#include <ThreeBodyTire.h>

Inheritance diagram for agxModel::ThreeBodyTire:

Public Member Functions
	ThreeBodyTire (agx::RigidBody tireBodyCollision, agx::RigidBody tireBodyVisual, agx::Real outerRadius, agx::RigidBody *hubBody, agx::Real innerRadius, const agx::AffineMatrix4x4 &localTransform=agx::AffineMatrix4x4())
	Construct tire given rigid body (with wheel geometry/geometries) and radius.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agxModel::ThreeBodyTire)

virtual agx::Real	getDampingCoefficient (DeformationMode mode) override
	Gets the damping coefficient for a deformation mode.

agx::Hinge *	getOuterHinge ()
	Gets the hinge (with active Lock1D) connecting the tire to the hub.

virtual agx::Real	getStiffness (DeformationMode mode) override
	Gets the stiffness for a deformation mode.

const agx::RigidBody *	getTireCollisionRigidBody () const

agx::RigidBody *	getTireVisualRigidBody ()

virtual bool	setDampingCoefficient (const agx::Real dampingCoefficient, DeformationMode mode) override
	Sets the damping coefficient for a deformation mode.

virtual bool	setStiffness (const agx::Real stiffness, DeformationMode mode) override
	Sets the stiffness for a deformation mode.

Public Member Functions inherited from agxModel::TwoBodyTire
	TwoBodyTire (agx::RigidBody tireBody, agx::Real outerRadius, agx::RigidBody hubBody, agx::Real innerRadius, const agx::AffineMatrix4x4 &localTransform=agx::AffineMatrix4x4())
	Construct tire given rigid body (with wheel geometry/geometries) and radius.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agxModel::TwoBodyTire)

virtual agx::Real	getDampingCoefficient (DeformationMode mode)
	Gets the damping coefficient for a deformation mode.

agx::Hinge *	getHinge ()
	Gets the hinge (with active Lock1D) connecting the tire to the hub.

agx::RigidBody *	getHubRigidBody ()

const agx::RigidBody *	getHubRigidBody () const

agx::Vec2	getImplicitFrictionMultiplier () const

agx::Real	getInnerRadius () const

virtual agx::Real	getLoadedRadius () const override
	Gets the current loaded radius.

agx::Real	getOuterRadius () const

const agx::Frame *	getReferenceFrame () const

virtual agx::Real	getStiffness (DeformationMode mode)
	Gets the stiffness for a deformation mode.

agx::RigidBody *	getTireRigidBody ()

const agx::RigidBody *	getTireRigidBody () const

virtual bool	isValid () const

virtual bool	setDampingCoefficient (const agx::Real dampingCoefficient, DeformationMode mode)
	Sets the damping coefficient for a deformation mode.

void	setImplicitFrictionMultiplier (const agx::Vec2 &implicitFrictionMultiplier)
	Set the implicit friction multiplier in order to get different behavior for different friction directions (forwards, sideways).

virtual bool	setStiffness (const agx::Real stiffness, DeformationMode mode)
	Sets the stiffness for a deformation mode.

Public Member Functions inherited from agxModel::Tire
virtual agx::Real	getLoadedRadius () const
	Gets the current loaded radius.

agx::Real	getRadius () const
	Gets radius.

Public Member Functions inherited from agxSDK::Assembly
	Assembly ()
	Default constructor.

bool	add (agx::Constraint *constraint)
	Add a constraint to the assembly.

bool	add (agx::ContactMaterial *contactMaterial)
	Add a contact material to this assembly.

bool	add (agx::Emitter *emitter)
	Add an emitter to this assembly.

bool	add (agx::Interaction *interaction)
	Add an interaction to this assembly.

bool	add (agx::MergedBody *mergedBody)
	Add a MergedBody to this assembly.

bool	add (agx::ObserverFrame *observerFrame)
	Add an ObserverFrame to this assembly.

bool	add (agx::RigidBody *body)
	Add a rigid body to the assembly.

