agxSDK::MergeSplitHandler Class Reference

Base class for a merge split algorithm handling a set of merged bodies. More...

#include <MergeSplitHandler.h>

Inheritance diagram for agxSDK::MergeSplitHandler:

Public Types
typedef agx::Vector< agx::MergedBodyRef >	MergedBodyRefContainer
typedef agx::Vector< agxSDK::MergeSplitAlgorithmRef >	MergeSplitAlgorithmContainer

Public Member Functions
agx::Bool	add (agxSDK::MergeSplitAlgorithm *mergeSplitAlgorithm)
	Add new merge-split algorithm.
agx::MergedBodyRef	createMergedBody () const
	Creates a new, empty, merged body object associated to this merge split handler.
template<typename T >
T *	getAlgorithm () const
MergeSplitAlgorithmContainer	getAlgorithms () const
agx::Bool	getEnable () const
agx::Bool	getEnableGlobalMerge () const
agx::Bool	getEnableGlobalMergeSplit () const
agx::Bool	getEnableGlobalSplit () const
agx::Bool	getEnableMergePair (agx::UInt32 group1, agx::UInt32 group2)
agx::Bool	getEnableMergePair (agx::UInt32 group1, const agx::Name &group2)
agx::Bool	getEnableMergePair (const agx::Name &group1, agx::UInt32 group2)
agx::Bool	getEnableMergePair (const agx::Name &group1, const agx::Name &group2)
agx::Bool	getEnableSerialization () const
agx::Bool	getEnableSplitOnSeparation () const
agxSDK::ConstraintMergeSplitThresholds *	getGlobalConstraintThresholds () const
	Global thresholds for constraints.
agxSDK::GeometryContactMergeSplitThresholds *	getGlobalContactThresholds () const
	Global thresholds for contacts.
agxSDK::WireMergeSplitThresholds *	getGlobalWireThresholds () const
	Global thresholds for wires.
const MergedBodyRefContainer &	getMergedBodies () const
const agxSDK::Simulation *	getSimulation () const
agx::Bool	mayMerge (const agx::RigidBody *rb1, const agx::RigidBody *rb2) const
agx::Bool	mayMerge (const agx::RigidBody *rb1, const agxSDK::MergeSplitProperties *p1, const agx::RigidBody *rb2, const agxSDK::MergeSplitProperties *p2) const
agx::Bool	mayMerge (const agxCollide::Geometry *geometry1, const agxCollide::Geometry *geometry2) const
agx::Bool	mayMergeProperties (const agxSDK::MergeSplitProperties *properties) const
agx::Bool	maySplit (const agx::RigidBody *rb) const
agx::Bool	maySplit (const agx::RigidBody *rb, const agxSDK::MergeSplitProperties *properties) const
agx::Bool	maySplitProperties (const agxSDK::MergeSplitProperties *properties) const
agx::Bool	merge (agx::MergedBody::EdgeInteraction *edgeInteraction)
	Merge bodies given an edge interaction.
void	registerMergedBody (agx::MergedBody *mergedBody)
	Register merged body to this merge-split handler.
agx::Bool	remove (agxSDK::MergeSplitAlgorithm *mergeSplitAlgorithm)
	Remove split algorithm.
void	setEnable (agx::Bool enable)
	Enable/disable merge split.
void	setEnableGlobalMerge (agx::Bool enable)
	Enable/disable global merge for all objects not having their MergeSplitProperties set.
void	setEnableGlobalMergeSplit (agx::Bool enable)
	Enable/disable global merge and split for all objects not having their MergeSplitProperties set.
void	setEnableGlobalSplit (agx::Bool enable)
	Enable/disable global split for all objects not having their MergeSplitProperties set.
void	setEnableMergePair (agx::UInt32 group1, agx::UInt32 group2, agx::Bool enable)
	If enable is false, from now on reject merges between bodies in the two groups even when the MergeSplitProperties of the two bodies would allow the merge to happen.
void	setEnableMergePair (agx::UInt32 group1, const agx::Name &group2, agx::Bool enable)
	If enable is false, from now on reject merges between bodies in the two groups even when the MergeSplitProperties of the two bodies would allow the merge to happen.
void	setEnableMergePair (const agx::Name &group1, agx::UInt32 group2, agx::Bool enable)
	If enable is false, from now on reject merges between bodies in the two groups even when the MergeSplitProperties of the two bodies would allow the merge to happen.
void	setEnableMergePair (const agx::Name &group1, const agx::Name &group2, agx::Bool enable)
	If enable is false, from now on reject merges between bodies in the two groups even when the MergeSplitProperties of the two bodies would allow the merge to happen.
void	setEnableSerialization (agx::Bool enable)
	Enable/disable serialization of this object.
void	setEnableSplitOnSeparation (agx::Bool enable)
	Enable/disable split on separation events from Space.
void	traverse (agx::MergedBody::EdgeInteractionVisitor visitor) const
	Traverse all edges currently active in all merged bodies handled by this handler.
bool	writeConnectivityGraph (const char *filename) const
	Write the MergedBody graph as a .dot file to disk.
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.

