An assembly is a collection of basic simulation objects, such as rigid bodies, constraints, geometries. More...

#include <Assembly.h>

Inheritance diagram for agxSDK::Assembly:

Public Types
enum	Type { ASSEMBLY , COLLECTION }
	Specifies the type an assembly is. More...

Public Member Functions
	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 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
	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
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

An assembly is a collection of basic simulation objects, such as rigid bodies, constraints, geometries.

The assembly may also contain other assemblies, which enables a hierarchical structuring of the simulation, allowing manipulation at different conceptual levels.

The assembly has a local reference frame which is parent to the transformations of all contained bodies and sub-assemblies. When an object is added to an assembly, it is disconnected from any previous parent frames and is added as a child of the assembly.

The assembly tree can be traversed using an AssemblyVisitor.

Note that even though wires (agxWire::Wire) can be added to the assembly, it will not follow transformations or velocity operations such as:

assembly->add(wire); assembly->setPosition(pos); // Wire will not be affected assembly->getRigidBodies(); // Bodies in wires are not included assembly->getGeometries(); // Geometries in wires are not included.

To include wires you need to write an AssemblyVisitor that include the wires. One such example is the class agxUtil::CollectBodiesAndWiresVisitor

Definition at line 69 of file Assembly.h.

Member Enumeration Documentation

◆ Type

enum agxSDK::Assembly::Type

Specifies the type an assembly is.

Enumerator
ASSEMBLY	This is a full fledged Assembly which uses Frame for the hierarchy.
COLLECTION	This is only a collection of objects NOT using Frame for the hierarchy.

Definition at line 809 of file Assembly.h.

Constructor & Destructor Documentation

◆ Assembly() [1/2]

agxSDK::Assembly::Assembly ( )

Default constructor.

◆ Assembly() [2/2]

agxSDK::Assembly::Assembly ( Type type )

protected

◆ ~Assembly()

virtual agxSDK::Assembly::~Assembly ( )

protectedvirtual

Destructor.

Member Function Documentation

◆ add() [1/13]

bool agxSDK::Assembly::add ( agx::Constraint * constraint )

Add a constraint to the assembly.

Returns: true when the constraint has been successfully added - otherwise false (constraint is nullptr or already present in this assembly)

◆ add() [2/13]

bool agxSDK::Assembly::add ( agx::ContactMaterial * contactMaterial )

Add a contact material to this assembly.

Returns: true when the contact material has been successfully added - otherwise false (the contact material is nullptr or already present in this assembly)

◆ add() [3/13]

bool agxSDK::Assembly::add ( agx::Emitter * emitter )

Add an emitter to this assembly.

Returns: true when the emitter has been successfully added - otherwise false (the emitter is nullptr or already present in this assembly)

◆ add() [4/13]

bool agxSDK::Assembly::add ( agx::Interaction * interaction )

Add an interaction to this assembly.

Returns: true when the interaction has been successfully added - otherwise false (interaction is nullptr or already present in this assembly)

◆ add() [5/13]

bool agxSDK::Assembly::add ( agx::MergedBody * mergedBody )

Add a MergedBody to this assembly.

Returns: true when the MergedBody has been successfully added - otherwise false (the MergedBody is nullptr or already present in this assembly)

◆ add() [6/13]

bool agxSDK::Assembly::add ( agx::ObserverFrame * observerFrame )

Add an ObserverFrame to this assembly.

Returns: true when the observer frame has been successfully added - otherwise false (the observer frame is nullptr or already present in this assembly)

◆ add() [7/13]

bool agxSDK::Assembly::add ( agx::RigidBody * body )

Add a rigid body to the assembly.

Returns: true when the rigid body has been successfully added - otherwise false (the rigid body is nullptr or already present in this assembly)

◆ add() [8/13]

bool agxSDK::Assembly::add ( agxCollide::Geometry * geometry )

Add a geometry to the assembly.

Returns: true when the geometry has been successfully added - otherwise false (the geometry is nullptr or already present in this assembly)

◆ add() [9/13]

bool agxSDK::Assembly::add ( agxSDK::EventListener * listener )

Add a listener to the assembly.

Returns: true when the listener has been successfully added - otherwise false (listener is nullptr or already present in this assembly)

◆ add() [10/13]

bool agxSDK::Assembly::add ( agxSDK::TerrainInstance * terrainInstance )

Add a TerrainInstance to this assembly.

Returns: true when the TerrainInstance has been successfully added - otherwise false (the TerrainInstance is nullptr or already present in this assembly)

◆ add() [11/13]

bool agxSDK::Assembly::add ( agxSDK::TerrainToolInstance * toolInstance )

Add a TerrainToolInstance to this assembly.