bool	add (agxCollide::Geometry *geometry)
	Add a geometry to the assembly.

bool	add (agxSDK::EventListener *listener)
	Add a listener to the assembly.

bool	add (agxSDK::TerrainInstance *terrainInstance)
	Add a TerrainInstance to this assembly.

bool	add (agxSDK::TerrainToolInstance *toolInstance)
	Add a TerrainToolInstance to this assembly.

bool	add (agxStream::Serializable *object)
	Add an object of type serialized.

bool	add (Assembly *assembly)
	Add another assembly as child to this assembly.

virtual void	addNotification (agxSDK::Simulation *)
	Called when this assembly is added to a simulation (given that it not already is in the simulation).

virtual void	addNotification (Assembly *)
	Called when this assembly is added to another assembly.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agxSDK::Assembly)

size_t	collect (agx::ConstraintRefVector &result, bool recursive=true)

size_t	collect (agx::EmitterRefVector &result, bool recursive=true)

size_t	collect (agx::InteractionRefVector &result, bool recursive=true)

size_t	collect (agx::MergedBodyRefVector &result, bool recursive=true)

size_t	collect (agx::ObserverFrameRefVector &result, bool recursive=true)

size_t	collect (agx::ParticleSystemRefVector &result, bool recursive=true)

size_t	collect (agx::RigidBodyRefVector &result, bool recursive=true)

size_t	collect (agxCollide::GeometryRefVector &result, bool recursive=true)

size_t	collect (agxSDK::AssemblyRefVector &result, bool recursive=true)

size_t	collect (agxSDK::EventListenerRefVector &result, bool recursive=true)

size_t	collect (agxSDK::TerrainInstanceRefVector &result, bool recursive=true)

size_t	collect (agxSDK::TerrainToolInstanceRefVector &result, bool recursive=true)

bool	empty () const

const AssemblyRefSetVector &	getAssemblies () const

agxSDK::Assembly *	getAssembly (const agx::Name &name, bool recursive=true)
	Find (linear search) and return named Assembly.

const agxSDK::Assembly *	getAssembly (const agx::Name &name, bool recursive=true) const
	Find (linear search) and return named Assembly.

agxSDK::Assembly *	getAssembly (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return an Assembly matching the given uuid.

const agxSDK::Assembly *	getAssembly (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return an Assembly matching the given uuid.

agx::Constraint *	getConstraint (const agx::Name &name, bool recursive=true)
	Find (linear search) and return named Constraint.

template<typename T >
T *	getConstraint (const agx::Name &name, bool recursive=true)
	Find and return named Constraint of a template type, for example Hinge:

const agx::Constraint *	getConstraint (const agx::Name &name, bool recursive=true) const
	Find (linear search) and return named Constraint.

template<typename T >
const T *	getConstraint (const agx::Name &name, bool recursive=true) const
	Find and return named Constraint of a template type, for example Hinge:

agx::Constraint *	getConstraint (const agx::Uuid &uuid, bool recursive=true)
	Find and return a pointer to a Constraint with the given uuid.

const agx::Constraint *	getConstraint (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return a pointer to a Constraint with the given uuid.

agx::Constraint1DOF *	getConstraint1DOF (const agx::Name &name, bool recursive=true)

agx::Constraint2DOF *	getConstraint2DOF (const agx::Name &name, bool recursive=true)

const agx::ConstraintRefSetVector &	getConstraints () const

const agx::EmitterRefSetVector &	getEmitters () const

const EventListenerRefSetVector &	getEventListeners () const

virtual agx::Frame *	getFrame ()
	Return a reference to the frame containing transformation and velocity information for this assembly.

virtual const agx::Frame *	getFrame () const

const agxCollide::GeometryRefSetVector &	getGeometries () const

agxCollide::Geometry *	getGeometry (const agx::Name &name, bool recursive=true)
	Find (linear search) and return named collision Geometry.

const agxCollide::Geometry *	getGeometry (const agx::Name &name, bool recursive=true) const
	Find (linear search) and return named collision Geometry.

