MOMENTUM_NAMESPACE::Simulation Class Reference

#include <Simulation.h>

Public Types
enum	ContactType { IMPACT = 1 , RESTING = 2 , IMPACT_AND_RESTING = (IMPACT & RESTING) }

Public Member Functions
void	addDisabledCollisionGroupPair (const std::string &name1, const std::string &name2)
std::shared_ptr< RigidBody >	createRigidBodyFromBodyModel (const BodyModel *bodymodel, const Vec3 &position, const Quat &rotation, const Vec3 &velocity)
RigidBodyVector	filterRigidBodiesInGeometry (const Geometry *geometry, const RigidBodyVector &rigidBodies, bool onlyCheckForMidPoint) const
std::shared_ptr< BallJoint >	getBallJoint (const std::string &name) const
BallJointVector	getBallJoints () const
Vec3	getContactForces (const Geometry *geometry1, const Geometry *geometry2=nullptr, ContactType type=IMPACT_AND_RESTING)
Vec3	getContactForces (const RigidBody *body1, const RigidBody *body2=nullptr, ContactType type=IMPACT_AND_RESTING)
Vec3	getContactForces (const RigidBody *rb, const Geometry *geo, ContactType type=IMPACT_AND_RESTING)
ContactPointVector	getContacts (const Geometry *geometry1=nullptr, const Geometry *geometry2=nullptr) const
ContactPointVector	getContacts (const RigidBody *body1, const RigidBody *body2=nullptr) const
std::shared_ptr< ConveyorBelt >	getConveyorBelt (const std::string &name) const
ConveyorBeltVector	getConveyorBelts () const
std::shared_ptr< CylindricalJoint >	getCylindricalJoint (const std::string &name) const
CylindricalJointVector	getCylindricalJoints () const
std::vector< std::pair< std::string, std::string > >	getDisabledCollisionGroupPairs () const
RigidBodyVector	getEmittedBodies () const
std::shared_ptr< Emitter >	getEmitter (const std::string &name) const
EmitterVector	getEmitters () const
Vec3	getFrictionContactForces (const Geometry *geometry1, const Geometry *geometry2=nullptr, ContactType type=IMPACT_AND_RESTING)
Vec3	getFrictionContactForces (const RigidBody *body1, const RigidBody *body2=nullptr, ContactType type=IMPACT_AND_RESTING)
Vec3	getFrictionContactForces (const RigidBody *rb, const Geometry *geo, ContactType type=IMPACT_AND_RESTING)
GeometryVector	getGeometries () const
std::shared_ptr< Geometry >	getGeometry (const std::string &name) const
std::shared_ptr< Geometry >	getGeometry (unsigned int id) const
std::shared_ptr< GranularBodySystem >	getGranularBodySystem () const
GranularGranularContactVector	getGranularContacts (const GranularBody *granularBody=nullptr) const
Vec3	getGranularGeometryContactForces (const Geometry *geometry=nullptr)
GranularRigidBodyContactVector	getGranularGeometryContacts (const Geometry *geometry=nullptr) const
Vec3	getGranularGeometryFrictionContactForces (const Geometry *geometry=nullptr)
Vec3	getGranularGeometryNormalContactForces (const Geometry *geometry=nullptr)
Vec3	getGranularGeometrySumAbsoluteContactForces (const Geometry *geometry=nullptr)
Vec3	getGranularGeometrySumAbsoluteFrictionContactForces (const Geometry *geometry=nullptr)
Vec3	getGranularGeometrySumAbsoluteNormalContactForces (const Geometry *geometry=nullptr)
Vec3	getGranularRigidBodyContactForces (const RigidBody *body=nullptr)
GranularRigidBodyContactVector	getGranularRigidBodyContacts (const RigidBody *rigidBody=nullptr) const
Vec3	getGranularRigidBodyFrictionContactForces (const RigidBody *body=nullptr)
Vec3	getGranularRigidBodyNormalContactForces (const RigidBody *body=nullptr)
Vec3	getGranularRigidBodySumAbsoluteContactForces (const RigidBody *body=nullptr)
Vec3	getGranularRigidBodySumAbsoluteFrictionContactForces (const RigidBody *body=nullptr)
Vec3	getGranularRigidBodySumAbsoluteNormalContactForces (const RigidBody *body=nullptr)
Vec3	getGravity () const
std::shared_ptr< HingeJoint >	getHingeJoint (const std::string &name) const
HingeJointVector	getHingeJoints () const
double	getImpactSpeedThreshold () const
std::shared_ptr< Joint >	getJoint (const std::string &name) const
JointVector	getJoints () const
std::shared_ptr< LockJoint >	getLockJoint (const std::string &name) const
LockJointVector	getLockJoints () const
std::shared_ptr< Material >	getMaterial (const std::string &name) const
std::shared_ptr< MaterialPair >	getMaterialPair (const std::string &firstName, const std::string &secondName) const
std::shared_ptr< MaterialPair >	getMaterialPair (Material *firstMaterial, Material *secondMaterial) const
MaterialPairVector	getMaterialPairs () const
MaterialVector	getMaterials () const
Vec3	getNormalContactForces (const Geometry *geometry1, const Geometry *geometry2=nullptr, ContactType type=IMPACT_AND_RESTING)
Vec3	getNormalContactForces (const RigidBody *body1, const RigidBody *body2=nullptr, ContactType type=IMPACT_AND_RESTING)
Vec3	getNormalContactForces (const RigidBody *rb, const Geometry *geo, ContactType type=IMPACT_AND_RESTING)
unsigned int	getNumImpactIterations () const
unsigned int	getNumParallelRestingIterations () const
unsigned int	getNumRestingIterations () const
std::shared_ptr< Observer >	getObserver (const std::string &name) const
ObserverVector	getObservers () const
std::shared_ptr< PrismaticJoint >	getPrismaticJoint (const std::string &name) const
PrismaticJointVector	getPrismaticJoints () const
RigidBodyVector	getRigidBodies () const
std::shared_ptr< RigidBody >	getRigidBody (const std::string &name) const
std::shared_ptr< Sensor >	getSensor (const std::string &name) const
SensorVector	getSensors () const
std::shared_ptr< SpringJoint >	getSpringJoint (const std::string &name) const
SpringJointVector	getSpringJoints () const
Vec3	getSumAbsoluteContactForces (const Geometry *geometry1, const Geometry *geometry2=nullptr, ContactType type=IMPACT_AND_RESTING)
Vec3	getSumAbsoluteContactForces (const RigidBody *body1, const RigidBody *body2=nullptr, ContactType type=IMPACT_AND_RESTING)
Vec3	getSumAbsoluteContactForces (const RigidBody *rb, const Geometry *geo, ContactType type=IMPACT_AND_RESTING)
Vec3	getSumAbsoluteFrictionContactForces (const Geometry *geometry1, const Geometry *geometry2=nullptr, ContactType type=IMPACT_AND_RESTING)
Vec3	getSumAbsoluteFrictionContactForces (const RigidBody *body1, const RigidBody *body2=nullptr, ContactType type=IMPACT_AND_RESTING)
Vec3	getSumAbsoluteFrictionContactForces (const RigidBody *rb, const Geometry *geo, ContactType type=IMPACT_AND_RESTING)
Vec3	getSumAbsoluteNormalContactForces (const Geometry *geometry1, const Geometry *geometry2=nullptr, ContactType type=IMPACT_AND_RESTING)
Vec3	getSumAbsoluteNormalContactForces (const RigidBody *body1, const RigidBody *body2=nullptr, ContactType type=IMPACT_AND_RESTING)
Vec3	getSumAbsoluteNormalContactForces (const RigidBody *rb, const Geometry *geo, ContactType type=IMPACT_AND_RESTING)
double	getTimeStep () const
bool	loadGranularFile (const std::string &filename, Material *initMaterial, const AffineMatrix4x4 &offset=AffineMatrix4x4())
bool	operator== (const Simulation &other) const
bool	removeDisabledCollisionGroupPair (const std::string &name1, const std::string &name2)
void	removeEmittedBodiesInGeometry (const Geometry *geometry)
void	setGravity (const Vec3 &gravity)
void	setImpactSpeedThreshold (double threshold)
size_t	write (const std::string &filename)
bool	writeGranularFile (const std::string &filename, const GranularBodyVector &granularBodies, const RigidBodyVector &rigidBodies) const