Returns: true when the TerrainToolInstance has been successfully added - otherwise false (the TerrainToolInstance is nullptr or already present in this assembly)

◆ add() [12/13]

bool agxSDK::Assembly::add ( agxStream::Serializable * object )

Add an object of type serialized.

The object will be dynamically cast to the types supported by add() methods an appropriately added to this Assembly.

Returns: true when the object has been successfully added - otherwise false (the object is nullptr or already present in this assembly)

◆ add() [13/13]

bool agxSDK::Assembly::add ( Assembly * assembly )

Add another assembly as child to this assembly.

Returns: true when the assembly has been successfully added - otherwise false (the assembly is nullptr or already present in this assembly)

◆ addNotification() [1/2]

virtual void agxSDK::Assembly::addNotification ( agxSDK::Simulation * )

inlinevirtual

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

Reimplemented in agxSDK::LinkedStructure, agxOSG::Tree, agxSDK::LinkedStructure, agxModel::OneBodyTire, agxModel::SuctionGripper, agxModel::ThreeBodyTire, agxModel::Tree, agxModel::TwoBodyTire, and agxPowerLine::PowerLine.

Definition at line 773 of file Assembly.h.

◆ addNotification() [2/2]

virtual void agxSDK::Assembly::addNotification ( Assembly * )

inlinevirtual

Called when this assembly is added to another assembly.

Reimplemented in agxPowerLine::PowerLine, and agxSDK::LinkedStructure.

Definition at line 783 of file Assembly.h.

◆ addParticleSystem()

bool agxSDK::Assembly::addParticleSystem ( agx::ParticleSystem * particleSystem )

protected

Add a particle system to this assembly.

ParticleSystems should only be added to Collections.

◆ addToSimulation()

void agxSDK::Assembly::addToSimulation ( Simulation * simulation )

protected

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

agxSDK::Assembly::AGXSTREAM_DECLARE_SERIALIZABLE_BASE ( agxSDK::Assembly )

◆ asAssembly()

static Assembly * agxSDK::Assembly::asAssembly ( agxStream::Serializable * obj )

inlinestatic

Returns: a pointer to an Assembly if obj is infact an Assembly

Definition at line 830 of file Assembly.h.

◆ collect() [1/12]

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

Parameters

result	- A Vector with all the Constraints found in this and any sub-assemblies
recursive	- If true, Constraints in sub-assemblies will be included

Returns: Number of elements in the collected results.

◆ collect() [2/12]

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

◆ collect() [3/12]

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

Parameters

result	- A Vector with all the Interactions found in this and any sub-assemblies
recursive	- If true, Interactions in sub-assemblies will be included

Returns: Number of elements in the collected results.

◆ collect() [4/12]

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

Parameters

result	- A Vector with all the MergedBodies found in this and any sub-assemblies
recursive	- If true, MergedBodies in sub-assemblies will be included

Returns: Number of elements in the collected results.

◆ collect() [5/12]

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

Parameters

result	- A Vector with all the ObserverFrames found in this and any sub-assemblies
recursive	- If true, ObserverFrames in sub-assemblies will be included

Returns: Number of elements in the collected results.

◆ collect() [6/12]

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

◆ collect() [7/12]

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

◆ collect() [8/12]

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

◆ collect() [9/12]

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

◆ collect() [10/12]

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

◆ collect() [11/12]

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

Parameters

result	- A Vector with all the TerrainInstances found in this and any sub-assemblies
recursive	- If true, terrains in sub-assemblies will be included

Returns: Number of elements in the collected results.

◆ collect() [12/12]

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

Parameters

result	- A Vector with all the TerrainToolInstances found in this and any sub-assemblies
recursive	- If true, terrain tools in sub-assemblies will be included

Returns: Number of elements in the collected results.

◆ create()

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

inlinestatic

Definition at line 857 of file Assembly.h.

◆ empty()

bool agxSDK::Assembly::empty ( ) const

Returns: true if the Assembly is empty

◆ getAssemblies()

const AssemblyRefSetVector & agxSDK::Assembly::getAssemblies ( ) const

Returns: a const reference to the Assemblies in this Assembly (not tracing recursively into sub-assemblies)

◆ getAssembly() [1/4]

agxSDK::Assembly * agxSDK::Assembly::getAssembly	(	const agx::Name &	name,
		bool	recursive = `true`
	)

Find (linear search) and return named Assembly.