agxCollide::Geometry *	getGeometry (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return a Geometry matching the given uuid.

const agxCollide::Geometry *	getGeometry (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return a Geometry matching the given uuid.

const agx::InteractionRefSetVector &	getInteractions () const

agx::Vec3	getLocalPosition () const

agx::Quat	getLocalRotation () const

const agx::AffineMatrix4x4 &	getLocalTransform () const

const agx::MergedBodyRefSetVector &	getMergedBodies () const

agx::MergedBody *	getMergedBody (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return an MergedBody matching the given uuid.

const agx::MergedBody *	getMergedBody (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return an MergedBody matching the given uuid.

agx::Name	getName () const

agx::ObserverFrame *	getObserverFrame (const agx::Name &name, bool recursive=true)
	Find (linear search) and return an ObserverFrame matching the given uuid.

const agx::ObserverFrame *	getObserverFrame (const agx::Name &name, bool recursive=true) const
	Find (linear search) and return an ObserverFrame matching the given uuid.

agx::ObserverFrame *	getObserverFrame (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return an ObserverFrame matching the given uuid.

const agx::ObserverFrame *	getObserverFrame (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return an ObserverFrame matching the given uuid.

const agx::ObserverFrameRefSetVector &	getObserverFrames () const

Assembly *	getParent ()

const Assembly *	getParent () const

agx::Frame *	getParentFrame ()

const agx::Frame *	getParentFrame () const

const agx::ParticleSystemRefSetVector &	getParticleSystems () const

const agx::RigidBodyRefSetVector &	getRigidBodies () const

agx::RigidBody *	getRigidBody (const agx::Name &name, bool recursive=true)
	Find (linear search) and return named RigidBody.

const agx::RigidBody *	getRigidBody (const agx::Name &name, bool recursive=true) const
	Find (linear search) and return named RigidBody.

agx::RigidBody *	getRigidBody (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return a pointer to a RigidBody with the given uuid.

const agx::RigidBody *	getRigidBody (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return a pointer to a RigidBody with the given uuid.

agxSDK::Simulation *	getSimulation ()

const agxSDK::Simulation *	getSimulation () const

agxSDK::TerrainInstance *	getTerrainInstance (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return an TerrainInstance matching the given uuid.

const agxSDK::TerrainInstance *	getTerrainInstance (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return an TerrainInstance matching the given uuid.

const agxSDK::TerrainInstanceRefSetVector &	getTerrainInstances () const

agxSDK::TerrainToolInstance *	getTerrainToolInstance (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return an TerrainToolInstance matching the given uuid.

const agxSDK::TerrainToolInstance *	getTerrainToolInstance (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return an TerrainToolInstance matching the given uuid.

const agxSDK::TerrainToolInstanceRefSetVector &	getTerrainToolInstances () const

Type	getType () const

bool	remove (agx::Constraint *constraint)
	Remove a constraint from this assembly (does not recurse down in tree).

bool	remove (agx::ContactMaterial *contactMaterial)
	Remove a contact material from this assembly.

bool	remove (agx::Emitter *emitter)
	Remove an emitter from this assembly.

bool	remove (agx::Interaction *interaction)
	Remove an interaction from this assembly.

bool	remove (agx::MergedBody *mergedBody)
	Remove a MergedBody from this assembly.

bool	remove (agx::ObserverFrame *observerFrame, bool resetParentFrame=true)
	Remove an ObserverFrame from this assembly.

bool	remove (agx::RigidBody *body, bool removeAssociatedGeometries=false, bool resetParentFrame=true)
	Remove a rigid body from this assembly (does not recurse down in tree).

bool	remove (agxCollide::Geometry *geometry, bool resetParentFrame=true)
	Remove a geometry from this assembly (does not recurse down in tree).

bool	remove (agxSDK::TerrainInstance *terrainInstance)
	Remove a TerrainInstance from this assembly.