Friends
Simulation *	getSimulation ()

Detailed Description

This class is used to access an existing simulation with all its contents including joints, rigid bodies and contacts.

Member Enumeration Documentation

ContactType

enum MOMENTUM_NAMESPACE::Simulation::ContactType

Enumerator
IMPACT
RESTING
IMPACT_AND_RESTING

Member Function Documentation

addDisabledCollisionGroupPair()

void MOMENTUM_NAMESPACE::Simulation::addDisabledCollisionGroupPair	(	const std::string &	name1,
		const std::string &	name2
	)

Add a pair of geometry collision groups which will be disabled for contact generation.

Order of names is not important.

Parameters

name1	- Name of first geometry collision group
name2	- Name of second geometry collision group

createRigidBodyFromBodyModel()

std::shared_ptr< RigidBody > MOMENTUM_NAMESPACE::Simulation::createRigidBodyFromBodyModel	(	const BodyModel *	bodymodel,
		const Vec3 &	position,
		const Quat &	rotation,
		const Vec3 &	velocity
	)

Create a rigid body from a distribution model.

Note

- A distribution model is accessed from a body distribution that is in turn accessed from an emitter in the simulation.

Only available in simulation mode

filterRigidBodiesInGeometry()

RigidBodyVector MOMENTUM_NAMESPACE::Simulation::filterRigidBodiesInGeometry	(	const Geometry *	geometry,
		const RigidBodyVector &	rigidBodies,
		bool	onlyCheckForMidPoint
	)		const

Return a subset of specified rigid bodies that intersect with a specified geometry.

Parameters

geometry	- The geometry that will be used in the intersection test.
onlyCheckForMidPoint	- True if only the midpoint of the body should be used in the intersection test, false all the shapes should be included in a collision test.
rigidBodies	- vector containing all rigid bodies that should be tested against the specified geometry.