Parameters

name	- name of the Assembly to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found Assembly, null if not found

◆ getAssembly() [2/4]

const agxSDK::Assembly * agxSDK::Assembly::getAssembly	(	const agx::Name &	name,
		bool	recursive = `true`
	)		const

Find (linear search) and return named Assembly.

Parameters

name	- name of the Assembly to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found Assembly, null if not found

◆ getAssembly() [3/4]

agxSDK::Assembly * agxSDK::Assembly::getAssembly	(	const agx::Uuid &	uuid,
		bool	recursive = `true`
	)

Find (linear search) and return an Assembly matching the given uuid.

Parameters

uuid	- uuid of the Assembly to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found Assembly, null if not found

◆ getAssembly() [4/4]

const agxSDK::Assembly * agxSDK::Assembly::getAssembly	(	const agx::Uuid &	uuid,
		bool	recursive = `true`
	)		const

Find (linear search) and return an Assembly matching the given uuid.

Parameters

uuid	- uuid of the Assembly to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found Assembly, null if not found

◆ getConstraint() [1/6]

agx::Constraint * agxSDK::Assembly::getConstraint	(	const agx::Name &	name,
		bool	recursive = `true`
	)

Find (linear search) and return named Constraint.

Parameters

name	- name of the Constraint to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found Constraint, null if not found

◆ getConstraint() [2/6]

template<typename T >

T * agxSDK::Assembly::getConstraint	(	const agx::Name &	name,
		bool	recursive = `true`
	)

Find and return named Constraint of a template type, for example Hinge:

agx::Hinge *hinge = simulation->getConstraint<agx::Hinge>("FrontWheelHinge");

Parameters

name	- name of the Constraint to find
recursive	- if true (default) the search will include sub-assemblies

Returns: typed pointer to the found Constraint, null if not found

Definition at line 986 of file Assembly.h.

References getConstraint().

◆ getConstraint() [3/6]

const agx::Constraint * agxSDK::Assembly::getConstraint	(	const agx::Name &	name,
		bool	recursive = `true`
	)		const

Find (linear search) and return named Constraint.

Parameters

name	- name of the Constraint to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found Constraint, null if not found

◆ getConstraint() [4/6]

template<typename T >

const T * agxSDK::Assembly::getConstraint	(	const agx::Name &	name,
		bool	recursive = `true`
	)		const

Find and return named Constraint of a template type, for example Hinge:

const agx::Hinge* hinge = simulation->getConstraint<agx::Hinge>("FrontWheelHinge");

Parameters

name	- name of the Constraint to find
recursive	- if true (default) the search will include sub-assemblies

Returns: typed pointer to the found Constraint, null if not found

Definition at line 992 of file Assembly.h.

References getConstraint().

◆ getConstraint() [5/6]

agx::Constraint * agxSDK::Assembly::getConstraint	(	const agx::Uuid &	uuid,
		bool	recursive = `true`
	)

Find and return a pointer to a Constraint with the given uuid.

Parameters

uuid	- uuid of the requested constraint
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found Constraint, null if not found

◆ getConstraint() [6/6]

const agx::Constraint * agxSDK::Assembly::getConstraint	(	const agx::Uuid &	uuid,
		bool	recursive = `true`
	)		const

Find (linear search) and return a pointer to a Constraint with the given uuid.

Parameters

uuid	- uuid of the requested constraint
recursive	- if true (default) the search will include sub-assemblies

Returns: const pointer to the found constraint, null if not found

Referenced by getConstraint().

◆ getConstraint1DOF()

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

inline

Definition at line 826 of file Assembly.h.

◆ getConstraint2DOF()

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

inline

Definition at line 827 of file Assembly.h.

◆ getConstraints()

const agx::ConstraintRefSetVector & agxSDK::Assembly::getConstraints ( ) const

Returns: a const reference to the Constraints in this Assembly (not tracing recursively into sub-assemblies)

◆ getEmitters()

const agx::EmitterRefSetVector & agxSDK::Assembly::getEmitters ( ) const

Returns: a const reference to the Emitters in this Assembly (not tracing recursively into sub-assemblies)

◆ getEventListeners()

const EventListenerRefSetVector & agxSDK::Assembly::getEventListeners ( ) const

Returns: a const reference to the EventListeners in this Assembly (not tracing recursively into sub-assemblies)

◆ getFrame() [1/2]

agx::Frame * agxSDK::Assembly::getFrame ( )

inlinevirtual

Return a reference to the frame containing transformation and velocity information for this assembly.

Definition at line 913 of file Assembly.h.

References agx::ref_ptr< T >::get().

