A model of a cable using a lumped elements model. More...

#include <Cable.h>

Inheritance diagram for agxCable::Cable:

Public Member Functions
	Cable (agx::Real radius, agx::Real resolutionPerUnitLength)
	Create a new cable with the given radius and resolution.

	Cable (agx::Real radius, agxCable::HomogeneousSegmentsRoute *routingAlgorithm)
	Create a new cable using the given routing algorithm.

agx::Bool	add (agxCable::RoutingNode *node)
	Add the given cable node to the end of the cable.

bool	attach (agxCable::CableIterator segment, agx::RigidBody *body, const agx::AffineMatrix4x4 &relativeTransform)
	Attach the given segment to the given rigid body using a LockJoint.

bool	attach (agxCable::CableIterator segment, agx::RigidBody *body, const agx::Vec3 &relativeTranslate)
	Attach the given segment to the given rigid body using a BallJoint that lets the cable rotate freely around the point.

agxCable::CableIterator	begin ()

agxCable::CableIterator	begin () const
	Returns an iterator that walks over the segments of the cable.

agxCable::CableIterator	end ()

agxCable::CableIterator	end () const
	Returns an iterator pointing one-past the last segment.

agxCable::CableIterator	findLast () const
	Returns an iterator pointing to the last segment.

agxCable::CableProperties *	getCableProperties () const
	Return the cable properties for this cable.

virtual agx::Real	getCurrentLength () const override
	Get the current length of the cable, including any stretching.

agxCable::RouteInitializationReport	getInitializationReport () const

agx::UInt	getNumSegments () const
	Returns the number of segments in the cable.

agx::Real	getRadius () const

agx::Real	getResolution () const
	Returns the resolution of the cable, measured in segments per unit length.

virtual agx::Real	getRestLength () const override
	Get the rest length of the cable.

agxCable::SegmentRange	getSegments () const

bool	loadLibraryProperties (const agx::String &name)
	Load named CableProperties from the Material Library for the current Cable.

void	setCableProperties (agxCable::CableProperties *cableProperties)
	Set the cable properties object used by this cable.

agxCable::RouteInitializationReport	tryInitialize ()
	Make a dry-run of the cable initialization.

agxCable::RouteInitializationReport	tryInitialize (agx::Real maxError)
	Make a dry-run with a specified maximum allowed routing error.

Public Member Functions inherited from agxSDK::LinkedStructure
virtual agx::Bool	addComponent (agxSDK::LinkedStructureComponent *component)
	Add new component to this linked structure.

virtual void	addGroup (agx::UInt32 id)
	Add group id to all segments in this linked structure.

virtual void	addGroup (const agx::Name &name)
	Add group name to all segments in this linked structure.

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

void	addNotification (agxSDK::Simulation *simulation) final override
	Called when this linked structure is added to the simulation.

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

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agxSDK::LinkedStructure)

virtual agx::Real	findCurrentLength (agx::Real restLengthFromStart) const
	Calculates the current length of a given rest length.

virtual agxCollide::GroupIdCollection	findGroupIdCollection () const

virtual agx::Vec3	findPoint (agx::Real restLengthFromStart) const
	Finds center point on this structure given rest length from the start.

virtual agx::Vec3	findPoint (const agx::Vec3 &worldPoint) const
	Given any world point, find a center point on this structure that is closest to the given `worldPoint`.

virtual agx::Real	findRestLength (agx::Real currentLengthFromStart) const
	Calculates the rest length of a given current length from start.

virtual agx::Real	findRestLengthTo (const agx::Vec3 &worldPoint) const
	Given any world point, find a center point on this structure that is closest to the given `worldPoint` and return the rest length from start.

virtual agx::Real	findRestLengthTo (const agxSDK::LinkedSegment *segment) const
	Finds rest length to the start of the given segment.

virtual agx::Vec3	getAngularVelocityDamping () const

template<typename T >
T *	getComponent () const

agxSDK::LinkedStructureComponent *	getComponent (const agx::Name &name) const

virtual agx::Real	getCurrentLength () const
	Calculates and returns the total length of this linked structure, at current state.

virtual agx::UInt32	getDisabledCollisionGroupId () const

virtual agx::Bool	getEnableCollisions (const agx::RigidBody *rb) const

virtual agx::Bool	getEnableCollisions (const agxCollide::Geometry *geometry) const

virtual agx::Vec3	getLinearVelocityDamping () const

virtual agx::Real	getMass () const
	Calculates and returns the total mass of this linked structure.

virtual agx::Material *	getMaterial () const

virtual agx::Real	getRestLength () const
	Calculates and returns the total length of this linked structure, at rest.

