Beam is a segmented, lumped element structure of a given length and resolution. More...

#include <Beam.h>

Inheritance diagram for agxModel::Beam:

Public Member Functions
	Beam (BeamModel *model, agx::UInt resolution, agx::Real length)
	Construct a beam given model, resolution (number of elements) and total length.

agx::LockJointRef	attach (BeamSegment segment, agx::Bool atSegmentBegin, agx::RigidBody otherRb=nullptr, agx::Bool adoptModelProperties=false) const
	Utility method to attach a given segment (of this beam) at begin or end (of the segment) to another rigid body and optionally adopt the material properties of the model of this beam.

agx::LockJointRef	attach (BeamSegment segment, agx::Vec3 localSegmentPosition, agx::RigidBody otherRb=nullptr, agx::Bool adoptModelProperties=false) const
	Utility method to attach a given segment (of this beam) at a local segment position to another rigid body and optionally adopt the material properties of the model of this beam.

agx::LockJointRef	attachBegin (agx::RigidBody *otherRb=nullptr, agx::Bool adoptModelProperties=false) const
	Utility method to attach the first segment of this beam at begin (of the segment) to another rigid body and optionally adopt the material properties of the model of this beam.

agx::LockJointRef	attachEnd (agx::RigidBody *otherRb=nullptr, agx::Bool adoptModelProperties=false) const
	Utility method to attach the last segment of this beam at end (of the segment) to another rigid body and optionally adopt the material properties of the model of this beam.

BeamStiffnessDamping	calculateSegmentStiffnessDamping () const
	Calculates per segment stiffness dependent on beam model moment of inertia, cross section area, beam segment length and number of segments in this beam.

BeamSegment *	findSegment (const agx::Vec3 &worldPoint) const
	Find the segment closest to the given world point.

agx::Vec3	getBeginPosition () const
	Current begin position, in world coordinate frame, of this (initialized) beam.

BeamSegmentRange	getConstrainedSegments () const

agx::Vec3	getEndPosition () const
	Current end position, in world coordinate frame, of this (initialized) beam.

BeamModel *	getModel () const

agx::UInt	getNumSegments () const

virtual agx::Real	getRestLength () const override

BeamSegment *	getSegment (agx::Real restLengthFromStart) const
	Finds the segment overlapping the given rest length from start.

BeamSegmentRange	getSegments () const

agx::Bool	initialize ()
	Initialize this beam, creating segments, constraints and assigning properties related to the model of this beam.

agx::Bool	isInitialized () const

void	updateProperties ()
	Propagate model specific properties, such as stiffness in the constraints.

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 agx::Quat	calculateRotation (agx::Vec3 forward, agx::Vec3 worldUpAxis=agx::Vec3::Z_AXIS())
	Calculates the rotation of a beam frame given forward direction and world up axis the beam frame up axis should align with.

static agx::AffineMatrix4x4	calculateTransform (agx::Vec3 startPosition, agx::Vec3 forward, agx::Vec3 worldUpAxis=agx::Vec3::Z_AXIS())
	Calculates the transform of a beam given start position, forward direction and world up axis the beam up axis should align with.

static BeamRef	create (agx::Vec3 startPosition, agx::Vec3 endPosition, BeamModel *model, agx::UInt resolution, agx::Vec3 worldUpAxis=agx::Vec3::Z_AXIS())
	Creates an initialized beam between the given start and end positions, beam model, beam resolution and world up axis (default z).

static Beam *	find (agxSDK::Simulation *simulation, const agx::Name &name)
	Find beam instance given simulation and name.

static Beam *	find (agxSDK::Simulation *simulation, const agx::Uuid &uuid)
	Find beam instance given simulation and unique id.

static agxModel::BeamPtrVector	findAll (const agxSDK::Simulation *simulation)
	Finds all agxModel::Beam instances in the given simulation.

static agxModel::BeamPtrVector	findAll (const agxSDK::Simulation *simulation, const agx::Name &name)
	Finds all beam instances given simulation and name.

static Beam *	get (agx::RigidBody *rb)

static const Beam *	get (const agx::RigidBody *rb)

static BeamRef	restore (agxModel::BeamModel *model, agxStream::StorageStream &str)
	Creates a new beam given `model` and restores all data from the given storage stream.

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.

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

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 ()

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

Beam is a segmented, lumped element structure of a given length and resolution.