◆ getFrame() [2/2]

const agx::Frame * agxSDK::Assembly::getFrame ( ) const

inlinevirtual

Definition at line 918 of file Assembly.h.

References agx::ref_ptr< T >::get().

◆ getGeometries()

const agxCollide::GeometryRefSetVector & agxSDK::Assembly::getGeometries ( ) const

Returns: a const reference to the Geometries in this Assembly (not tracing recursively into sub-assemblies)

Referenced by agxSDK::matchFilter().

◆ getGeometry() [1/4]

agxCollide::Geometry * agxSDK::Assembly::getGeometry	(	const agx::Name &	name,
		bool	recursive = `true`
	)

Find (linear search) and return named collision Geometry.

Parameters

name	- name of the collision Geometry to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found collision Geometry, null if not found

◆ getGeometry() [2/4]

const agxCollide::Geometry * agxSDK::Assembly::getGeometry	(	const agx::Name &	name,
		bool	recursive = `true`
	)		const

Find (linear search) and return named collision Geometry.

Parameters

name	- name of the collision Geometry to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found collision Geometry, null if not found

◆ getGeometry() [3/4]

agxCollide::Geometry * agxSDK::Assembly::getGeometry	(	const agx::Uuid &	uuid,
		bool	recursive = `true`
	)

Find (linear search) and return a Geometry matching the given uuid.

Parameters

uuid	- uuid of the collision Geometry to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found collision Geometry, null if not found

◆ getGeometry() [4/4]

const agxCollide::Geometry * agxSDK::Assembly::getGeometry	(	const agx::Uuid &	uuid,
		bool	recursive = `true`
	)		const

Find (linear search) and return a Geometry matching the given uuid.

Parameters

uuid	- uuid of the collision Geometry to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found collision Geometry, null if not found

◆ getInteractions()

const agx::InteractionRefSetVector & agxSDK::Assembly::getInteractions ( ) const

Returns: interactions in this assembly (not tracing recursively into sub-assemblies)

◆ getLocalPosition()

agx::Vec3 agxSDK::Assembly::getLocalPosition ( ) const

Returns: - the relative translate to the parent frame of the assembly's frame.

◆ getLocalRotation()

agx::Quat agxSDK::Assembly::getLocalRotation ( ) const

Returns: - the assembly's rotation relative to its frame's parent frame.

◆ getLocalTransform()

const agx::AffineMatrix4x4 & agxSDK::Assembly::getLocalTransform ( ) const

Returns: - the local transformation matrix of the assembly's frame, relative to the parent's frame.

◆ getMergedBodies()

const agx::MergedBodyRefSetVector & agxSDK::Assembly::getMergedBodies ( ) const

Returns: MergedBodies in this assembly (not tracing recursively into sub-assemblies)

◆ getMergedBody() [1/2]

agx::MergedBody * agxSDK::Assembly::getMergedBody	(	const agx::Uuid &	uuid,
		bool	recursive = `true`
	)

Find (linear search) and return an MergedBody matching the given uuid.

Parameters

uuid	- uuid of the MergedBody to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found MergedBody, null if not found

◆ getMergedBody() [2/2]

const agx::MergedBody * agxSDK::Assembly::getMergedBody	(	const agx::Uuid &	uuid,
		bool	recursive = `true`
	)		const

Find (linear search) and return an MergedBody matching the given uuid.

Parameters

uuid	- uuid of the MergedBody to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found MergedBody, null if not found

◆ getName()

agx::Name agxSDK::Assembly::getName ( ) const

Returns: the name of this Assembly

◆ getObserverFrame() [1/4]

agx::ObserverFrame * agxSDK::Assembly::getObserverFrame	(	const agx::Name &	name,
		bool	recursive = `true`
	)

Find (linear search) and return an ObserverFrame matching the given uuid.

Parameters

name	- name of the ObserverFrame to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found ObserverFrame, null if not found

◆ getObserverFrame() [2/4]

const agx::ObserverFrame * agxSDK::Assembly::getObserverFrame	(	const agx::Name &	name,
		bool	recursive = `true`
	)		const

Find (linear search) and return an ObserverFrame matching the given uuid.

Parameters

name	- name of the ObserverFrame to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found ObserverFrame, null if not found

◆ getObserverFrame() [3/4]

agx::ObserverFrame * agxSDK::Assembly::getObserverFrame	(	const agx::Uuid &	uuid,
		bool	recursive = `true`
	)

Find (linear search) and return an ObserverFrame matching the given uuid.