virtual agx::Real	getRestVolume () const
	Calculates and returns the total volume of this linked structure, at rest.

template<>
LinkedSegment *	getSegment (const agx::RigidBody *rb) const

agx::UInt	getSegmentIndex (const agx::RigidBody *rb) const

const agxSDK::LinkedSegmentContainer &	getSegmentsContainer () const

virtual agx::UInt32	getUniqueId () const

virtual agx::Bool	hasGroup (agx::UInt32 id) const

virtual agx::Bool	hasGroup (const agx::Name &name) const

virtual agx::Bool	rebind ()
	Make the current relative positions of all nodes the rest state.

virtual agx::Bool	removeComponent (agxSDK::LinkedStructureComponent *component)
	Remove an added component from this linked structure.

virtual void	removeGroup (agx::UInt32 id)
	Remove group id from all segments in this linked structure.

virtual void	removeGroup (const agx::Name &name)
	Remove group name from all segments in this linked structure.

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

void	removeNotification (agxSDK::Simulation *simulation) final override
	Called when this linked structure is added to the simulation.

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

agxSDK::LinkedSegmentRange< agxSDK::LinkedSegment >	segments ()

virtual void	setAngularVelocityDamping (const agx::Vec3 &angularVelocityDamping)
	Assigns angular velocity damping to all segments in this linked structure.

virtual void	setDisabledCollisionsId (const agx::Uuid &uuid)
	Set the collision id of this linked structure.

virtual void	setEnableCollisions (agx::RigidBody *rb, agx::Bool enable)
	Enable/disable collisions between the rigid body and all segments of this linked structure.

virtual void	setEnableCollisions (agxCollide::Geometry *geometry, agx::Bool enable)
	Enable/disable collisions between the geometry and all segments of this linked structure.

virtual void	setLinearVelocityDamping (const agx::Vec3 &linearVelocityDamping)
	Assigns linear velocity damping to all segments in this linked structure.

virtual void	setMaterial (agx::Material *material)
	Assign material to all segments in this linked structure.

virtual void	setUniqueId (const agx::Uuid &uuid)
	Set the unique id of this linked structure.

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 agxCable::Cable *	asCable (agxSDK::Assembly *assembly)

static Cable *	find (agxSDK::Simulation *simulation, const agx::Name &name)
	This method will do a linear search in Simulation and return a pointer to the specified Cable.

static Cable *	find (agxSDK::Simulation *simulation, const agx::Uuid &uuid)
	This method will do a linear search in Simulation and return a pointer to the specified Cable.

static agxCable::CablePtrVector	findAll (agxSDK::Simulation *simulation, const agx::Name &name)
	This method will do a linear search in Simulation and return a vector with pointers to all matching Cables.

static agxCable::CablePtrVector	getAll (agxSDK::Simulation *simulation)
	Collect all Cables in the given simulation.

static agx::StringVector	getAvailableLibraryProperties ()
	Returns a vector with all the named CableProperties that were found in the Material Library.

static agxCable::Cable *	getCableForBody (agx::RigidBody *body)

static const agxCable::Cable *	getCableForBody (const agx::RigidBody *body)

static agxCable::Cable *	getCableForGeometry (agxCollide::Geometry *geometry)

static const agxCable::Cable *	getCableForGeometry (const agxCollide::Geometry *geometry)

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

static LinkedStructure *	get (agx::RigidBody *body)

static LinkedStructure *	get (agxCollide::Geometry *geometry)

static const LinkedStructure *	get (const agx::RigidBody *body)

static const LinkedStructure *	get (const agxCollide::Geometry *geometry)

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
	Cable ()
	Used for serialization only.

virtual	~Cable ()

agxCable::HomogeneousSegmentsRoute *	getRoute () const

virtual void	onAddNotification (agxSDK::Simulation *simulation) override
	Called when addNotification is executed when this linked structure is added to the simulation.

virtual void	onPostStep () override
	Called on simulation post step event - after user postStep.

virtual void	onPreStep () override
	Called on simulation pre step event - after user preStep.