bool	remove (agxSDK::TerrainToolInstance *toolInstance)
	Remove a TerrainToolInstance from this assembly.

bool	remove (Assembly *assembly, bool resetParentFrame=true)
	Remove a child assembly from a parent.

bool	remove (EventListener *listener)
	Remove an EventListener from the assembly.

virtual void	removeNotification (agxSDK::Simulation *)
	Called when this assembly is removed from a simulation.

virtual void	removeNotification (Assembly *)
	Called when this assembly is removed from another assembly.

bool	reset (bool resetParentFrame=true)
	If this assembly is not added to a simulation it will clear all added bodies etc.

virtual void	setAngularVelocity (const agx::Vec3 &velocity)
	Set the angular velocity (in world frame) recursively for all rigid bodies stored in assembly.

void	setLocalPosition (agx::Real x, agx::Real y, agx::Real z)
	Set the position of the assembly relative to its frame's parent frame.

void	setLocalPosition (const agx::Vec3 &p)
	Set the position of the assembly relative to its frame's parent frame.

void	setLocalRotation (const agx::EulerAngles &e)
	Set the rotation of the assembly relative to its frame's parent frame.

void	setLocalRotation (const agx::Quat &q)
	Set the rotation of the assembly relative to its frame's parent frame.

void	setLocalTransform (const agx::AffineMatrix4x4 &matrix)
	Assign the local transformation matrix for this assembly, ignoring any eventual parent transformation.

void	setName (const agx::Name &name)
	Set the name of this Assembly.

bool	setParentFrame (agx::Frame *frame)
	Set the parent frame of this assembly's frame.

void	setPosition (agx::Real x, agx::Real y, agx::Real z)
	Set the position of the frame in world coordinates.

void	setPosition (const agx::Vec3 &p)
	Set the position of the frame in world coordinates.

void	setRotation (const agx::EulerAngles &e)
	Set the rotation of the assembly relative to world frame.

void	setRotation (const agx::OrthoMatrix3x3 &m)
	Set the rotation of the assembly relative to world frame.

void	setRotation (const agx::Quat &q)
	Set the rotation of the assembly relative to world frame.

void	setTransform (const agx::AffineMatrix4x4 &matrix)
	Set the transform of the assembly.

virtual void	setVelocity (const agx::Vec3 &velocity)
	Set the linear velocity (in world frame) recursively for all rigid bodies stored in assembly.

bool	transfer (agxSDK::Assembly *target)
	Transfer all the content from this assembly to the `target`, including name and transformation.

virtual void	traverse (AssemblyVisitor *visitor)
	Traverse the assembly tree recursively using a visitor.

virtual void	traverse (const AssemblyVisitor *visitor) const

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Static Public Member Functions
static agxStream::Serializable *	create (agxStream::InputArchive &)

Static Public Member Functions inherited from agxModel::TwoBodyTire
static agxStream::Serializable *	create (agxStream::InputArchive &)

static TwoBodyTire *	find (agxSDK::Assembly *assembly, const agx::Name &name)
	Search the given assembly for a TwoBodyTire with the given name.

static TwoBodyTire *	find (agxSDK::Simulation *simulation, const agx::Name &name)
	Search the given simulation for a TwoBodyTire with the given name.

static TwoBodyTirePtrVector	findAll (const agxSDK::Simulation *simulation)
	Finds all TwoBodyTire in the given simulation.

static TwoBodyTirePtrVector	findAll (const agxSDK::Simulation *simulation, const agx::Name &name)
	Find all TwoBodyTires with given name.

