Deprecated, used only for internal examples*. More...

#include <SimulationObject.h>

Public Member Functions
	SimulationObject ()
	Constructor for a SimulationObject that will store a reference to a Geometry and a RigidBody.

	SimulationObject (agxCollide::Geometry geom, agx::RigidBody body)
	Constructor for a SimulationObject that will store a reference to a Geometry and a RigidBody.

	SimulationObject (const SimulationObject &copy)
	Copy constructor.

	~SimulationObject ()

agxCollide::Geometry *	getGeometry ()

agx::RigidBody *	getRigidBody ()

	operator agx::RigidBody * ()
	Cast operator.

	operator agxCollide::Geometry * ()
	Cast operator.

	operator const agx::RigidBody * () const
	Cast operator.

	operator const agxCollide::Geometry * () const
	Cast operator.

SimulationObject &	operator= (const SimulationObject &copy)

void	setGeometry (agxCollide::Geometry *geom)

void	setRigidBody (agx::RigidBody *body)

Static Public Member Functions
static SimulationObject	createBox (const agx::String &name, const agx::AffineMatrix4x4 &transform, const agx::Vec3 &halfExtent, agxSDK::Simulation *simulation, agx::RigidBody::MotionControl motionControl=agx::RigidBody::DYNAMICS, bool createGeometry=true, bool createBody=true)
	Deprecated, used only for internal examples*.

static SimulationObject	createCapsule (const agx::String &name, const agx::AffineMatrix4x4 &transform, agx::Real radius, agx::Real height, agxSDK::Simulation *simulation, agx::RigidBody::MotionControl motionControl=agx::RigidBody::DYNAMICS, bool createGeometry=true, bool createBody=true)
	Deprecated, used only for internal examples*.

static SimulationObject	createCylinder (const agx::String &name, const agx::AffineMatrix4x4 &transform, agx::Real radius, agx::Real height, agxSDK::Simulation *simulation, agx::RigidBody::MotionControl motionControl=agx::RigidBody::DYNAMICS, bool createGeometry=true, bool createBody=true)
	Deprecated, used only for internal examples*.

static SimulationObject	createHeightField (const agx::String &name, const agx::AffineMatrix4x4 &transform, const agx::RealVector &heights, size_t resolutionX, size_t resolutionY, agx::Real sizeX, agx::Real sizeY, agx::Real bottomMargin, agxSDK::Simulation *simulation, agx::RigidBody::MotionControl motionControl=agx::RigidBody::STATIC, bool createGeometry=true, bool createBody=false)
	Deprecated, used only for internal examples*.

static SimulationObject	createHeightField (const agx::String &name, const agx::AffineMatrix4x4 &transform, const agx::String &filename, const agx::Real &sizeX, const agx::Real &sizeY, const agx::Real &low, const agx::Real &high, agxSDK::Simulation *simulation, agx::RigidBody::MotionControl motionControl=agx::RigidBody::STATIC, bool createGeometry=true, bool createBody=false)
	Deprecated, used only for internal examples*.

static SimulationObject	createPlane (const agx::String &name, const agx::AffineMatrix4x4 &transform, agxSDK::Simulation *simulation, agx::RigidBody::MotionControl motionControl=agx::RigidBody::STATIC, bool createGeometry=true, bool createBody=false)
	Deprecated, used only for internal examples*.

static SimulationObject	createSphere (const agx::String &name, const agx::AffineMatrix4x4 &transform, agx::Real radius, agxSDK::Simulation *simulation, agx::RigidBody::MotionControl motionControl=agx::RigidBody::DYNAMICS, bool createGeometry=true, bool createBody=true)
	Deprecated, used only for internal examples*.

static SimulationObject	createTrimesh (const agx::String &name, const agx::AffineMatrix4x4 &transform, agxCollide::Shape cloneTrimesh, agxSDK::Simulation simulation, agx::RigidBody::MotionControl motionControl=agx::RigidBody::DYNAMICS, bool createGeometry=true, bool createBody=true)
	Deprecated, used only for internal examples*.

static SimulationObject	createTrimesh (const agx::String &name, const agx::AffineMatrix4x4 &transform, const agx::String &filename, agx::Real bottomMargin, agxSDK::Simulation *simulation, agx::RigidBody::MotionControl motionControl=agx::RigidBody::DYNAMICS, bool createGeometry=true, bool createBody=true)
	Deprecated, used only for internal examples*.

static SimulationObject	createTrimesh (const agx::String &name, const agx::AffineMatrix4x4 &transform, const agx::String &filename, agxSDK::Simulation *simulation, agx::RigidBody::MotionControl motionControl=agx::RigidBody::DYNAMICS, bool createGeometry=true, bool createBody=true)
	Deprecated, used only for internal examples*.