Parameters

uuid	- uuid of the ObserverFrame to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found ObserverFrame, null if not found

◆ getObserverFrame() [4/4]

const agx::ObserverFrame * agxSDK::Assembly::getObserverFrame	(	const agx::Uuid &	uuid,
		bool	recursive = `true`
	)		const

Find (linear search) and return an ObserverFrame matching the given uuid.

Parameters

uuid	- uuid of the ObserverFrame to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found ObserverFrame, null if not found

◆ getObserverFrames()

const agx::ObserverFrameRefSetVector & agxSDK::Assembly::getObserverFrames ( ) const

Returns: observers in this assembly (not tracing recursively into sub-assemblies)

◆ getParent() [1/2]

Assembly * agxSDK::Assembly::getParent ( )

Returns: the parent assembly if this assembly is part of another assembly.

◆ getParent() [2/2]

const Assembly * agxSDK::Assembly::getParent ( ) const

Returns: the parent assembly if this assembly is part of another assembly.

◆ getParentFrame() [1/2]

agx::Frame * agxSDK::Assembly::getParentFrame ( )

Returns: - the parent frame of the assembly's frame, or 0 if this frame has no parent

◆ getParentFrame() [2/2]

const agx::Frame * agxSDK::Assembly::getParentFrame ( ) const

Returns: - the parent frame of the assembly's frame, or 0 if this frame has no parent

◆ getParticleSystems()

const agx::ParticleSystemRefSetVector & agxSDK::Assembly::getParticleSystems ( ) const

Returns: a const reference to the ParticleSystems in this Assembly (not tracing recursively into sub-assemblies)

◆ getRigidBodies()

const agx::RigidBodyRefSetVector & agxSDK::Assembly::getRigidBodies ( ) const

Returns: a const reference to the RigidBodies in this Assembly (not tracing recursively into sub-assemblies)

◆ getRigidBody() [1/4]

agx::RigidBody * agxSDK::Assembly::getRigidBody	(	const agx::Name &	name,
		bool	recursive = `true`
	)

Find (linear search) and return named RigidBody.

Parameters

name	- name of the body to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found RigidBody body, null if not found

◆ getRigidBody() [2/4]

const agx::RigidBody * agxSDK::Assembly::getRigidBody	(	const agx::Name &	name,
		bool	recursive = `true`
	)		const

Find (linear search) and return named RigidBody.

Parameters

name	- name of the body to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found RigidBody body, null if not found

◆ getRigidBody() [3/4]

agx::RigidBody * agxSDK::Assembly::getRigidBody	(	const agx::Uuid &	uuid,
		bool	recursive = `true`
	)

Find (linear search) and return a pointer to a RigidBody with the given uuid.

Parameters

uuid	- uuid of the requested rigidbody
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found RigidBody, null if not found

◆ getRigidBody() [4/4]

const agx::RigidBody * agxSDK::Assembly::getRigidBody	(	const agx::Uuid &	uuid,
		bool	recursive = `true`
	)		const

Find (linear search) and return a pointer to a RigidBody with the given uuid.

Parameters

uuid	- uuid of the requested rigidbody
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found RigidBody, null if not found

◆ getSimulation() [1/2]

agxSDK::Simulation * agxSDK::Assembly::getSimulation ( )

Returns: the simulation this assembly is added to. nullptr if none.

◆ getSimulation() [2/2]

const agxSDK::Simulation * agxSDK::Assembly::getSimulation ( ) const

Returns: the simulation this assembly is added to. nullptr if none.

◆ getTerrainInstance() [1/2]

agxSDK::TerrainInstance * agxSDK::Assembly::getTerrainInstance	(	const agx::Uuid &	uuid,
		bool	recursive = `true`
	)

Find (linear search) and return an TerrainInstance matching the given uuid.

Parameters

uuid	- uuid of the TerrainInstance to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found TerrainInstance, null if not found

◆ getTerrainInstance() [2/2]

const agxSDK::TerrainInstance * agxSDK::Assembly::getTerrainInstance	(	const agx::Uuid &	uuid,
		bool	recursive = `true`
	)		const

Find (linear search) and return an TerrainInstance matching the given uuid.

Parameters

uuid	- uuid of the TerrainInstance to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found TerrainInstance, null if not found

◆ getTerrainInstances()

const agxSDK::TerrainInstanceRefSetVector & agxSDK::Assembly::getTerrainInstances ( ) const

Returns: TerrainInstances in this assembly (not tracing recursively into sub-assemblies)

◆ getTerrainToolInstance() [1/2]

agxSDK::TerrainToolInstance * agxSDK::Assembly::getTerrainToolInstance	(	const agx::Uuid &	uuid,
		bool	recursive = `true`
	)

Find (linear search) and return an TerrainToolInstance matching the given uuid.