Returns

vector containing the subset of the specified rigid bodies that intersect with the specified geometry.

getBallJoint()

std::shared_ptr< BallJoint > MOMENTUM_NAMESPACE::Simulation::getBallJoint

(

const std::string &

name

)

const

Get a specific named BallJoint.

Returns nullptr if it could not be found.

Parameters

name	- the name of the joint

Returns

the joint

getBallJoints()

BallJointVector MOMENTUM_NAMESPACE::Simulation::getBallJoints

(

)

const

Get all ball joints associated with the simulation.

Returns

all ball joints in the simulation

getContactForces() [1/3]

Vec3 MOMENTUM_NAMESPACE::Simulation::getContactForces	(	const Geometry *	geometry1,
		const Geometry *	geometry2 = nullptr,
		ContactType	type = IMPACT_AND_RESTING
	)

Get sum of all contact (Normal and Friction) forces in world coordinate system between two geometries.

Parameters

geometry1	- First matching geometry
geometry2	- Second matching geometry (null matches any geometry)
type	- Specifies which type of contact force to be returned

Returns

Sum of contact forces in world coordinate system

getContactForces() [2/3]

Vec3 MOMENTUM_NAMESPACE::Simulation::getContactForces	(	const RigidBody *	body1,
		const RigidBody *	body2 = nullptr,
		ContactType	type = IMPACT_AND_RESTING
	)

Get sum of all contact (Normal and Friction) forces in world coordinate system between two rigid bodies.

Parameters

body1	- First rigid body
body2	- Second rigid body (null matches any rigid body)
type	- Specifies which type of contact force to be returned

Returns

Sum of contact forces in world coordinate system

getContactForces() [3/3]

Vec3 MOMENTUM_NAMESPACE::Simulation::getContactForces	(	const RigidBody *	rb,
		const Geometry *	geo,
		ContactType	type = IMPACT_AND_RESTING
	)

Get sum of all contact (Normal and Friction) forces in world coordinate system between a rigid body and a geometry.

Parameters

rb	- Matching rigid body
geo	- Matching geometry
type	- Specifies which type of contact force to be returned

Returns

Sum of contact forces in world coordinate system

getContacts() [1/2]

ContactPointVector MOMENTUM_NAMESPACE::Simulation::getContacts	(	const Geometry *	geometry1 = nullptr,
		const Geometry *	geometry2 = nullptr
	)		const

Get all contacts in the simulation for the current timestep that involves two specified geometries.

Parameters

geometry1	- the first geometry involved in the matching contact. nullptr matches all geometries.
geometry	- the second geometry involved in the matching contact. nullptr matches all geometries.

Returns

all contacts related to the geometries

getContacts() [2/2]

ContactPointVector MOMENTUM_NAMESPACE::Simulation::getContacts	(	const RigidBody *	body1,
		const RigidBody *	body2 = nullptr
	)		const

Get all contacts in the simulation for the current timestep that involves two specified RigidBodies.

Parameters

body1	- the first body involved in the matching contact. nullptr matches all rigid bodies.
body2	- the second body involved in the matching contact. nullptr matches all rigid bodies.

Returns

all contacts related to the bodies

getConveyorBelt()

std::shared_ptr< ConveyorBelt > MOMENTUM_NAMESPACE::Simulation::getConveyorBelt

(

const std::string &

name

)

const

Get a specific named Conveyor Belt.

Returns nullptr if it could not be found.

Parameters

name	- the name of the conveyor belt

Returns

the conveyor belt

getConveyorBelts()

ConveyorBeltVector MOMENTUM_NAMESPACE::Simulation::getConveyorBelts

(

)

const

Get all conveyor belts associated with the simulation.

Returns

all observers in the simulation

getCylindricalJoint()

std::shared_ptr< CylindricalJoint > MOMENTUM_NAMESPACE::Simulation::getCylindricalJoint

(

const std::string &

name

)

const

Get a specific named CylindricalJoint.

Returns nullptr if it could not be found.

Parameters

name	- the name of the joint

Returns

the joint

getCylindricalJoints()

CylindricalJointVector MOMENTUM_NAMESPACE::Simulation::getCylindricalJoints

(

)

const

Get all cylindrical joints associated with the simulation.

Returns

all cylindrical joints in the simulation

getDisabledCollisionGroupPairs()

std::vector< std::pair< std::string, std::string > > MOMENTUM_NAMESPACE::Simulation::getDisabledCollisionGroupPairs

(

)

const

Get a list of all disabled collision group pairs.

Returns

a list of pair of strings

getEmittedBodies()

RigidBodyVector MOMENTUM_NAMESPACE::Simulation::getEmittedBodies

(

)

const

Returns

a vector containing all emitted rigid bodies in the simulation.

getEmitter()

std::shared_ptr< Emitter > MOMENTUM_NAMESPACE::Simulation::getEmitter

(

const std::string &

name

)

const

Get a specific named Emitter.

Returns nullptr if it could not be found.