Protected Attributes
agx::RigidBodyRef	m_body

agxCollide::GeometryRef	m_geometry

Detailed Description

Deprecated, used only for internal examples*.

Utility class for storing a body and a geometry

Definition at line 39 of file agxSDK/SimulationObject.h.

Constructor & Destructor Documentation

◆ SimulationObject() [1/3]

agxSDK::SimulationObject::SimulationObject	(	agxCollide::Geometry *	geom,
		agx::RigidBody *	body
	)

inline

Constructor for a SimulationObject that will store a reference to a Geometry and a RigidBody.

Definition at line 44 of file agxSDK/SimulationObject.h.

◆ SimulationObject() [2/3]

agxSDK::SimulationObject::SimulationObject ( )

inlineexplicit

Constructor for a SimulationObject that will store a reference to a Geometry and a RigidBody.

Definition at line 49 of file agxSDK/SimulationObject.h.

◆ SimulationObject() [3/3]

agxSDK::SimulationObject::SimulationObject ( const SimulationObject & copy )

inline

Copy constructor.

Definition at line 52 of file agxSDK/SimulationObject.h.

References m_body, and m_geometry.

◆ ~SimulationObject()

agxSDK::SimulationObject::~SimulationObject ( )

inline

Definition at line 68 of file agxSDK/SimulationObject.h.

Member Function Documentation

◆ createBox()

static SimulationObject agxSDK::SimulationObject::createBox	(	const agx::String &	name,
		const agx::AffineMatrix4x4 &	transform,
		const agx::Vec3 &	halfExtent,
		agxSDK::Simulation *	simulation,
		agx::RigidBody::MotionControl	motionControl = `agx::RigidBody::DYNAMICS`,
		bool	createGeometry = `true`,
		bool	createBody = `true`
	)

static

Deprecated, used only for internal examples*.

Utility function for creating a box including:

a agxCollide::Geometry including a agxCollide::Cylinder agxCollide::Shape
a agx::RigidBody with the specified agx::RigidBody::MotionControl

The Geometry will be placed at the center of mass of the RigidBody. If you want to move the Geometry, relative to the RigidBody COM, just use the Geometry::getFrame::setLocalTranslate

Parameters

name	- The name that the RigidBody and the Geometry will get.
transform	- The transformation that will be applied to the RigidBody and the Geometry
halfExtent	- Half extents of the Box.
simulation	- a pointer to a agxSDK::Simulation, where the RigidBody and the Geometry will be added, if simulation != nullptr
motionControl	- Determines whether the RigidBody should be STATIC, DYNAMICS or KINEMATICS
createGeometry	- If true a Geometry including a cylinder shape will be created.
createBody	- If true, a RigidBody will be created.

Returns: a SimulationObject with the created Geometry and RigidBody.

◆ createCapsule()

static SimulationObject agxSDK::SimulationObject::createCapsule	(	const agx::String &	name,
		const agx::AffineMatrix4x4 &	transform,
		agx::Real	radius,
		agx::Real	height,
		agxSDK::Simulation *	simulation,
		agx::RigidBody::MotionControl	motionControl = `agx::RigidBody::DYNAMICS`,
		bool	createGeometry = `true`,
		bool	createBody = `true`
	)

static

Deprecated, used only for internal examples*.