Protected Member Functions inherited from agxSDK::LinkedStructure
	LinkedStructure ()
	Hidden default constructor.

virtual	~LinkedStructure ()
	Reference counted object - protected destructor.

void	add (LinkedSegment *segment)
	Add segment to this linked structure.

std::tuple< agx::Vec3, LinkedSegment * >	findPointAndSegment (const agx::Vec3 &worldPoint) const

template<typename T >
T *	findSegment (const agx::Vec3 &worldPoint) const

LinkedStructureObjectData *	getData (const agx::RigidBody *rb) const

agx::UInt	getNumSegments () const

template<typename T >
T *	getSegment (agx::Real restLengthFromStart) const

LinkedSegment *	getSegment (agx::UInt index) const

template<typename ObjT >
LinkedSegment *	getSegment (const ObjT *rb) const

template<typename T >
LinkedSegmentIterator< T >	getSegmentIterator (agx::UInt index, agx::Bool boundaryless=false) const

template<typename T , typename ObjT >
LinkedSegmentIterator< T >	getSegmentIterator (const ObjT *rb, agx::Bool boundaryless=false) const

template<typename T >
LinkedSegmentRange< T >	getSegments () const
	Constructs a segment range over all segments.

template<typename T >
LinkedSegmentRange< T >	getSegments (agx::UInt beginIndex, agx::UInt endIndex) const
	Range given begin and end segment index.

virtual void	onAddNotification (agxSDK::Simulation *simulation)
	Called when addNotification is executed when this linked structure is added to the simulation.

virtual void	onGroupAdd (const IdData &group)
	Called when a new group has been added.

virtual void	onGroupRemove (const IdData &group)
	Called when an existing group has been removed.

virtual void	onLastStep ()
	Called on simulation last step event - after user lastStep.

virtual void	onMaterialNew ()
	Called when a new material has been assigned.

virtual void	onPostIntegrate ()
	Called on simulation post integrate event - when transforms has been updated given current velocities.

virtual void	onPostStep ()
	Called on simulation post step event - after user postStep.

virtual void	onPreCollideStep ()
	Called on simulation pre-collide step event - after user preCollide.

virtual void	onPreStep ()
	Called on simulation pre step event - after user preStep.

virtual void	onRemoveNotification (agxSDK::Simulation *simulation)
	Called when removeNotification is executed when this linked structure is removed from the simulation.

virtual void	onSetEnableCollisions (agxCollide::Geometry *geometry, agx::Bool enable)
	Called when collision state changed for given geometry.

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 ()

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

Static Protected Member Functions inherited from agxSDK::LinkedStructure
template<typename T >
static T *	getT (agx::RigidBody *rb)

template<typename T >
static const T *	getT (const agx::RigidBody *rb)

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.

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

A model of a cable using a lumped elements model.

A number of RigidBodies, called segments, are created and constrained together to represent the cable.

Definition at line 43 of file Cable.h.

Constructor & Destructor Documentation

◆ Cable() [1/3]

agxCable::Cable::Cable	(	agx::Real	radius,
		agx::Real	resolutionPerUnitLength
	)

Create a new cable with the given radius and resolution.

The given resolution is used as a starting point, but particulars of the routing and initialization may cause the final resolution to differ from the given one. See tryInitialize.

At creation the cable will have zero length and no position in space. Route the cable by adding nodes to it.

Parameters

radius	- The radius of the cable.
resolutionPerUnitLength	- The number of lumped elements to create per unit length.

◆ Cable() [2/3]

agxCable::Cable::Cable	(	agx::Real	radius,
		agxCable::HomogeneousSegmentsRoute *	routingAlgorithm
	)

Create a new cable using the given routing algorithm.

The routing algorithm determines final segment placement when the cable is initialized.

The cable is routed using Cable::add(RoutingNode*) as usual. Different routing algorithm may impose various limitations on how how the cable may be routed.

Parameters

radius	- The radius of the cable.
routingAlgorithm	- The routing algorithm to use when creating cable segments from the routing nodes.

◆ Cable() [3/3]

agxCable::Cable::Cable ( )

protected

Used for serialization only.

◆ ~Cable()

virtual agxCable::Cable::~Cable ( )

protectedvirtual

Member Function Documentation

◆ add()

agx::Bool agxCable::Cable::add ( agxCable::RoutingNode * node )

Add the given cable node to the end of the cable.

The cable is extended from the most recently added node to the new node. The cable, by definition, starts at the first node added and ends at the last node.

All modes must be added before the cable initialization is finalized. This happens when the cable is added to the simulation.

Parameters

node	- The node to add to the cable route.

Returns: True if the node was added. Will return false if the cable has already been initialized.

◆ asCable()

static agxCable::Cable * agxCable::Cable::asCable ( agxSDK::Assembly * assembly )

static

◆ attach() [1/2]

bool agxCable::Cable::attach	(	agxCable::CableIterator	segment,
		agx::RigidBody *	body,
		const agx::AffineMatrix4x4 &	relativeTransform
	)

Attach the given segment to the given rigid body using a LockJoint.

The cable will be fixed relative to the body. The relative transform describe the transformation from the body's model coordinate frame to the point that the cable should pass through. The cable will pass through this point along the transformed Z axis.