Parameters

name	the name of the emitter

Returns

the emitter

getEmitters()

EmitterVector MOMENTUM_NAMESPACE::Simulation::getEmitters

(

)

const

Get all emitters associated with the simulation.

Returns

all emitters in the simulation

getFrictionContactForces() [1/3]

Vec3 MOMENTUM_NAMESPACE::Simulation::getFrictionContactForces	(	const Geometry *	geometry1,
		const Geometry *	geometry2 = nullptr,
		ContactType	type = IMPACT_AND_RESTING
	)

Get sum of all Friction contact forces in world coordinate system between two geometries.

Parameters

geometry1	- First matching geometry
geometry2	- Second matching geometry (null matches any geometry)
type	- Specifies which type of contact force to be returned

Returns

Sum of friction contact forces in world coordinate system

getFrictionContactForces() [2/3]

Vec3 MOMENTUM_NAMESPACE::Simulation::getFrictionContactForces	(	const RigidBody *	body1,
		const RigidBody *	body2 = nullptr,
		ContactType	type = IMPACT_AND_RESTING
	)

Get sum of all Friction contact forces in world coordinate system between two rigid bodies.

Parameters

body1	- first matching rigid body
body2	- second matching rigid body (null matches any rigid body)
type	- Specifies which type of contact force to be returned

Returns

Sum of friction contact forces in world coordinate system

getFrictionContactForces() [3/3]

Vec3 MOMENTUM_NAMESPACE::Simulation::getFrictionContactForces	(	const RigidBody *	rb,
		const Geometry *	geo,
		ContactType	type = IMPACT_AND_RESTING
	)

Get sum of all Friction contact forces in world coordinate system between a rigid body and a geometry.

Parameters

rb	- matching rigid body
geo	- matching geometry
type	- Specifies which type of contact force to be returned

Returns

Sum of friction contact forces in world coordinate system

getGeometries()

GeometryVector MOMENTUM_NAMESPACE::Simulation::getGeometries

(

)

const

Get all geometries associated with the simulation.

Returns

all geometries in the simulation

getGeometry() [1/2]

std::shared_ptr< Geometry > MOMENTUM_NAMESPACE::Simulation::getGeometry

(

const std::string &

name

)

const

Get a specific named Geometry .

Returns nullptr if it could not be found.

Parameters

name	- the name of the geometry

Returns

the geometry

getGeometry() [2/2]

std::shared_ptr< Geometry > MOMENTUM_NAMESPACE::Simulation::getGeometry

(

unsigned int

id

)

const

Get a specific Geometry given an id.

Returns nullptr if it could not be found.

Parameters

id	- the name of the geometry

Returns

the geometry

getGranularBodySystem()

std::shared_ptr< GranularBodySystem > MOMENTUM_NAMESPACE::Simulation::getGranularBodySystem

(

)

const

Get the GranularBodySystem coupled to the active Simulation.

Returns

The GranularBodySystem of the active simulation

getGranularContacts()

GranularGranularContactVector MOMENTUM_NAMESPACE::Simulation::getGranularContacts

(

const GranularBody *

granularBody = nullptr

)

const

Get granular contacts against a GranularBody.

Returns

all granular contacts with the GranularBody

getGranularGeometryContactForces()

Vec3 MOMENTUM_NAMESPACE::Simulation::getGranularGeometryContactForces

(

const Geometry *

geometry = nullptr

)

Get sum of all contact (Normal and Friction) forces in world coordinate system between a geometry and the granular bodies in the simulation.

Parameters

geometry

- The geometry

Returns

Sum of contact forces in world coordinate system

getGranularGeometryContacts()

GranularRigidBodyContactVector MOMENTUM_NAMESPACE::Simulation::getGranularGeometryContacts

(

const Geometry *

geometry = nullptr

)

const

Get granular contacts against a Geometry.

Returns

all granular contacts with the Geometry

getGranularGeometryFrictionContactForces()

Vec3 MOMENTUM_NAMESPACE::Simulation::getGranularGeometryFrictionContactForces

(

const Geometry *

geometry = nullptr

)

Get sum of all Friction contact forces in world coordinate system between a geometry and the granular bodies in the simulation.

Parameters

geometry

- matching geometry

Returns

Sum of friction contact forces in world coordinate system

getGranularGeometryNormalContactForces()

Vec3 MOMENTUM_NAMESPACE::Simulation::getGranularGeometryNormalContactForces

(

const Geometry *

geometry = nullptr

)

Get sum of all Normal contact forces in world coordinate system between a geometry and granular bodies in the simulation.

Parameters

geometry

- matching geometry

Returns

Sum of normal contact forces in world coordinate system

getGranularGeometrySumAbsoluteContactForces()

Vec3 MOMENTUM_NAMESPACE::Simulation::getGranularGeometrySumAbsoluteContactForces

(

const Geometry *

geometry = nullptr

)

Get sum of all absolute contact forces between a geometry.

Parameters

geometry

- matching geometry

Returns

Sum of absolute contact forces

getGranularGeometrySumAbsoluteFrictionContactForces()

Vec3 MOMENTUM_NAMESPACE::Simulation::getGranularGeometrySumAbsoluteFrictionContactForces

(

const Geometry *

geometry = nullptr

)

Get sum of all absolute friction contact forces between a geometry and the granular bodies in the simulation.