Static Public Member Functions
static agxSDK::MergeSplitProperties *	getOrCreateProperties (agx::Constraint *constraint)
	Creates (or returns already present) merge-split parameters given a constraint.
static agxSDK::MergeSplitProperties *	getOrCreateProperties (agx::ConstraintImplementation *constraint)
	Creates (or returns already present) merge-split parameters given a constraint implementation.
static agxSDK::MergeSplitProperties *	getOrCreateProperties (agx::RigidBody *rb)
	Creates (or returns already present) merge-split parameters given a rigid body.
static agxSDK::MergeSplitProperties *	getOrCreateProperties (agxCollide::Geometry *geometry)
	Creates (or returns already present) merge-split parameters given a geometry.
static agxSDK::MergeSplitProperties *	getOrCreateProperties (agxWire::Wire *wire)
	Creates (or returns already present) merge-split parameters given a wire.
static agxSDK::MergeSplitProperties *	getProperties (agx::Constraint *constraint)
	Merge-split properties for the constraint, if created - otherwise null.
static agxSDK::MergeSplitProperties *	getProperties (agx::ConstraintImplementation *constraint)
	Merge-split properties for the constraint, if created - otherwise null.
static agxSDK::MergeSplitProperties *	getProperties (agx::RigidBody *rb)
static agxSDK::MergeSplitProperties *	getProperties (agxCollide::Geometry *geometry)
	Merge-split properties for the geometry or inherited by the rigid body this geometry belongs to.
static agxSDK::MergeSplitProperties *	getProperties (agxWire::Wire *wire)
static const agxSDK::MergeSplitProperties *	getProperties (const agx::Constraint *constraint)
	Merge-split properties for the constraint, if created - otherwise null.
static const agxSDK::MergeSplitProperties *	getProperties (const agx::ConstraintImplementation *constraint)
	Merge-split properties for the constraint, if created - otherwise null.
static const agxSDK::MergeSplitProperties *	getProperties (const agx::RigidBody *rb)
static const agxSDK::MergeSplitProperties *	getProperties (const agxCollide::Geometry *geometry)
	Merge-split properties for the geometry or inherited by the rigid body this geometry belongs to.
static const agxSDK::MergeSplitProperties *	getProperties (const agxWire::Wire *wire)
static agx::Bool	isMergedByHandler (const agx::RigidBody *rb)
	Determine if a body is merged explicitly (added to an agx::MergedBody by the user) or merged by an agxSDK::MergeSplitHandler.
static agx::Bool	split (agx::RigidBody *rb)
	Split a rigid body that has been merged by a merge split handler.
static void	transferProperties (const agx::RigidBody *source, agx::RigidBody *destination)
	Transfers merge-split properties from source rigid body to another rigid body instance.
static void	transferProperties (const agxCollide::Geometry *source, agxCollide::Geometry *destination)
	Transfers merge-split properties from source geometry to another geometry instance.
static void	transferProperties (const agxWire::Wire *wire, agx::Constraint *constraint)
	Transfers merge-split properties from the wire to the constraint.
static void	transferProperties (const agxWire::Wire *wire, agx::RigidBody *rb)
	Transfers merge-split properties from the wire to the rigid body.
Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Protected Member Functions
virtual	~MergeSplitHandler ()
	Reference counted object, protected destructor.
virtual void	mergeSplitBegin ()
	Call before merge-split callbacks are being processed.
virtual void	mergeSplitEnd ()
	Call after merge-split callbacks have been processed.
virtual void	postStep ()
	Post-solver callback from simulation.
virtual void	preCollide ()
	Pre-collide callback from simulation.
virtual void	preStep ()
	Pre-solver callback from simulation.
virtual void	reset (agx::Bool resetState=true)
	Reset call during simulation cleanup.
virtual void	restore (agxStream::InputArchive &in)
	Restore call from the simulation.
virtual void	separations (const agxCollide::SeparationPairVector &separations)
	Separation ballback from simulation.
virtual void	store (agxStream::OutputArchive &out) const
	Store call from the simulation.
Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.
void	allocateObserverVector () const
void	deleteUsingDeleteHandler () const

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

Base class for a merge split algorithm handling a set of merged bodies.

Definition at line 34 of file MergeSplitHandler.h.

Member Typedef Documentation

MergedBodyRefContainer

typedef agx::Vector<agx::MergedBodyRef> agxSDK::MergeSplitHandler::MergedBodyRefContainer

Definition at line 38 of file MergeSplitHandler.h.

