationRecorder ( )

protectedvirtual

Creates the simulation recorder.

Author: dcofer

Date: 3/28/2011

Returns: Pointer to the SimulationRecorder.

Implements AnimatSim::Simulator.

Definition at line 56 of file RbSimulator.cpp.

void RoboticsAnimatSim::RbSimulator::Initialize	(	int	argc,
		const char **	argv
	)

virtual

Initializes this object.

Author: dcofer

Date: 3/28/2011

This is a pure virtual method that must be implemented in the simulator application. It is where a lot of the nitty gritty details are done with initializing and setting up the physics engine so that it can run. It is also where we initialize each structure to tell them to create their parts and joints.

Parameters

argc	The argc parameter from the command line.
argv	The argv parameter from the command line.

Implements AnimatSim::Simulator.

Definition at line 140 of file RbSimulator.cpp.

References AnimatSim::Simulator::InitializeStructures(), AnimatSim::Simulator::m_lpSimRecorder, AnimatSim::Simulator::m_oDataChartMgr, and AnimatSim::Simulator::m_oExternalStimuliMgr.

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bool RoboticsAnimatSim::RbSimulator::InSimulation ( )

virtual

Used to determine if we are running in a simulation, or in a real control mode.

The robotics simulation object will override this and return false to signify that it is in real-time control of physical hardware. Other simulator objects should leave this as true to signify that they are simulating the physical world. This are several places where we have to initialize things differently based on whether we are trying to run physical hardware or in simulation and this flag lets us know that.

Author: dcofer

Date: 5/15/2014

Returns: True if running in simulation, false if running on real hardware.

Reimplemented from AnimatSim::Simulator.

Definition at line 51 of file RbSimulator.cpp.

bool RoboticsAnimatSim::RbSimulator::PauseSimulation ( )

virtual

Pauses the simulation.

Author: dcofer

Date: 3/28/2011

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

Implements AnimatSim::Simulator.

Definition at line 234 of file RbSimulator.cpp.

References AnimatSim::Simulator::m_bPaused, and AnimatSim::Simulator::SimPausing().

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void RoboticsAnimatSim::RbSimulator::Reset ( )

virtual

Resets all objects of the simulation to their unloaded state.

Use this function to completely reset a simulation to its initial default settings. This will destroy all organisms and strcutres defined within the simulation

Author: dcofer

Date: 3/28/2011

Reimplemented from AnimatSim::Simulator.

Definition at line 61 of file RbSimulator.cpp.

References AnimatSim::Simulator::m_lpAnimatClassFactory.

Referenced by SimulateEnd().

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void RoboticsAnimatSim::RbSimulator::ResetSimulation ( )

virtual

Resets the the simulation to its orginal settings at time 0.

Author: dcofer

Date: 3/28/2011

Reimplemented from AnimatSim::Simulator.

Definition at line 69 of file RbSimulator.cpp.

References AnimatSim::Simulator::m_bSimRunning.

void RoboticsAnimatSim::RbSimulator::ShutdownSimulation ( )

virtual

Shuts down the simulation.

Author: dcofer

Date: 3/28/2011

Implements AnimatSim::Simulator.

Definition at line 228 of file RbSimulator.cpp.

References AnimatSim::Simulator::m_bForceSimulationStop, and AnimatSim::Simulator::SimStopping().

Referenced by StepSimulation().

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void RoboticsAnimatSim::RbSimulator::SimulateEnd ( )

protectedvirtual

Called at the end of the Simulate method.

Author: dcofer

Date: 7/5/2011

Reimplemented from AnimatSim::Simulator.

Definition at line 269 of file RbSimulator.cpp.

References Reset().

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virtual void RoboticsAnimatSim::RbSimulator::SnapshotStopFrame ( )

inlineprotectedvirtual

Takes a snapshot of the current frame.

Author: dcofer

Date: 3/28/2011

Implements AnimatSim::Simulator.

Definition at line 30 of file RbSimulator.h.

bool RoboticsAnimatSim::RbSimulator::StartSimulation ( )

virtual

Starts the simulation.

Author: dcofer

Date: 3/28/2011

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

Implements AnimatSim::Simulator.

Definition at line 241 of file RbSimulator.cpp.

References AnimatSim::Simulator::m_bPaused, AnimatSim::Simulator::m_bSimRunning, AnimatSim::Simulator::m_lStartSimTick, and AnimatSim::Simulator::SimStarting().

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void RoboticsAnimatSim::RbSimulator::StepSimulation ( )

protectedvirtual

Steps the entire simulation forward by one physics integration time step.

This method steps the entire simulation forward by one physics time step. Remember that there are typically multiple neural steps for a given physcis step, so this will step the simulation as a whole several times for a given physics time step. It goes through and calls StepSimulation for every structure/organism object, which in turn calls StepSimulation for each rigid body and joint of each of those objects. So 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.