Parameters

geometry

- matching geometry

Returns

Sum of absolute friction contact forces

getGranularGeometrySumAbsoluteNormalContactForces()

Vec3 MOMENTUM_NAMESPACE::Simulation::getGranularGeometrySumAbsoluteNormalContactForces

(

const Geometry *

geometry = nullptr

)

Get sum of all absolute normal contact forces between a geometry and the granular bodies in the simulation.

Parameters

geometry

- First matching geometry

Returns

Sum of absolute normal contact forces

getGranularRigidBodyContactForces()

Vec3 MOMENTUM_NAMESPACE::Simulation::getGranularRigidBodyContactForces

(

const RigidBody *

body = nullptr

)

Get sum of all contact (Normal and Friction) forces in world coordinate system between a rigid bodies and granular bodies in the simulation.

Parameters

body	- The rigid body

Returns

Sum of contact forces in world coordinate system

getGranularRigidBodyContacts()

GranularRigidBodyContactVector MOMENTUM_NAMESPACE::Simulation::getGranularRigidBodyContacts

(

const RigidBody *

rigidBody = nullptr

)

const

Get granular contacts against a RigidBody.

Returns

all granular contacts with the GranularBody

getGranularRigidBodyFrictionContactForces()

Vec3 MOMENTUM_NAMESPACE::Simulation::getGranularRigidBodyFrictionContactForces

(

const RigidBody *

body = nullptr

)

Get sum of all Friction contact forces in world coordinate system between a rigid body and the granular bodies in the simulation.

Parameters

body	- The rigid body

Returns

Sum of friction contact forces in world coordinate system

getGranularRigidBodyNormalContactForces()

Vec3 MOMENTUM_NAMESPACE::Simulation::getGranularRigidBodyNormalContactForces

(

const RigidBody *

body = nullptr

)

Get sum of all Normal contact forces in world coordinate system between a rigid body and the granular bodies in the simulation.

Parameters

body	- The rigid body

Returns

Sum of normal contact forces in world coordinate system

getGranularRigidBodySumAbsoluteContactForces()

Vec3 MOMENTUM_NAMESPACE::Simulation::getGranularRigidBodySumAbsoluteContactForces

(

const RigidBody *

body = nullptr

)

Get sum of all absolute contact forces between a rigid body and the granular bodies in the simulation.

Parameters

body	- First matching rigid body

Returns

Sum of absolute contact forces

getGranularRigidBodySumAbsoluteFrictionContactForces()

Vec3 MOMENTUM_NAMESPACE::Simulation::getGranularRigidBodySumAbsoluteFrictionContactForces

(

const RigidBody *

body = nullptr

)

Get sum of all absolute friction contact forces between a rigid body and the granular bodies in the simulation.

Parameters

body	- First matching rigid body

Returns

Sum of absolute friction contact forces

getGranularRigidBodySumAbsoluteNormalContactForces()

Vec3 MOMENTUM_NAMESPACE::Simulation::getGranularRigidBodySumAbsoluteNormalContactForces

(

const RigidBody *

body = nullptr

)

Get sum of all absolute normal contact forces between a rigid body and the granular bodies in the simulation.

Parameters

body	- matching rigid body

Returns

Sum of absolute normal contact forces

getGravity()

Vec3 MOMENTUM_NAMESPACE::Simulation::getGravity

(

)

const

Get the uniform gravity in m/s^2.

Returns

the gravity vector

getHingeJoint()

std::shared_ptr< HingeJoint > MOMENTUM_NAMESPACE::Simulation::getHingeJoint

(

const std::string &

name

)

const

Get a specific named HingeJoint.

Returns nullptr if it could not be found.

Parameters

name	- the name of the joint

Returns

the joint

getHingeJoints()

HingeJointVector MOMENTUM_NAMESPACE::Simulation::getHingeJoints

(

)

const

Get all hinge joints associated with the simulation.

Returns

all hinge joints in the simulation

getImpactSpeedThreshold()

double MOMENTUM_NAMESPACE::Simulation::getImpactSpeedThreshold

(

)

const

Returns

the speed threshold for when to trigger impacts in contacts according to Newton's impact law.

getJoint()

std::shared_ptr< Joint > MOMENTUM_NAMESPACE::Simulation::getJoint

(

const std::string &

name

)

const

Get a specific named Joint.

Returns nullptr if it could not be found.

Parameters

name	- the name of the joint

Returns

the joint

getJoints()

JointVector MOMENTUM_NAMESPACE::Simulation::getJoints

(

)

const

Get all joints associated with the simulation.

Returns

all joints in the simulation

getLockJoint()

std::shared_ptr< LockJoint > MOMENTUM_NAMESPACE::Simulation::getLockJoint

(

const std::string &

name

)

const

Get a specific named LockJoint.

Returns nullptr if it could not be found.