Parameters

uuid	- uuid of the TerrainToolInstance to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found TerrainToolInstance, null if not found

◆ getTerrainToolInstance() [2/2]

const agxSDK::TerrainToolInstance * agxSDK::Assembly::getTerrainToolInstance	(	const agx::Uuid &	uuid,
		bool	recursive = `true`
	)		const

Find (linear search) and return an TerrainToolInstance matching the given uuid.

Parameters

uuid	- uuid of the TerrainToolInstance to find
recursive	- if true (default) the search will include sub-assemblies

Returns: pointer to the found TerrainToolInstance, null if not found

◆ getTerrainToolInstances()

const agxSDK::TerrainToolInstanceRefSetVector & agxSDK::Assembly::getTerrainToolInstances ( ) const

Returns: TerrainToolInstances in this assembly (not tracing recursively into sub-assemblies)

◆ getType()

Type agxSDK::Assembly::getType ( ) const

Returns: the type of this Assembly/Collection

◆ remove() [1/12]

bool agxSDK::Assembly::remove ( agx::Constraint * constraint )

Remove a constraint from this assembly (does not recurse down in tree).

Returns: true when the constraint has been successfully removed - otherwise false (constraint is nullptr or not in this assembly)

◆ remove() [2/12]

bool agxSDK::Assembly::remove ( agx::ContactMaterial * contactMaterial )

Remove a contact material from this assembly.

Returns: true when the contact material has been successfully removed - otherwise false (contact material is nullptr or not in this assembly)

◆ remove() [3/12]

bool agxSDK::Assembly::remove ( agx::Emitter * emitter )

Remove an emitter from this assembly.

Returns: true when the emitter has been successfully removed - otherwise false (emitter is nullptr or not in this assembly)

◆ remove() [4/12]

bool agxSDK::Assembly::remove ( agx::Interaction * interaction )

Remove an interaction from this assembly.

Returns: true when the interaction has been successfully removed - otherwise false (interaction is nullptr or not in this assembly)

◆ remove() [5/12]

bool agxSDK::Assembly::remove ( agx::MergedBody * mergedBody )

Remove a MergedBody from this assembly.

Returns: true when the MergedBody has been successfully removed - otherwise false (MergedBody is nullptr or not in this assembly)

◆ remove() [6/12]

bool agxSDK::Assembly::remove	(	agx::ObserverFrame *	observerFrame,
		bool	resetParentFrame = `true`
	)

Remove an ObserverFrame from this assembly.

Parameters

resetParentFrame - If true (default) and the parent frame belongs to this assembly the parent frame will be set to null for the removed observer

Returns: true when the observer frame has been successfully removed - otherwise false (observer frame is nullptr or not in this assembly)

◆ remove() [7/12]

bool agxSDK::Assembly::remove	(	agx::RigidBody *	body,
		bool	removeAssociatedGeometries = `false`,
		bool	resetParentFrame = `true`
	)

Remove a rigid body from this assembly (does not recurse down in tree).

Parameters

body	- The body to be removed
resetParentFrame	- If true (default) and the parent frame belongs to this assembly it will be set to null for the removed rigid body.
removeAssociatedGeometries	- If true, the geometries associated to this body will also be removed

Returns: true if the body been successfully removed

◆ remove() [8/12]

bool agxSDK::Assembly::remove	(	agxCollide::Geometry *	geometry,
		bool	resetParentFrame = `true`
	)

Remove a geometry from this assembly (does not recurse down in tree).

Parameters

resetParentFrame - If true (default) and the parent frame belongs to this assembly parent frame will be set to null for the removed geometry (unless it belongs to a rigidbody)

Returns: true when the geometry has been successfully removed - otherwise false (geometry is nullptr or not in this assembly)

◆ remove() [9/12]

bool agxSDK::Assembly::remove ( agxSDK::TerrainInstance * terrainInstance )

Remove a TerrainInstance from this assembly.

Returns: true when the TerrainInstance has been successfully removed - otherwise false (TerrainInstance is nullptr or not in this assembly)

◆ remove() [10/12]

bool agxSDK::Assembly::remove ( agxSDK::TerrainToolInstance * toolInstance )

Remove a TerrainToolInstance from this assembly.

Returns: true when the TerrainToolInstance has been successfully removed - otherwise false (TerrainToolInstance is nullptr or not in this assembly)

◆ remove() [11/12]

bool agxSDK::Assembly::remove	(	Assembly *	assembly,
		bool	resetParentFrame = `true`
	)

Remove a child assembly from a parent.