The properties of a beam, e.g., geometry, parameters, moment of inertia (area and polar) are defined in the model of the beam (agxModel::BeamModel). The beam models may be shared between several beam instances.

An initialized beam with default transform will be created along the z axis with start at the origin. This means that the end of the last beam segment is at (0, 0, length). The segments of the beam is defined to have x up, y right and z forward (long the beam).

Definition at line 41 of file Beam.h.

Constructor & Destructor Documentation

◆ Beam()

agxModel::Beam::Beam	(	BeamModel *	model,
		agx::UInt	resolution,
		agx::Real	length
	)

Construct a beam given model, resolution (number of elements) and total length.

Parameters

model	- beam model of this beam (invalid if nullptr)
resolution	- the total number of beam segments in this beam when initialized, i.e., the number of rigid bodies and resolution - 1 constraints (invalid if 0)
length	- the total length of this beam (invalid if 0.0)

Member Function Documentation

◆ attach() [1/2]

agx::LockJointRef agxModel::Beam::attach	(	BeamSegment *	segment,
		agx::Bool	atSegmentBegin,
		agx::RigidBody *	otherRb = `nullptr`,
		agx::Bool	adoptModelProperties = `false`
	)		const

Utility method to attach a given segment (of this beam) at begin or end (of the segment) to another rigid body and optionally adopt the material properties of the model of this beam.

Note: The returned lock joint won't be added to the simulation or to this beam and this beam has to be initialized.

Parameters

segment	- segment of this beam to attach
atSegmentBegin	- attached at local (0, 0, 0) if true, otherwise (0, 0, length) if false
otherRb	- other rigid body to attach `segment` to - nullptr is world
adoptModelProperties	- calculate compliance and damping of the attachment given the beam model of this beam

Returns: lock joint if valid, otherwise nullptr (e.g., segment is null or not part of this beam)

◆ attach() [2/2]

agx::LockJointRef agxModel::Beam::attach	(	BeamSegment *	segment,
		agx::Vec3	localSegmentPosition,
		agx::RigidBody *	otherRb = `nullptr`,
		agx::Bool	adoptModelProperties = `false`
	)		const

Utility method to attach a given segment (of this beam) at a local segment position to another rigid body and optionally adopt the material properties of the model of this beam.

Note: The returned lock joint won't be added to the simulation or to this beam and this beam has to be initialized.

Parameters

segment	- segment of this beam to attach
localSegmentPosition	- beam segment attachment position given in local segment frame
otherRb	- other rigid body to attach `segment` to - nullptr is world
adoptModelProperties	- calculate compliance and damping of the attachment given the beam model of this beam

Returns: lock joint if valid, otherwise nullptr (e.g., segment is null or not part of this beam)

◆ attachBegin()

agx::LockJointRef agxModel::Beam::attachBegin	(	agx::RigidBody *	otherRb = `nullptr`,
		agx::Bool	adoptModelProperties = `false`
	)		const

Utility method to attach the first segment of this beam at begin (of the segment) to another rigid body and optionally adopt the material properties of the model of this beam.

Note: The returned lock joint won't be added to the simulation or to this beam and this beam has to be initialized.

Parameters

otherRb	- other rigid body to attach first segment to - nullptr is world
adoptModelProperties	- calculate compliance and damping of the attachment given the beam model of this beam

Returns: lock joint if valid, otherwise nullptr (e.g., segment is null or not part of this beam)

◆ attachEnd()

agx::LockJointRef agxModel::Beam::attachEnd	(	agx::RigidBody *	otherRb = `nullptr`,
		agx::Bool	adoptModelProperties = `false`
	)		const

Utility method to attach the last segment of this beam at end (of the segment) to another rigid body and optionally adopt the material properties of the model of this beam.

Note: The returned lock joint won't be added to the simulation or to this beam and this beam has to be initialized.

Parameters

otherRb	- other rigid body to attach first segment to - nullptr is world
adoptModelProperties	- calculate compliance and damping of the attachment given the beam model of this beam

Returns: lock joint if valid, otherwise nullptr (e.g., segment is null or not part of this beam)

◆ calculateRotation()

static agx::Quat agxModel::Beam::calculateRotation	(	agx::Vec3	forward,
		agx::Vec3	worldUpAxis = `agx::Vec3::Z_AXIS()`
	)

static

Calculates the rotation of a beam frame given forward direction and world up axis the beam frame up axis should align with.