Parameters

name	- the name of the joint

Returns

the joint

getLockJoints()

LockJointVector MOMENTUM_NAMESPACE::Simulation::getLockJoints

(

)

const

Get all lock joints associated with the simulation.

Returns

all lock joints in the simulation

getMaterial()

std::shared_ptr< Material > MOMENTUM_NAMESPACE::Simulation::getMaterial

(

const std::string &

name

)

const

Get a specific named Material.

Returns nullptr if it could not be found.

Parameters

name	- the name of the material

Returns

the material

getMaterialPair() [1/2]

std::shared_ptr< MaterialPair > MOMENTUM_NAMESPACE::Simulation::getMaterialPair	(	const std::string &	firstName,
		const std::string &	secondName
	)		const

Get a specific MaterialPair between two named materials.

Returns nullptr if it could not be found.

Parameters

firstName	- the name of the first material
secondName	- the name of the second material

Returns

the contact material

getMaterialPair() [2/2]

std::shared_ptr< MaterialPair > MOMENTUM_NAMESPACE::Simulation::getMaterialPair	(	Material *	firstMaterial,
		Material *	secondMaterial
	)		const

Get a specific MaterialPair between two materials.

Returns nullptr if it could not be found.

Parameters

firstMaterial	- the first material
secondMaterial	- the second material

Returns

the contact material

getMaterialPairs()

MaterialPairVector MOMENTUM_NAMESPACE::Simulation::getMaterialPairs

(

)

const

Get all contact materials associated with the simulation.

Returns

all contact materials in the simulation

getMaterials()

MaterialVector MOMENTUM_NAMESPACE::Simulation::getMaterials

(

)

const

Get all materials associated with the simulation.

Returns

all materials in the simulation

getNormalContactForces() [1/3]

Vec3 MOMENTUM_NAMESPACE::Simulation::getNormalContactForces	(	const Geometry *	geometry1,
		const Geometry *	geometry2 = nullptr,
		ContactType	type = IMPACT_AND_RESTING
	)

Get sum of all Normal contact forces in world coordinate system between two geometries.

Parameters

geometry1	- first matching geometry
geometry2	- second matching geometry (null matches any geometry)
type	- Specifies which type of contact force to be returned

Returns

Sum of normal contact forces in world coordinate system

getNormalContactForces() [2/3]

Vec3 MOMENTUM_NAMESPACE::Simulation::getNormalContactForces	(	const RigidBody *	body1,
		const RigidBody *	body2 = nullptr,
		ContactType	type = IMPACT_AND_RESTING
	)

Get sum of all Normal contact forces in world coordinate system between two rigid bodies.

Parameters

body1	- First matching rigid body
body2	- Second matching rigid body (null matches any rigid body)
type	- Specifies which type of contact force to be returned

Returns

Sum of normal contact forces in world coordinate system

getNormalContactForces() [3/3]

Vec3 MOMENTUM_NAMESPACE::Simulation::getNormalContactForces	(	const RigidBody *	rb,
		const Geometry *	geo,
		ContactType	type = IMPACT_AND_RESTING
	)

Get sum of all Normal contact forces in world coordinate system between a rigid body and a geometry.

Parameters

rb	- matching rigid body
geo	- matching geometry
type	- Specifies which type of contact force to be returned

Returns

Sum of normal contact forces in world coordinate system

getNumImpactIterations()

unsigned int MOMENTUM_NAMESPACE::Simulation::getNumImpactIterations

(

)

const

Returns

the number of impact iterations used in the impact stage of the solver.

Note

- The impact stage is only enabled if a Granular license is used and a GranularBodySystem is added to the scene.

getNumParallelRestingIterations()

unsigned int MOMENTUM_NAMESPACE::Simulation::getNumParallelRestingIterations

(

)

const

Returns

the number of resting iterations used in the iterative Parallel Projected Gauss-Seidel (PPGS) solver.

Note

- This only affects contacts that has MaterialPair solve type ITERATIVE OR contacts involving GranularBodies. It is only enabled if a Granular license is used and a GranularBodySystem is added to the scene.

getNumRestingIterations()

unsigned int MOMENTUM_NAMESPACE::Simulation::getNumRestingIterations

(

)

const

Returns

the number of resting iterations used in the iterative Serial Projected Gauss-Seidel (PGS) solver.

Note

- This only affects contacts that has a MaterialPair solve type ITERATIVE OR contacts involving GranularBodies. This is the default iterative solver that is used when the parallel solver (PPGS) is disabled.

getObserver()

std::shared_ptr< Observer > MOMENTUM_NAMESPACE::Simulation::getObserver

(

const std::string &

name

)

const

Get a specific named ObserverFrame.

Returns nullptr if it could not be found.

Parameters

name	- the name of the observer

Returns

the observer

getObservers()

ObserverVector MOMENTUM_NAMESPACE::Simulation::getObservers

(

)

const

Get all observers associated with the simulation.

Returns

all observers in the simulation

getPrismaticJoint()

std::shared_ptr< PrismaticJoint > MOMENTUM_NAMESPACE::Simulation::getPrismaticJoint

(

const std::string &

name

)

const

Get a specific named PrismaticJoint.

Returns nullptr if it could not be found.