Parameters

resetParentFrame - If true (default) and the parent frame belongs to this assembly the parent frame will be set to null for the removed assembly

Returns: true when the assembly has been successfully removed - otherwise false (assembly is nullptr or not in this assembly)

◆ remove() [12/12]

bool agxSDK::Assembly::remove ( EventListener * listener )

Remove an EventListener from the assembly.

Returns: true when the listener has been successfully removed - otherwise false (listener is nullptr or not in this assembly)

◆ removeFromSimulation()

void agxSDK::Assembly::removeFromSimulation ( Simulation * simulation )

protected

◆ removeNotification() [1/2]

virtual void agxSDK::Assembly::removeNotification ( agxSDK::Simulation * )

inlinevirtual

Called when this assembly is removed from a simulation.

Reimplemented in agxSDK::LinkedStructure, agxSDK::LinkedStructure, agxModel::Deformable1D, agxModel::OneBodyTire, agxModel::SuctionGripper, agxModel::ThreeBodyTire, agxModel::Tree, agxModel::TwoBodyTire, and agxPowerLine::PowerLine.

Definition at line 778 of file Assembly.h.

◆ removeNotification() [2/2]

virtual void agxSDK::Assembly::removeNotification ( Assembly * )

inlinevirtual

Called when this assembly is removed from another assembly.

Reimplemented in agxPowerLine::PowerLine, and agxSDK::LinkedStructure.

Definition at line 788 of file Assembly.h.

◆ removeParticleSystem()

bool agxSDK::Assembly::removeParticleSystem ( agx::ParticleSystem * particleSystem )

protected

Remove a particle system from this assembly.

◆ reset()

bool agxSDK::Assembly::reset ( bool resetParentFrame = true )

If this assembly is not added to a simulation it will clear all added bodies etc.

and return true. If it is added to a simulation it will return false and do nothing.

Parameters

resetParentFrame - If true a rigidbody (and other things that can have an assembly as a transformation parent) will get its parent pointer set to nullptr. Default is true, which is the same as if we would call assembly->remove(body); Remove all added objects recursively.

Returns: true if the assembly could be cleared.

◆ setAngularVelocity()

virtual void agxSDK::Assembly::setAngularVelocity ( const agx::Vec3 & velocity )

virtual

Set the angular velocity (in world frame) recursively for all rigid bodies stored in assembly.

Parameters

velocity - The angular velocity in world frame that will be set for all rigid bodies.

◆ setLocalPosition() [1/2]

void agxSDK::Assembly::setLocalPosition	(	agx::Real	x,
		agx::Real	y,
		agx::Real	z
	)

Set the position of the assembly relative to its frame's parent frame.

Parameters

x	- local x translate
y	- local y translate
z	- local z translate

◆ setLocalPosition() [2/2]

void agxSDK::Assembly::setLocalPosition ( const agx::Vec3 & p )

Set the position of the assembly relative to its frame's parent frame.

Parameters

p	- local translate of assembly as a 3D vector

◆ setLocalRotation() [1/2]

void agxSDK::Assembly::setLocalRotation ( const agx::EulerAngles & e )

Set the rotation of the assembly relative to its frame's parent frame.

Parameters

e	- rotation given as Euler angles

◆ setLocalRotation() [2/2]

void agxSDK::Assembly::setLocalRotation ( const agx::Quat & q )

Set the rotation of the assembly relative to its frame's parent frame.

Parameters

q	- rotation given as a quaternion

◆ setLocalTransform()

void agxSDK::Assembly::setLocalTransform ( const agx::AffineMatrix4x4 & matrix )

Assign the local transformation matrix for this assembly, ignoring any eventual parent transformation.

Parameters

matrix - transformation matrix relative to parent transform for the assembly's frame

◆ setName()

void agxSDK::Assembly::setName ( const agx::Name & name )

Set the name of this Assembly.

Parameters

name	- new name of this Assembly.

◆ setParentFrame()

bool agxSDK::Assembly::setParentFrame ( agx::Frame * frame )

Set the parent frame of this assembly's frame.

This means that getLocalTranslate, getLocalRotate, getLocalTransform will be given in the parents coordinate frame. I.e., this frame's transformation will be concatenated with the parents.

Parameters

frame - new parent frame, 0 to remove parent

Returns: true if parent is changed (not the same as before) - otherwise false

◆ setPosition() [1/2]

void agxSDK::Assembly::setPosition	(	agx::Real	x,
		agx::Real	y,
		agx::Real	z
	)

Set the position of the frame in world coordinates.