Parameters

forward	- forward direction of the beam in world coordinate frame, e.g., \|end position - start position\|
worldUpAxis	- world up axis the beam should align with

Returns: rotation of the beam if all inputs are valid, otherwise and identity quaternion (with logged warnings)

◆ calculateSegmentStiffnessDamping()

BeamStiffnessDamping agxModel::Beam::calculateSegmentStiffnessDamping ( ) const

Calculates per segment stiffness dependent on beam model moment of inertia, cross section area, beam segment length and number of segments in this beam.

Returns: the calculated translational and rotational stiffness and damping times

◆ calculateTransform()

static agx::AffineMatrix4x4 agxModel::Beam::calculateTransform	(	agx::Vec3	startPosition,
		agx::Vec3	forward,
		agx::Vec3	worldUpAxis = `agx::Vec3::Z_AXIS()`
	)

static

Calculates the transform of a beam given start position, forward direction and world up axis the beam up axis should align with.

Parameters

startPosition	- start position of the beam in world coordinate frame
forward	- forward direction of the beam in world coordinate frame, e.g., \|end position - start position\|
worldUpAxis	- world up axis the beam should align with

Returns: transform of the beam if all inputs are valid, otherwise an identity matrix (with logged warnings)

◆ create()

static BeamRef agxModel::Beam::create	(	agx::Vec3	startPosition,
		agx::Vec3	endPosition,
		BeamModel *	model,
		agx::UInt	resolution,
		agx::Vec3	worldUpAxis = `agx::Vec3::Z_AXIS()`
	)

static

Creates an initialized beam between the given start and end positions, beam model, beam resolution and world up axis (default z).

The created beam up axis (x) will align with the given worldUpAxis. E.g., given two points and an agxModel::IBeam model with world up = (0, 0, 1) would result in I, but world up = (0, 1, 0) would result in |-|.

Beam frame: x | z | / |/____ y

The beam segments will be initialized along the z-axis in the beam frame.

Parameters

startPosition	- start position of the beam, given in world coordinate frame
endPosition	- end position of the beam, given in world coordinate frame
model	- beam model of the beam
resolution	- resolution, number of segments, of the beam
worldUpAxis	- world up axis the beam up axis should align with

Returns: beam instance if all inputs are valid, otherwise nullptr (with logged warnings)

◆ find() [1/2]

static Beam * agxModel::Beam::find	(	agxSDK::Simulation *	simulation,
		const agx::Name &	name
	)

static

Find beam instance given simulation and name.

Parameters

simulation	- simulation
name	- name of the beam instance to find

Returns: beam instance with given name if found - otherwise nullptr

◆ find() [2/2]

static Beam * agxModel::Beam::find	(	agxSDK::Simulation *	simulation,
		const agx::Uuid &	uuid
	)

static

Find beam instance given simulation and unique id.

Parameters

simulation	- simulation
uuid	- UUID of the beam instance to find

Returns: beam instance with given UUID if found - otherwise nullptr

◆ findAll() [1/2]

static agxModel::BeamPtrVector agxModel::Beam::findAll ( const agxSDK::Simulation * simulation )

static

Finds all agxModel::Beam instances in the given simulation.

Parameters

simulation - simulation

Returns: beam instances found in the given simulation

◆ findAll() [2/2]

static agxModel::BeamPtrVector agxModel::Beam::findAll	(	const agxSDK::Simulation *	simulation,
		const agx::Name &	name
	)

static

Finds all beam instances given simulation and name.

Parameters

simulation	- simulation
name	- name of beam instances to find

Returns: beam instances with given name

◆ findSegment()

BeamSegment * agxModel::Beam::findSegment ( const agx::Vec3 & worldPoint ) const

Find the segment closest to the given world point.

If this beam hasn't been initialized, nullptr is returned.

Parameters

worldPoint - any point in world

Returns: the segment that is closest to the given worldPoint, nullptr if there are no segments in the beam.

◆ get() [1/2]

Beam * agxModel::Beam::get ( agx::RigidBody * rb )

inlinestatic

Parameters

rb	- rigid body

Returns: beam instance rb belongs to, given rb is a BeamSegment body

Definition at line 344 of file Beam.h.

◆ get() [2/2]

const Beam * agxModel::Beam::get ( const agx::RigidBody * rb )

inlinestatic

Parameters

rb	- rigid body

Returns: beam instance rb belongs to, given rb is a BeamSegment body

Definition at line 349 of file Beam.h.