Utility function for creating a capsule including:

a agxCollide::Geometry including a agxCollide::Capsule agxCollide::Shape
a agx::RigidBody with the specified agx::RigidBody::MotionControl

The Geometry will be placed at the center of mass of the RigidBody. If you want to move the Geometry, relative to the RigidBody COM, just use the Geometry::getFrame::setLocalTranslate

Parameters

name	- The name that the RigidBody and the Geometry will get.
transform	- The transformation that will be applied to the RigidBody and the Geometry
radius	- Radius of the capsule
height	- height of the capsule
simulation	- a pointer to a agxSDK::Simulation, where the RigidBody and the Geometry will be added, if simulation != nullptr
motionControl	- Determines whether the RigidBody should be STATIC, DYNAMICS or KINEMATICS
createGeometry	- If true a Geometry including a capsule shape will be created.
createBody	- If true, a RigidBody will be created.

Returns: a SimulationObject with the created Geometry and RigidBody.

◆ createCylinder()

static SimulationObject agxSDK::SimulationObject::createCylinder	(	const agx::String &	name,
		const agx::AffineMatrix4x4 &	transform,
		agx::Real	radius,
		agx::Real	height,
		agxSDK::Simulation *	simulation,
		agx::RigidBody::MotionControl	motionControl = `agx::RigidBody::DYNAMICS`,
		bool	createGeometry = `true`,
		bool	createBody = `true`
	)

static

Deprecated, used only for internal examples*.

Utility function for creating a cylinder including:

a agxCollide::Geometry including a agxCollide::Cylinder agxCollide::Shape
a agx::RigidBody with the specified agx::RigidBody::MotionControl

The Geometry will be placed at the center of mass of the RigidBody. If you want to move the Geometry, relative to the RigidBody COM, just use the Geometry::getFrame::setLocalTranslate

Parameters

name	- The name that the RigidBody and the Geometry will get.
transform	- The transformation that will be applied to the RigidBody and the Geometry
radius	- Radius of the cylinder
height	- Height of the cylinder
simulation	- a pointer to a agxSDK::Simulation, where the RigidBody and the Geometry will be added, if simulation != nullptr
motionControl	- Determines whether the RigidBody should be STATIC, DYNAMICS or KINEMATICS
createGeometry	- If true a Geometry including a cylinder shape will be created.
createBody	- If true, a RigidBody will be created.

Returns: a SimulationObject with the created Geometry and RigidBody.

◆ createHeightField() [1/2]

static SimulationObject agxSDK::SimulationObject::createHeightField	(	const agx::String &	name,
		const agx::AffineMatrix4x4 &	transform,
		const agx::RealVector &	heights,
		size_t	resolutionX,
		size_t	resolutionY,
		agx::Real	sizeX,
		agx::Real	sizeY,
		agx::Real	bottomMargin,
		agxSDK::Simulation *	simulation,
		agx::RigidBody::MotionControl	motionControl = `agx::RigidBody::STATIC`,
		bool	createGeometry = `true`,
		bool	createBody = `false`
	)

static

Deprecated, used only for internal examples*.

Utility function for creating a HeightField including:

a agxCollide::Geometry including a agxCollide::HeightField agxCollide::Shape
a agx::RigidBody with the specified agx::RigidBody::MotionControl

The HeightField will point upwards in z direction in its local coordinate system.

The Geometry will be placed at the center of mass of the RigidBody. If you want to move the Geometry, relative to the RigidBody COM, just use the Geometry::getFrame::setLocalTranslate

Parameters

name	- The name that the RigidBody and the Geometry will get.
transform	- The transformation that will be applied to the Geometry
heights	- The heights values in
resolutionX	The number of sample points in dimension x. resolutionX * resolutionY should be heights.size()
resolutionY	The number of sample points in dimension y. resolutionX * resolutionY should be heights.size()
sizeX	The physical size in dimension x.
sizeY	The physical size in dimension y.
bottomMargin	How deep is the HeightField under its lowest point?
simulation	- a pointer to a agxSDK::Simulation, where the RigidBody and the Geometry will be added, if simulation != nullptr
motionControl	- Determines whether the RigidBody should be STATIC, DYNAMICS or KINEMATICS
createGeometry	- If true a Geometry including a sphere shape will be created.
createBody	- If true, a RigidBody will be created.

Returns: a SimulationObject with the created Geometry and RigidBody.