Parameters

x	- desired x-coordinate in world frame
y	- desired y-coordinate in world frame
z	- desired z-coordinate in world frame

◆ setPosition() [2/2]

void agxSDK::Assembly::setPosition ( const agx::Vec3 & p )

Set the position of the frame in world coordinates.

Parameters

p	- desired position in world coordinates.

◆ setRotation() [1/3]

void agxSDK::Assembly::setRotation ( const agx::EulerAngles & e )

Set the rotation of the assembly relative to world frame.

Parameters

e	- rotation given as Euler angles

◆ setRotation() [2/3]

void agxSDK::Assembly::setRotation ( const agx::OrthoMatrix3x3 & m )

Set the rotation of the assembly relative to world frame.

Parameters

m	- rotation given as an orthogonal transformation matrix

◆ setRotation() [3/3]

void agxSDK::Assembly::setRotation ( const agx::Quat & q )

Set the rotation of the assembly relative to world frame.

Parameters

q	- rotation given as a quaternion

◆ setTransform()

void agxSDK::Assembly::setTransform ( const agx::AffineMatrix4x4 & matrix )

Set the transform of the assembly.

Its frame will move to the specified transform, which is given in world coordinates.

Parameters

matrix - desired transform for the frame in world coordinates.

◆ setVelocity()

virtual void agxSDK::Assembly::setVelocity ( const agx::Vec3 & velocity )

virtual

Set the linear velocity (in world frame) recursively for all rigid bodies stored in assembly.

Parameters

velocity - The linear velocity in world frame that will be set for all rigid bodies.

◆ transfer()

bool agxSDK::Assembly::transfer ( agxSDK::Assembly * target )

Transfer all the content from this assembly to the target, including name and transformation.

Neither this or the target Assembly can have a parent frame (doing nothing and return false). Target Assembly must not be added to a simulation (doing nothing and return false). This assembly will be left empty, but still part of a Simulation until removed.

Returns: true if transfer was successfully done.

◆ traverse() [1/2]

virtual void agxSDK::Assembly::traverse ( AssemblyVisitor * visitor )

virtual

Traverse the assembly tree recursively using a visitor.

Referenced by agxUtil::CollectBodiesAndWiresVisitor::visit().

◆ traverse() [2/2]

virtual void agxSDK::Assembly::traverse ( const AssemblyVisitor * visitor ) const

virtual

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

Assembly.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ Type

Constructor & Destructor Documentation

◆ Assembly() [1/2]

◆ Assembly() [2/2]

◆ ~Assembly()

Member Function Documentation

◆ add() [1/13]

◆ add() [2/13]

◆ add() [3/13]

◆ add() [4/13]

◆ add() [5/13]

◆ add() [6/13]

◆ add() [7/13]

◆ add() [8/13]

◆ add() [9/13]

◆ add() [10/13]

◆ add() [11/13]

◆ add() [12/13]

◆ add() [13/13]

◆ addNotification() [1/2]

◆ addNotification() [2/2]

◆ addParticleSystem()

◆ addToSimulation()

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

◆ asAssembly()

◆ collect() [1/12]

◆ collect() [2/12]

◆ collect() [3/12]

◆ collect() [4/12]

◆ collect() [5/12]

◆ collect() [6/12]

◆ collect() [7/12]

◆ collect() [8/12]

◆ collect() [9/12]

◆ collect() [10/12]

◆ collect() [11/12]

◆ collect() [12/12]

◆ create()

◆ empty()

◆ getAssemblies()

◆ getAssembly() [1/4]

◆ getAssembly() [2/4]

◆ getAssembly() [3/4]

◆ getAssembly() [4/4]

◆ getConstraint() [1/6]

◆ getConstraint() [2/6]

◆ getConstraint() [3/6]

◆ getConstraint() [4/6]

◆ getConstraint() [5/6]

◆ getConstraint() [6/6]

◆ getConstraint1DOF()

◆ getConstraint2DOF()

◆ getConstraints()

◆ getEmitters()

◆ getEventListeners()

◆ getFrame() [1/2]

◆ getFrame() [2/2]

◆ getGeometries()

◆ getGeometry() [1/4]

◆ getGeometry() [2/4]

◆ getGeometry() [3/4]

◆ getGeometry() [4/4]

◆ getInteractions()

◆ getLocalPosition()

◆ getLocalRotation()

◆ getLocalTransform()

◆ getMergedBodies()

◆ getMergedBody() [1/2]

◆ getMergedBody() [2/2]

◆ getName()

◆ getObserverFrame() [1/4]

◆ getObserverFrame() [2/4]

◆ getObserverFrame() [3/4]