Parameters

name	- the name of the joint

Returns

the joint

getPrismaticJoints()

PrismaticJointVector MOMENTUM_NAMESPACE::Simulation::getPrismaticJoints

(

)

const

Get all prismatic joints associated with the simulation.

Returns

all prismatic joints in the simulation

getRigidBodies()

RigidBodyVector MOMENTUM_NAMESPACE::Simulation::getRigidBodies

(

)

const

Get all rigid bodies associated with the simulation.

Returns

all rigid bodies in the simulation

getRigidBody()

std::shared_ptr< RigidBody > MOMENTUM_NAMESPACE::Simulation::getRigidBody

(

const std::string &

name

)

const

Get a specific named RigidBody.

Returns nullptr if it could not be found.

Parameters

name	- the name of the rigid body

Returns

the rigid body

getSensor()

std::shared_ptr< Sensor > MOMENTUM_NAMESPACE::Simulation::getSensor

(

const std::string &

name

)

const

Get a specific named Sensor.

Returns nullptr if it could not be found.

Parameters

name	the name of the Sensor

Returns

the Sensor

getSensors()

SensorVector MOMENTUM_NAMESPACE::Simulation::getSensors

(

)

const

Get all Sensors associated with the simulation.

Returns

all Sensors in the simulation

getSpringJoint()

std::shared_ptr< SpringJoint > MOMENTUM_NAMESPACE::Simulation::getSpringJoint

(

const std::string &

name

)

const

Get a specific named SpringJoint.

Returns nullptr if it could not be found.

Parameters

name	- the name of the joint

Returns

the joint

getSpringJoints()

SpringJointVector MOMENTUM_NAMESPACE::Simulation::getSpringJoints

(

)

const

Get all spring joints associated with the simulation.

Returns

all spring joints in the simulation

getSumAbsoluteContactForces() [1/3]

Vec3 MOMENTUM_NAMESPACE::Simulation::getSumAbsoluteContactForces	(	const Geometry *	geometry1,
		const Geometry *	geometry2 = nullptr,
		ContactType	type = IMPACT_AND_RESTING
	)

Get sum of all absolute contact forces between two geometries.

Parameters

geometry1	- First matching geometry
geometry2	- Second matching geometry (null matches any geometry)
type	- Specifies which type of contact force to be returned

Returns

Sum of absolute contact forces

getSumAbsoluteContactForces() [2/3]

Vec3 MOMENTUM_NAMESPACE::Simulation::getSumAbsoluteContactForces	(	const RigidBody *	body1,
		const RigidBody *	body2 = nullptr,
		ContactType	type = IMPACT_AND_RESTING
	)

Get sum of all absolute contact forces between two rigid bodies.

Parameters

body1	- First matching rigid body
body2	- Second matching rigid body (null matches any rigid body)
type	- Specifies which type of contact force to be returned

Returns

Sum of absolute contact forces

getSumAbsoluteContactForces() [3/3]

Vec3 MOMENTUM_NAMESPACE::Simulation::getSumAbsoluteContactForces	(	const RigidBody *	rb,
		const Geometry *	geo,
		ContactType	type = IMPACT_AND_RESTING
	)

Get sum of all absolute contact forces between a rigid body and a geometry.

Parameters

rb	- matching rigid body
geo	- matching geometry
type	- Specifies which type of contact force to be returned

Returns

Sum of absolute contact forces

getSumAbsoluteFrictionContactForces() [1/3]

Vec3 MOMENTUM_NAMESPACE::Simulation::getSumAbsoluteFrictionContactForces	(	const Geometry *	geometry1,
		const Geometry *	geometry2 = nullptr,
		ContactType	type = IMPACT_AND_RESTING
	)

Get sum of all absolute friction contact forces between two geometries.

Parameters

geometry1	- First matching geometries
geometry2	- Second matching geometry (null matches any geometry)
type	- Specifies which type of contact force to be returned

Returns

Sum of absolute friction contact forces

getSumAbsoluteFrictionContactForces() [2/3]

Vec3 MOMENTUM_NAMESPACE::Simulation::getSumAbsoluteFrictionContactForces	(	const RigidBody *	body1,
		const RigidBody *	body2 = nullptr,
		ContactType	type = IMPACT_AND_RESTING
	)

Get sum of all absolute friction contact forces between two rigid bodies.

Parameters

body1	- First matching rigid body
body2	- Second matching rigid body (null matches any rigid body)
type	- Specifies which type of contact force to be returned

Returns

Sum of absolute friction contact forces

getSumAbsoluteFrictionContactForces() [3/3]

Vec3 MOMENTUM_NAMESPACE::Simulation::getSumAbsoluteFrictionContactForces	(	const RigidBody *	rb,
		const Geometry *	geo,
		ContactType	type = IMPACT_AND_RESTING
	)

Get sum of all absolute friction contact forces between a rigid body and a geometry.