◆ createHeightField() [2/2]

static SimulationObject agxSDK::SimulationObject::createHeightField	(	const agx::String &	name,
		const agx::AffineMatrix4x4 &	transform,
		const agx::String &	filename,
		const agx::Real &	sizeX,
		const agx::Real &	sizeY,
		const agx::Real &	low,
		const agx::Real &	high,
		agxSDK::Simulation *	simulation,
		agx::RigidBody::MotionControl	motionControl = `agx::RigidBody::STATIC`,
		bool	createGeometry = `true`,
		bool	createBody = `false`
	)

static

Deprecated, used only for internal examples*.

Utility function for creating a HeightField including:

a agxCollide::Geometry including a agxCollide::HeightField agxCollide::Shape
a agx::RigidBody with the specified agx::RigidBody::MotionControl

The HeightField will point upwards in z direction in its local coordinate system.

The Geometry will be placed at the center of mass of the RigidBody. If you want to move the Geometry, relative to the RigidBody COM, just use the Geometry::getFrame::setLocalTranslate

Parameters

name	- The name that the RigidBody and the Geometry will get.
filename	- The path to an image file (PNG format).
sizeX,sizeY	- The size in world coordinates that the image file/heightfield will be mapped to.
low,high	- The range of heights which the data in the image file will be mapped to.
transform	- The transformation that will be applied to the RigidBody and the Geometry
simulation	- a pointer to a agxSDK::Simulation, where the RigidBody and the Geometry will be added, if simulation != nullptr
motionControl	- Determines whether the RigidBody should be STATIC, DYNAMICS or KINEMATICS
createGeometry	- If true a Geometry including a sphere shape will be created.
createBody	- If true, a RigidBody will be created.

Returns: a SimulationObject with the created Geometry and RigidBody.

◆ createPlane()

static SimulationObject agxSDK::SimulationObject::createPlane	(	const agx::String &	name,
		const agx::AffineMatrix4x4 &	transform,
		agxSDK::Simulation *	simulation,
		agx::RigidBody::MotionControl	motionControl = `agx::RigidBody::STATIC`,
		bool	createGeometry = `true`,
		bool	createBody = `false`
	)

static

Deprecated, used only for internal examples*.

Utility function for creating a plane including:

a agxCollide::Geometry including a agxCollide::Plane agxCollide::Shape
a agx::RigidBody with the specified agx::RigidBody::MotionControl

The plane will point upwards in z direction in its local coordinate system.

The Geometry will be placed at the center of mass of the RigidBody. If you want to move the Geometry, relative to the RigidBody COM, just use the Geometry::getFrame::setLocalTranslate

Parameters

name	- The name that the RigidBody and the Geometry will get.
transform	- The transformation that will be applied to the RigidBody and the Geometry
simulation	- a pointer to a agxSDK::Simulation, where the RigidBody and the Geometry will be added, if simulation != nullptr
motionControl	- Determines whether the RigidBody should be STATIC, DYNAMICS or KINEMATICS
createGeometry	- If true a Geometry including a sphere shape will be created.
createBody	- If true, a RigidBody will be created.

Returns: a SimulationObject with the created Geometry and RigidBody.

◆ createSphere()

static SimulationObject agxSDK::SimulationObject::createSphere	(	const agx::String &	name,
		const agx::AffineMatrix4x4 &	transform,
		agx::Real	radius,
		agxSDK::Simulation *	simulation,
		agx::RigidBody::MotionControl	motionControl = `agx::RigidBody::DYNAMICS`,
		bool	createGeometry = `true`,
		bool	createBody = `true`
	)

static

Deprecated, used only for internal examples*.

Utility function for creating a sphere including:

a agxCollide::Geometry including a agxCollide::Sphere agxCollide::Shape
a agx::RigidBody with the specified agx::RigidBody::MotionControl

The Geometry will be placed at the center of mass of the RigidBody. If you want to move the Geometry, relative to the RigidBody COM, just use the Geometry::getFrame::setLocalTranslate

Parameters

name	- The name that the RigidBody and the Geometry will get.
transform	- The transformation that will be applied to the RigidBody and the Geometry
radius	- Radius of the sphere
simulation	- a pointer to a agxSDK::Simulation, where the RigidBody and the Geometry will be added, if simulation != nullptr
motionControl	- Determines whether the RigidBody should be STATIC, DYNAMICS or KINEMATICS
createGeometry	- If true a Geometry including a sphere shape will be created.
createBody	- If true, a RigidBody will be created.