Static Public Member Functions inherited from agxSDK::Assembly
static Assembly *	asAssembly (agxStream::Serializable *obj)

static agxStream::Serializable *	create (agxStream::InputArchive &)

Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Protected Member Functions
	ThreeBodyTire ()

virtual	~ThreeBodyTire ()

virtual void	addNotification (agxSDK::Simulation *simulation) override
	Called when this assembly is added to a simulation (given that it not already is in the simulation).

agxSDK::ContactEventListener::KeepContactPolicy	contact (const agx::TimeStamp &, agxCollide::GeometryContact *gc)

agxSDK::ContactEventListener::KeepContactPolicy	handleContacts (const agx::TimeStamp &, agxCollide::GeometryContact *gc, bool impact)

agxSDK::ContactEventListener::KeepContactPolicy	impact (const agx::TimeStamp &, agxCollide::GeometryContact *gc)

virtual bool	isValid () const override

virtual void	post (const agx::TimeStamp &) override

void	reduceContacts (agxCollide::LocalGeometryContact &gc)

virtual void	removeNotification (agxSDK::Simulation *simulation) override
	Called when this assembly is removed from a simulation.

void	separation (const agx::TimeStamp &, agxCollide::GeometryPair &)

Protected Member Functions inherited from agxModel::TwoBodyTire
	TwoBodyTire ()

virtual	~TwoBodyTire ()

virtual void	addNotification (agxSDK::Simulation *simulation) override
	Called when this assembly is added to a simulation (given that it not already is in the simulation).

agxSDK::ContactEventListener::KeepContactPolicy	contact (const agx::TimeStamp &, agxCollide::GeometryContact *gc)

agx::Vec3	getTireAxisWorld () const

agx::Vec3	getTireCenterWorld () const

agxSDK::ContactEventListener::KeepContactPolicy	handleContacts (const agx::TimeStamp &, agxCollide::GeometryContact *gc)

agxSDK::ContactEventListener::KeepContactPolicy	impact (const agx::TimeStamp &, agxCollide::GeometryContact *gc)

void	initBodies (agx::Real outerRadius, agx::Real innerRadius)

virtual void	last (const agx::TimeStamp &)

virtual void	post (const agx::TimeStamp &)

virtual void	pre (const agx::TimeStamp &)

virtual void	preCollide (const agx::TimeStamp &)

void	reduceContacts (agxCollide::LocalGeometryContact &gc)

virtual void	removeNotification (agxSDK::Simulation *simulation) override
	Called when this assembly is removed from a simulation.

void	separation (const agx::TimeStamp &, agxCollide::GeometryPair &)

Protected Member Functions inherited from agxModel::Tire
	Tire ()

virtual	~Tire ()

Protected Member Functions inherited from agxSDK::Assembly
	Assembly (Type type)

virtual	~Assembly ()
	Destructor.

bool	addParticleSystem (agx::ParticleSystem *particleSystem)
	Add a particle system to this assembly.

void	addToSimulation (Simulation *simulation)

void	removeFromSimulation (Simulation *simulation)

bool	removeParticleSystem (agx::ParticleSystem *particleSystem)
	Remove a particle system from this assembly.

Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Protected Attributes
agx::HingeRef	m_outerHinge

agx::RigidBodyObserver	m_tireVisualBody

Protected Attributes inherited from agxModel::TwoBodyTire
agx::UInt32	m_collisionGroup

agx::ref_ptr< agxUtil::GeneralContactEventListener< TwoBodyTire > >	m_contactCallback

agx::Vector< agx::ContactMaterialRef >	m_contactMaterials

agx::Vector< agxCollide::LocalGeometryContact >	m_contacts

agx::HingeRef	m_hinge

agx::RigidBodyObserver	m_hubBody

agx::Vec2	m_implicitFrictionMultiplier

bool	m_initialized

agx::Real	m_innerRadius

agx::Real	m_loadedRadius

agx::FrameRef	m_refFrame

agx::ref_ptr< agxUtil::GeneralStepListener< TwoBodyTire > >	m_stepCallback

agx::RigidBodyObserver	m_tireBody

Protected Attributes inherited from agxModel::Tire
agx::Real	m_radius

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Additional Inherited Members
Public Types inherited from agxModel::TwoBodyTire
enum	DeformationMode { RADIAL , LATERAL , BENDING , TORSIONAL }

Public Types inherited from agxSDK::Assembly
enum	Type { ASSEMBLY , COLLECTION }
	Specifies the type an assembly is. More...

Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Detailed Description

Note: : This is an experimental feature, not fully tested yet.

A simple tire model with three rigid bodies - the hub and the tire represented by two bodies. One body with rotational degrees of freedom relative the hub and another with spatial degrees of freedom relative the first tire body. To model any deformation/elastic behavior, the joint settings between hub and tire are being modified.

Notes on stiffness and damping: See TwoBodyTire

Definition at line 38 of file ThreeBodyTire.h.

Constructor & Destructor Documentation

◆ ThreeBodyTire() [1/2]

agxModel::ThreeBodyTire::ThreeBodyTire	(	agx::RigidBody *	tireBodyCollision,
		agx::RigidBody *	tireBodyVisual,
		agx::Real	outerRadius,
		agx::RigidBody *	hubBody,
		agx::Real	innerRadius,
		const agx::AffineMatrix4x4 &	localTransform = `agx::AffineMatrix4x4()`
	)

Construct tire given rigid body (with wheel geometry/geometries) and radius.

By definition tire axis is assumed to be y direction in body coordinates. This is also the secondary friction direction. Contacts between the tireBody and the hingeBody will be disabled.

Parameters

tireBodyCollision	- rigid body of this tire with spatial degrees of freedom relative the tireBodyVisual (including geometries)
tireBodyVisual	- rigid body of this tire with rotational degree of freedom relative the hub (no geometries)
outerRadius	- radius of this tire
hubBody	- rigid body that the tire is fixed upon (including geometries)
innerRadius	- inner radius of the tire (and outer radius of hub)
localTransform	- local transform for hinge and friction directions, local in tireBody's coordinate system. Expects rotation axis to be in Y-axis.

◆ ThreeBodyTire() [2/2]

agxModel::ThreeBodyTire::ThreeBodyTire ( )

protected

◆ ~ThreeBodyTire()

virtual agxModel::ThreeBodyTire::~ThreeBodyTire ( )

protectedvirtual

Member Function Documentation

◆ addNotification()

virtual void agxModel::ThreeBodyTire::addNotification ( agxSDK::Simulation * )

overrideprotectedvirtual

Called when this assembly is added to a simulation (given that it not already is in the simulation).

Reimplemented from agxModel::TwoBodyTire.

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

agxModel::ThreeBodyTire::AGXSTREAM_DECLARE_SERIALIZABLE_BASE ( agxModel::ThreeBodyTire )

◆ contact()

agxSDK::ContactEventListener::KeepContactPolicy agxModel::ThreeBodyTire::contact	(	const agx::TimeStamp &	,
		agxCollide::GeometryContact *	gc
	)

protected

◆ create()

static agxStream::Serializable * agxModel::ThreeBodyTire::create ( agxStream::InputArchive & )

inlinestatic

Definition at line 115 of file ThreeBodyTire.h.

◆ getDampingCoefficient()

virtual agx::Real agxModel::ThreeBodyTire::getDampingCoefficient ( DeformationMode mode )

overridevirtual

Gets the damping coefficient for a deformation mode.

Parameters

mode	The deformation mode.

Return values

The	damping Coefficient. 0 if invalid mode.

Note: see comments in class definition about stiffness and damping.

Reimplemented from agxModel::TwoBodyTire.

◆ getOuterHinge()

agx::Hinge * agxModel::ThreeBodyTire::getOuterHinge ( )

Gets the hinge (with active Lock1D) connecting the tire to the hub.

This setup is an implementation detail, and might change in future versions of AGX. Having direct control over the hinge can be helpful in order to change fine-grained options such as compliance and damping. Use with care.

Return values

The	hinge between tire and hub. 0 if isValid is false.

◆ getStiffness()

virtual agx::Real agxModel::ThreeBodyTire::getStiffness ( DeformationMode mode )

overridevirtual

Gets the stiffness for a deformation mode.

Parameters

mode	The deformation mode.