Parameters

rb	- matching rigid body
geo	- matching geometry
type	- Specifies which type of contact force to be returned

Returns

Sum of absolute friction contact forces

getSumAbsoluteNormalContactForces() [1/3]

Vec3 MOMENTUM_NAMESPACE::Simulation::getSumAbsoluteNormalContactForces	(	const Geometry *	geometry1,
		const Geometry *	geometry2 = nullptr,
		ContactType	type = IMPACT_AND_RESTING
	)

Get sum of all absolute normal contact forces between two geometries.

Parameters

geometry1	- First matching geometry
geometry2	- Second matching geometry (null matches any geometry)
type	- Specifies which type of contact force to be returned

Returns

Sum of absolute normal contact forces

getSumAbsoluteNormalContactForces() [2/3]

Vec3 MOMENTUM_NAMESPACE::Simulation::getSumAbsoluteNormalContactForces	(	const RigidBody *	body1,
		const RigidBody *	body2 = nullptr,
		ContactType	type = IMPACT_AND_RESTING
	)

Get sum of all absolute normal contact forces between two rigid bodies.

Parameters

body1	- First matching rigid body
body2	- Second matching rigid body (null matches any rigid body)
type	- Specifies which type of contact force to be returned

Returns

Sum of absolute normal contact forces

getSumAbsoluteNormalContactForces() [3/3]

Vec3 MOMENTUM_NAMESPACE::Simulation::getSumAbsoluteNormalContactForces	(	const RigidBody *	rb,
		const Geometry *	geo,
		ContactType	type = IMPACT_AND_RESTING
	)

Get sum of all absolute normal contact forces between two rigid bodies.

Parameters

rb	- matching rigid body
geo	- matching geometry
type	- Specifies which type of contact force to be returned

Returns

Sum of absolute normal contact forces

getTimeStep()

double MOMENTUM_NAMESPACE::Simulation::getTimeStep

(

)

const

Get the current length of the time step in seconds.

Returns

the current time step of the simulation

loadGranularFile()

bool MOMENTUM_NAMESPACE::Simulation::loadGranularFile	(	const std::string &	filename,
		Material *	initMaterial,
		const AffineMatrix4x4 &	offset = AffineMatrix4x4()
	)

Load an .agx file that contains both granular and Non-Spherical-Shapes(NSS) bodies into the simulation.

Parameters

filename	- The specified file in .agx format that should be loaded
initMaterial	- the material that will be set on the objects loaded into the simulation.
offset	- an offset matrix that will be applied to the object's initial position and velocity.

Returns

true if the file was loaded successfully, false otherwise.

operator==()

bool MOMENTUM_NAMESPACE::Simulation::operator==

(

const Simulation &

other

)

const

removeDisabledCollisionGroupPair()

bool MOMENTUM_NAMESPACE::Simulation::removeDisabledCollisionGroupPair	(	const std::string &	name1,
		const std::string &	name2
	)

Remove a pair of geometry collision groups to re-enable contact generation between two named geometry collision groups Order of names is not important.

Parameters

name1	- Name of first geometry collision group
name2	- Name of second geometry collision group

Returns

true if pair existed and is now removed

removeEmittedBodiesInGeometry()

void MOMENTUM_NAMESPACE::Simulation::removeEmittedBodiesInGeometry

(

const Geometry *

geometry

)

Utility method for quickly removing emitted Non-Spherical-Shapes(NSS) bodies currently inside the specified geometry.

Parameters

geometry

- the specified geometry that will be used to remove the bodies.

setGravity()

void MOMENTUM_NAMESPACE::Simulation::setGravity

(

const Vec3 &

gravity

)

Set the uniform gravity of the simulation in m/s^2.

Parameters

gravity

- the new gravity vector

Only available in simulation mode

setImpactSpeedThreshold()

void MOMENTUM_NAMESPACE::Simulation::setImpactSpeedThreshold

(

double

threshold

)

Set the speed threshold for when to trigger impacts in contacts according to Newton's impact law.

Parameters

threshold

- the speed threshold to trigger impacts.

Only available in simulation mode

write()

size_t MOMENTUM_NAMESPACE::Simulation::write

(

const std::string &

filename

)

Write current simulation state to a file in native .aagx/.agx format, depending on specified file ending.

( Default: .aagx )

Parameters

filename

- the name of the .agx file that will be created from the current simulation state.

Returns

the number of objects that was written to the file, else return 0 if the write failed.

writeGranularFile()

bool MOMENTUM_NAMESPACE::Simulation::writeGranularFile	(	const std::string &	filename,
		const GranularBodyVector &	granularBodies,
		const RigidBodyVector &	rigidBodies
	)		const

Write granular and Non-Spherical-Shapes(NSS) bodies that intersect with a specified geometry to an .agx file.

Parameters

filename	- The specified file in .agx format that the specified granular data should be stored to.
granularBodies	- A vector containing the granular bodies will be stored in in the specified file.
rigidBodies	- A vector containing the Non-Spherical-Shapes rigid bodies will be stored in in the specified file.

Returns

true if the granular data could be written to the specified file, false otherwise.

Friends And Related Function Documentation

getSimulation

Simulation * getSimulation ( )

friend

Return a pointer to the simulation object which can be used to access all joints, bodies, contacts etc.

Returns

the active simulation