Returns: a SimulationObject with the created Geometry and RigidBody.

◆ createTrimesh() [1/3]

static SimulationObject agxSDK::SimulationObject::createTrimesh	(	const agx::String &	name,
		const agx::AffineMatrix4x4 &	transform,
		agxCollide::Shape *	cloneTrimesh,
		agxSDK::Simulation *	simulation,
		agx::RigidBody::MotionControl	motionControl = `agx::RigidBody::DYNAMICS`,
		bool	createGeometry = `true`,
		bool	createBody = `true`
	)

static

Deprecated, used only for internal examples*.

Utility function for creating a trimesh including:

a agxCollide::Geometry including a agxCollide::Trimesh agxCollide::Shape
a agx::RigidBody with the specified agx::RigidBody::MotionControl

The Geometry will be placed at the center of mass of the RigidBody. If you want to move the Geometry, relative to the RigidBody COM, just use the Geometry::getFrame::setLocalTranslate

Parameters

name	- The name that the RigidBody and the Geometry will get.
transform	- The transformation that will be applied to the RigidBody and the Geometry
cloneTrimesh	- A pointer to a agxCollide::Trimesh that the Geometry data should be reused from. The cloneTrimesh has to be finalized, if not =nullptr.
simulation	- A pointer to a agxSDK::Simulation, where the RigidBody and the Geometry will be added, if simulation != nullptr
motionControl	- Determines whether the RigidBody should be STATIC, DYNAMICS or KINEMATICS
createGeometry	- If true a Geometry including a capsule shape will be created.
createBody	- If true, a RigidBody will be created.

Returns: a SimulationObject with the created Geometry and RigidBody.

◆ createTrimesh() [2/3]

static SimulationObject agxSDK::SimulationObject::createTrimesh	(	const agx::String &	name,
		const agx::AffineMatrix4x4 &	transform,
		const agx::String &	filename,
		agx::Real	bottomMargin,
		agxSDK::Simulation *	simulation,
		agx::RigidBody::MotionControl	motionControl = `agx::RigidBody::DYNAMICS`,
		bool	createGeometry = `true`,
		bool	createBody = `true`
	)

static

Deprecated, used only for internal examples*.

Utility function for creating a trimesh including:

a agxCollide::Geometry including a agxCollide::Trimesh agxCollide::Shape
a agx::RigidBody with the specified agx::RigidBody::MotionControl

The Geometry will be placed at the center of mass of the RigidBody. If you want to move the Geometry, relative to the RigidBody COM, just use the Geometry::getFrame::setLocalTranslate

Parameters

name	- The name that the RigidBody and the Geometry will get.
transform	- The transformation that will be applied to the RigidBody and the Geometry
filename	- The name of the file containing the mesh data. Currently, .obj files are supported.
bottomMargin	A safety threshold for catching collisions below the terrain surface.
simulation	- a pointer to a agxSDK::Simulation, where the RigidBody and the Geometry will be added, if simulation != nullptr
motionControl	- Determines whether the RigidBody should be STATIC, DYNAMICS or KINEMATICS
createGeometry	- If true a Geometry including a capsule shape will be created.
createBody	- If true, a RigidBody will be created.

Returns: a SimulationObject with the created Geometry and RigidBody.

◆ createTrimesh() [3/3]

static SimulationObject agxSDK::SimulationObject::createTrimesh	(	const agx::String &	name,
		const agx::AffineMatrix4x4 &	transform,
		const agx::String &	filename,
		agxSDK::Simulation *	simulation,
		agx::RigidBody::MotionControl	motionControl = `agx::RigidBody::DYNAMICS`,
		bool	createGeometry = `true`,
		bool	createBody = `true`
	)

static

Deprecated, used only for internal examples*.