Parameters

segment	- CableIterator pointing to the segment that is to be attached.
body	- RigidBody to attach the segment to.
relativeTransform	- Transformation describing the orientation of the cable relative to the body.

Returns: True if the segment was successfully attached. False otherwise.

◆ attach() [2/2]

bool agxCable::Cable::attach	(	agxCable::CableIterator	segment,
		agx::RigidBody *	body,
		const agx::Vec3 &	relativeTranslate
	)

Attach the given segment to the given rigid body using a BallJoint that lets the cable rotate freely around the point.

The relative translate is relative to the body's model coordinate frame.

Parameters

segment	- CableIterator pointing to the segment that is to be attached.
body	- RigidBody to attach the segment to.
relativeTranslate	- Point on the body that the cable is to be attached to.

Returns: True if the segment was successfully attached. False otherwise.

◆ begin() [1/2]

agxCable::CableIterator agxCable::Cable::begin ( )

◆ begin() [2/2]

agxCable::CableIterator agxCable::Cable::begin ( ) const

Returns an iterator that walks over the segments of the cable.

From the iterator one can read information such as segment length and position, cable tension and get access to the underlying RigidBody.

◆ end() [1/2]

agxCable::CableIterator agxCable::Cable::end ( )

◆ end() [2/2]

agxCable::CableIterator agxCable::Cable::end ( ) const

Returns an iterator pointing one-past the last segment.

This iterator may not be dereferenced.

◆ find() [1/2]

static Cable * agxCable::Cable::find	(	agxSDK::Simulation *	simulation,
		const agx::Name &	name
	)

static

This method will do a linear search in Simulation and return a pointer to the specified Cable.

Parameters

simulation	- The instance of the simulation in which we are searching
name	- Name of the Cable we are searching for

Returns: Pointer to the found Cable or null if not found.

◆ find() [2/2]

static Cable * agxCable::Cable::find	(	agxSDK::Simulation *	simulation,
		const agx::Uuid &	uuid
	)

static

This method will do a linear search in Simulation and return a pointer to the specified Cable.

Parameters

simulation	- The instance of the simulation in which we are searching
uuid	- uuid of the Cable we are searching for

Returns: pointer to the found Cable or null if not found.

◆ findAll()

static agxCable::CablePtrVector agxCable::Cable::findAll	(	agxSDK::Simulation *	simulation,
		const agx::Name &	name
	)

static

This method will do a linear search in Simulation and return a vector with pointers to all matching Cables.

Parameters

simulation	- The instance of the simulation in which we are searching
name	- Name of the Cable's we are searching for

Returns: Vector containing pointers to all matching Cables.

◆ findLast()

agxCable::CableIterator agxCable::Cable::findLast ( ) const

Returns an iterator pointing to the last segment.

◆ getAll()

static agxCable::CablePtrVector agxCable::Cable::getAll ( agxSDK::Simulation * simulation )

static

Collect all Cables in the given simulation.

Parameters

simulation - The simulation to get cables from.

Returns: Vector containing pointes to all cables in the simulation.

◆ getAvailableLibraryProperties()

static agx::StringVector agxCable::Cable::getAvailableLibraryProperties ( )

static

Returns a vector with all the named CableProperties that were found in the Material Library.

Returns: A vector with the names of all found CableProperties in the MaterialLibrary

◆ getCableForBody() [1/2]

static agxCable::Cable * agxCable::Cable::getCableForBody ( agx::RigidBody * body )

static

Returns: The cable that the given body is part of, or nullptr if there is no such cable.

◆ getCableForBody() [2/2]

static const agxCable::Cable * agxCable::Cable::getCableForBody ( const agx::RigidBody * body )

static

◆ getCableForGeometry() [1/2]

static agxCable::Cable * agxCable::Cable::getCableForGeometry ( agxCollide::Geometry * geometry )

static

Returns: The cable that the given geometry is part of, or nullptr if there is no such cable.

◆ getCableForGeometry() [2/2]

static const agxCable::Cable * agxCable::Cable::getCableForGeometry ( const agxCollide::Geometry * geometry )

static

◆ getCableProperties()

agxCable::CableProperties * agxCable::Cable::getCableProperties ( ) const

Return the cable properties for this cable.

CableProperties may be shared among several cables.

◆ getCurrentLength()

virtual agx::Real agxCable::Cable::getCurrentLength ( ) const

overridevirtual

Get the current length of the cable, including any stretching.

The current length of an uninitialized cable is the length of the path created by the routing nodes added so far.

Returns: The current length of the cable.

Reimplemented from agxSDK::LinkedStructure.