◆ getBeginPosition()

agx::Vec3 agxModel::Beam::getBeginPosition ( ) const

Current begin position, in world coordinate frame, of this (initialized) beam.

Shortcut for: beam->getSegments().front()->getBeginPosition()

Returns: the begin position of this initialized beam, in world coordinate frame. If this beam hasn't been initialized, a warning is issued and (0, 0, 0) returned.

◆ getConstrainedSegments()

BeamSegmentRange agxModel::Beam::getConstrainedSegments ( ) const

Returns: segment range where each segment is constrained with the previous segment, (segment->getConstraint() != nullptr), i.e., this range contains all segments of the beam except the first one

◆ getEndPosition()

agx::Vec3 agxModel::Beam::getEndPosition ( ) const

Current end position, in world coordinate frame, of this (initialized) beam.

Shortcut for: beam->getSegments().back()->getEndPosition()

Returns: the end position of this initialized beam, in world coordinate frame. If this beam hasn't been initialized, a warning is issued and (0, 0, 0) returned.

◆ getModel()

BeamModel * agxModel::Beam::getModel ( ) const

Returns: the model of this beam

◆ getNumSegments()

agx::UInt agxModel::Beam::getNumSegments ( ) const

Returns: the number of segments in this beam, zero if not initialized

◆ getRestLength()

virtual agx::Real agxModel::Beam::getRestLength ( ) const

overridevirtual

Returns: the rest length of this beam

Reimplemented from agxSDK::LinkedStructure.

◆ getSegment()

BeamSegment * agxModel::Beam::getSegment ( agx::Real restLengthFromStart ) const

Finds the segment overlapping the given rest length from start.

If restLengthFromStart is negative, the first segment is returned and if restLengthFromStarts is larger than the total rest length of this beam, the last segment is returned. If this beam hasn't been initialized, nullptr is returned.

Parameters

restLengthFromStart - rest length along this beam, from start, to find the segment

Returns: segment at the given rest length from start, nullptr if this beam hasn't been initialized

◆ getSegments()

BeamSegmentRange agxModel::Beam::getSegments ( ) const

Returns: the segments of this beam when initialized, otherwise an empty range is returned

◆ initialize()

agx::Bool agxModel::Beam::initialize ( )

Initialize this beam, creating segments, constraints and assigning properties related to the model of this beam.

This method will be called when this beam is added to a simulation, if not explicitly called before. This method returns true when this beam wasn't previously initialized and is now successfully initialized. If this beam already is initialized or is il-configured, false is returned.

Returns: true if successfully initialized, otherwise false

◆ isInitialized()

agx::Bool agxModel::Beam::isInitialized ( ) const

Returns: true if this beam is initialized, otherwise false

◆ restore()

static BeamRef agxModel::Beam::restore	(	agxModel::BeamModel *	model,
		agxStream::StorageStream &	str
	)

static

Creates a new beam given model and restores all data from the given storage stream.

When resolution and length are stored in the stream, only the beam model is needed. The parameters (Young's modulus, Poisson's ratio, etc.) will be written to the model properties. This method calls restoreLightData on the created beam.

Parameters

model	- beam model of the stored beam (invalid if nullptr and undefined if the beam model type differs from when the data was stored).
str	- storage stream with mode RESTORE

Returns: restored beam instance if everything is valid, otherwise nullptr

◆ updateProperties()

void agxModel::Beam::updateProperties ( )

Propagate model specific properties, such as stiffness in the constraints.

This method is always called before the system is solved and when this beam has been successfully initialized.

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

Beam.h

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Beam()

Member Function Documentation

◆ attach() [1/2]

◆ attach() [2/2]

◆ attachBegin()

◆ attachEnd()

◆ calculateRotation()

◆ calculateSegmentStiffnessDamping()

◆ calculateTransform()

◆ create()

◆ find() [1/2]

◆ find() [2/2]

◆ findAll() [1/2]

◆ findAll() [2/2]

◆ findSegment()

◆ get() [1/2]

◆ get() [2/2]

◆ getBeginPosition()

◆ getConstrainedSegments()

◆ getEndPosition()

◆ getModel()

◆ getNumSegments()

◆ getRestLength()

◆ getSegment()

◆ getSegments()

◆ initialize()

◆ isInitialized()

◆ restore()

◆ updateProperties()