Utility function for creating a trimesh including:

a agxCollide::Geometry including a agxCollide::Trimesh agxCollide::Shape
a agx::RigidBody with the specified agx::RigidBody::MotionControl

The Geometry will be placed at the center of mass of the RigidBody. If you want to move the Geometry, relative to the RigidBody COM, just use the Geometry::getFrame::setLocalTranslate

Parameters

name	- The name that the RigidBody and the Geometry will get.
transform	- The transformation that will be applied to the RigidBody and the Geometry
filename	- The name of the file containing the mesh data. Currently, .obj files are supported.
simulation	- a pointer to a agxSDK::Simulation, where the RigidBody and the Geometry will be added, if simulation != nullptr
motionControl	- Determines whether the RigidBody should be STATIC, DYNAMICS or KINEMATICS
createGeometry	- If true a Geometry including a capsule shape will be created.
createBody	- If true, a RigidBody will be created.

Returns: a SimulationObject with the created Geometry and RigidBody.

◆ getGeometry()

agxCollide::Geometry * agxSDK::SimulationObject::getGeometry ( )

inline

Returns: the geometry

Definition at line 71 of file agxSDK/SimulationObject.h.

◆ getRigidBody()

agx::RigidBody * agxSDK::SimulationObject::getRigidBody ( )

inline

Returns: the rigidbody

Definition at line 75 of file agxSDK/SimulationObject.h.

◆ operator agx::RigidBody *()

agxSDK::SimulationObject::operator agx::RigidBody * ( )

inline

Cast operator.

Returns: The contained Rigidbody

Definition at line 79 of file agxSDK/SimulationObject.h.

◆ operator agxCollide::Geometry *()

agxSDK::SimulationObject::operator agxCollide::Geometry * ( )

inline

Cast operator.

Returns: The contained Geometry

Definition at line 81 of file agxSDK/SimulationObject.h.

◆ operator const agx::RigidBody *()

agxSDK::SimulationObject::operator const agx::RigidBody * ( ) const

inline

Cast operator.

Returns: The contained Rigidbody

Definition at line 83 of file agxSDK/SimulationObject.h.

◆ operator const agxCollide::Geometry *()

agxSDK::SimulationObject::operator const agxCollide::Geometry * ( ) const

inline

Cast operator.

Returns: The contained Geometry

Definition at line 85 of file agxSDK/SimulationObject.h.

◆ operator=()

SimulationObject & agxSDK::SimulationObject::operator= ( const SimulationObject & copy )

inline

Definition at line 58 of file agxSDK/SimulationObject.h.

References m_body, and m_geometry.

◆ setGeometry()

void agxSDK::SimulationObject::setGeometry ( agxCollide::Geometry * geom )

inline

Definition at line 72 of file agxSDK/SimulationObject.h.

◆ setRigidBody()

void agxSDK::SimulationObject::setRigidBody ( agx::RigidBody * body )

inline

Definition at line 76 of file agxSDK/SimulationObject.h.

Member Data Documentation

◆ m_body

agx::RigidBodyRef agxSDK::SimulationObject::m_body

protected

Definition at line 412 of file agxSDK/SimulationObject.h.

Referenced by SimulationObject(), and operator=().

◆ m_geometry

agxCollide::GeometryRef agxSDK::SimulationObject::m_geometry

protected

Definition at line 411 of file agxSDK/SimulationObject.h.

Referenced by SimulationObject(), and operator=().

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

agxSDK/SimulationObject.h

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SimulationObject() [1/3]

◆ SimulationObject() [2/3]

◆ SimulationObject() [3/3]

◆ ~SimulationObject()

Member Function Documentation

◆ createBox()

◆ createCapsule()

◆ createCylinder()

◆ createHeightField() [1/2]

◆ createHeightField() [2/2]

◆ createPlane()

◆ createSphere()

◆ createTrimesh() [1/3]

◆ createTrimesh() [2/3]

◆ createTrimesh() [3/3]

◆ getGeometry()

◆ getRigidBody()

◆ operator agx::RigidBody *()

◆ operator agxCollide::Geometry *()

◆ operator const agx::RigidBody *()

◆ operator const agxCollide::Geometry *()

◆ operator=()

◆ setGeometry()

◆ setRigidBody()

Member Data Documentation

◆ m_body

◆ m_geometry