Return values

The	stiffness. 0 if invalid mode.

Note: see comments in class definition about stiffness and damping.

Reimplemented from agxModel::TwoBodyTire.

◆ getTireCollisionRigidBody()

const agx::RigidBody * agxModel::ThreeBodyTire::getTireCollisionRigidBody ( ) const

Returns: the rigid body of the tire.

◆ getTireVisualRigidBody()

agx::RigidBody * agxModel::ThreeBodyTire::getTireVisualRigidBody ( )

Returns: the rigid body of the tire.

◆ handleContacts()

agxSDK::ContactEventListener::KeepContactPolicy agxModel::ThreeBodyTire::handleContacts	(	const agx::TimeStamp &	,
		agxCollide::GeometryContact *	gc,
		bool	impact
	)

protected

◆ impact()

agxSDK::ContactEventListener::KeepContactPolicy agxModel::ThreeBodyTire::impact	(	const agx::TimeStamp &	,
		agxCollide::GeometryContact *	gc
	)

protected

◆ isValid()

virtual bool agxModel::ThreeBodyTire::isValid ( ) const

overrideprotectedvirtual

Returns: Is the tire valid?

Reimplemented from agxModel::TwoBodyTire.

◆ post()

virtual void agxModel::ThreeBodyTire::post ( const agx::TimeStamp & )

overrideprotectedvirtual

Reimplemented from agxModel::TwoBodyTire.

◆ reduceContacts()

void agxModel::ThreeBodyTire::reduceContacts ( agxCollide::LocalGeometryContact & gc )

protected

◆ removeNotification()

virtual void agxModel::ThreeBodyTire::removeNotification ( agxSDK::Simulation * )

overrideprotectedvirtual

Called when this assembly is removed from a simulation.

Reimplemented from agxModel::TwoBodyTire.

◆ separation()

void agxModel::ThreeBodyTire::separation	(	const agx::TimeStamp &	,
		agxCollide::GeometryPair &
	)

protected

◆ setDampingCoefficient()

virtual bool agxModel::ThreeBodyTire::setDampingCoefficient	(	const agx::Real	dampingCoefficient,
		DeformationMode	mode
	)

overridevirtual

Sets the damping coefficient for a deformation mode.

Parameters

dampingCoefficient	The damping Coefficient.
mode	The deformation mode.

Return values

True	if setting was successful.

Note: see comments in class definition about stiffness and damping.

Reimplemented from agxModel::TwoBodyTire.

◆ setStiffness()

virtual bool agxModel::ThreeBodyTire::setStiffness	(	const agx::Real	stiffness,
		DeformationMode	mode
	)

overridevirtual

Sets the stiffness for a deformation mode.

Parameters

stiffness	The stiffness.
mode	The deformation mode.

Return values

True	if setting was successful.

Note: see comments in class definition about stiffness and damping.

Reimplemented from agxModel::TwoBodyTire.

Member Data Documentation

◆ m_outerHinge

agx::HingeRef agxModel::ThreeBodyTire::m_outerHinge

protected

Definition at line 162 of file ThreeBodyTire.h.

◆ m_tireVisualBody

agx::RigidBodyObserver agxModel::ThreeBodyTire::m_tireVisualBody

protected

Definition at line 161 of file ThreeBodyTire.h.

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

ThreeBodyTire.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ThreeBodyTire() [1/2]

◆ ThreeBodyTire() [2/2]

◆ ~ThreeBodyTire()

Member Function Documentation

◆ addNotification()

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

◆ contact()

◆ create()

◆ getDampingCoefficient()

◆ getOuterHinge()

◆ getStiffness()

◆ getTireCollisionRigidBody()

◆ getTireVisualRigidBody()

◆ handleContacts()

◆ impact()

◆ isValid()

◆ post()

◆ reduceContacts()

◆ removeNotification()

◆ separation()

◆ setDampingCoefficient()

◆ setStiffness()

Member Data Documentation

◆ m_outerHinge

◆ m_tireVisualBody