◆ getInitializationReport()

agxCable::RouteInitializationReport agxCable::Cable::getInitializationReport ( ) const

Returns: A report describing the result of the initialization.

◆ getNumSegments()

agx::UInt agxCable::Cable::getNumSegments ( ) const

Returns the number of segments in the cable.

Only valid after the cable has been fully initialized, i.e., added to a agxSDK::Simulation.

Results from the dry-runs performed by tryInitialize is not seen here. Inspect the report returned from tryInitialize instead.

Returns: The number of segments in the cable.

◆ getRadius()

agx::Real agxCable::Cable::getRadius ( ) const

Returns: The radius of this cable.

◆ getResolution()

agx::Real agxCable::Cable::getResolution ( ) const

Returns the resolution of the cable, measured in segments per unit length.

This value is updated by both the cable initialization and the dry-runs performed by tryInitialize.

◆ getRestLength()

virtual agx::Real agxCable::Cable::getRestLength ( ) const

overridevirtual

Get the rest length of the cable.

For an initialized cable this is the sum of the segment lengths. For an uninitialized cable it is the length of the path created by the routing nodes added so far.

Returns: The rest length of the cable.

Reimplemented from agxSDK::LinkedStructure.

◆ getRoute()

agxCable::HomogeneousSegmentsRoute * agxCable::Cable::getRoute ( ) const

protected

Returns: The route defining the initial path of the cable.

◆ getSegments()

agxCable::SegmentRange agxCable::Cable::getSegments ( ) const

Returns: A range spanning over all the segments in this cable.

◆ loadLibraryProperties()

bool agxCable::Cable::loadLibraryProperties ( const agx::String & name )

Load named CableProperties from the Material Library for the current Cable.

Returns: True if properties could be loaded

◆ onAddNotification()

virtual void agxCable::Cable::onAddNotification ( agxSDK::Simulation * simulation )

overrideprotectedvirtual

Called when addNotification is executed when this linked structure is added to the simulation.

Reimplemented from agxSDK::LinkedStructure.

◆ onPostStep()

virtual void agxCable::Cable::onPostStep ( )

overrideprotectedvirtual

Called on simulation post step event - after user postStep.

Reimplemented from agxSDK::LinkedStructure.

◆ onPreStep()

virtual void agxCable::Cable::onPreStep ( )

overrideprotectedvirtual

Called on simulation pre step event - after user preStep.

Reimplemented from agxSDK::LinkedStructure.

◆ setCableProperties()

void agxCable::Cable::setCableProperties ( agxCable::CableProperties * cableProperties )

Set the cable properties object used by this cable.

This will cause this cable to share properties with the cable from which the cable properties object was fetched.

◆ tryInitialize() [1/2]

agxCable::RouteInitializationReport agxCable::Cable::tryInitialize ( )

Make a dry-run of the cable initialization.

This will produce a report detailing the configuration of the cable that would be produced if added to the simulation right now. From this report one can read the routing error and the number of segments created.

The resolution of the cable is updated to match the resolution found by the test-initialization and can be queried using getResolution().

Returns: Report detailing the initialization results.

◆ tryInitialize() [2/2]

agxCable::RouteInitializationReport agxCable::Cable::tryInitialize ( agx::Real maxError )

Make a dry-run with a specified maximum allowed routing error.

The error is the amount of overlap or gap between consecutive segments at initialization. The initialization process tries to find a resolution that produces an error that is below the given limit. This is not always possible.

If the cable is initialized without specifying a maximum error then an error limit is estimated from the route.

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

Cable.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Cable() [1/3]

◆ Cable() [2/3]

◆ Cable() [3/3]

◆ ~Cable()

Member Function Documentation

◆ add()

◆ asCable()

◆ attach() [1/2]

◆ attach() [2/2]

◆ begin() [1/2]

◆ begin() [2/2]

◆ end() [1/2]

◆ end() [2/2]

◆ find() [1/2]

◆ find() [2/2]

◆ findAll()

◆ findLast()

◆ getAll()

◆ getAvailableLibraryProperties()

◆ getCableForBody() [1/2]

◆ getCableForBody() [2/2]

◆ getCableForGeometry() [1/2]

◆ getCableForGeometry() [2/2]

◆ getCableProperties()

◆ getCurrentLength()

◆ getInitializationReport()

◆ getNumSegments()

◆ getRadius()

◆ getResolution()

◆ getRestLength()

◆ getRoute()

◆ getSegments()

◆ loadLibraryProperties()

◆ onAddNotification()

◆ onPostStep()

◆ onPreStep()

◆ setCableProperties()

◆ tryInitialize() [1/2]

◆ tryInitialize() [2/2]