MergeSplitAlgorithmContainer

typedef agx::Vector<agxSDK::MergeSplitAlgorithmRef> agxSDK::MergeSplitHandler::MergeSplitAlgorithmContainer

Definition at line 37 of file MergeSplitHandler.h.

Constructor & Destructor Documentation

~MergeSplitHandler()

virtual agxSDK::MergeSplitHandler::~MergeSplitHandler ( )

protectedvirtual

Reference counted object, protected destructor.

Member Function Documentation

add()

agx::Bool agxSDK::MergeSplitHandler::add

(

agxSDK::MergeSplitAlgorithm *

mergeSplitAlgorithm

)

Add new merge-split algorithm.

Parameters

mergeSplitAlgorithm

- new merge-split algorithm

Returns

true if added, false if already present or invalid

createMergedBody()

agx::MergedBodyRef agxSDK::MergeSplitHandler::createMergedBody

(

)

const

Creates a new, empty, merged body object associated to this merge split handler.

I.e., bodies added to this merged body may be split, merged etc by the algorithms in this handler.

getAlgorithm()

template<typename T >

T * agxSDK::MergeSplitHandler::getAlgorithm

Returns

the algorithm of given type

Definition at line 915 of file MergeSplitHandler.h.

getAlgorithms()

MergeSplitAlgorithmContainer agxSDK::MergeSplitHandler::getAlgorithms

(

)

const

Returns

the merge split algorithms

getEnable()

agx::Bool agxSDK::MergeSplitHandler::getEnable

(

)

const

Returns

true if merge split is enable

getEnableGlobalMerge()

agx::Bool agxSDK::MergeSplitHandler::getEnableGlobalMerge

(

)

const

Returns

true if merge is enabled globally for objects not having MergeSplitProperties

getEnableGlobalMergeSplit()

agx::Bool agxSDK::MergeSplitHandler::getEnableGlobalMergeSplit

(

)

const

Returns

true if merge-split is enabled globally for objects not having MergeSplitProperties

getEnableGlobalSplit()

agx::Bool agxSDK::MergeSplitHandler::getEnableGlobalSplit

(

)

const

Returns

true if split is enabled globally for objects not having MergeSplitProperties

getEnableMergePair() [1/4]

agx::Bool agxSDK::MergeSplitHandler::getEnableMergePair	(	agx::UInt32	group1,
		agx::UInt32	group2
	)

Returns

False if merging between the two groups has been disabled.

getEnableMergePair() [2/4]

agx::Bool agxSDK::MergeSplitHandler::getEnableMergePair	(	agx::UInt32	group1,
		const agx::Name &	group2
	)

Returns

False if merging between the two groups has been disabled.

getEnableMergePair() [3/4]

agx::Bool agxSDK::MergeSplitHandler::getEnableMergePair	(	const agx::Name &	group1,
		agx::UInt32	group2
	)

Returns

False if merging between the two groups has been disabled.

getEnableMergePair() [4/4]

agx::Bool agxSDK::MergeSplitHandler::getEnableMergePair	(	const agx::Name &	group1,
		const agx::Name &	group2
	)

Returns

False if merging between the two groups has been disabled.

getEnableSerialization()

agx::Bool agxSDK::MergeSplitHandler::getEnableSerialization

(

)

const

Returns

true if serialization of this object is enabled - otherwise false

getEnableSplitOnSeparation()

agx::Bool agxSDK::MergeSplitHandler::getEnableSplitOnSeparation

(

)

const

Returns

true if split on separation is enabled.

getGlobalConstraintThresholds()

agxSDK::ConstraintMergeSplitThresholds * agxSDK::MergeSplitHandler::getGlobalConstraintThresholds

(

)

const

Global thresholds for constraints.

These thresholds are used for all constraints that hasn't got explicitly assigned ConstraintMergeSplitThresholds instances.

Returns

the global constraint thresholds

getGlobalContactThresholds()

agxSDK::GeometryContactMergeSplitThresholds * agxSDK::MergeSplitHandler::getGlobalContactThresholds

(

)

const

Global thresholds for contacts.

These thresholds are used for all geometries/bodies that hasn't got explicitly assigned GeometryContactMergeSplitThresholds instances.

Returns

the global contact thresholds

getGlobalWireThresholds()

agxSDK::WireMergeSplitThresholds * agxSDK::MergeSplitHandler::getGlobalWireThresholds

(

)

const

Global thresholds for wires.

These thresholds are used for all wires that hasn't got explicitly assigned WireMergeSplitThresholds instances.

Returns

the global wire thresholds

getMergedBodies()

const MergedBodyRefContainer & agxSDK::MergeSplitHandler::getMergedBodies

(

)

const

Returns

the merged bodies created and handled by this handler

getOrCreateProperties() [1/5]

static agxSDK::MergeSplitProperties * agxSDK::MergeSplitHandler::getOrCreateProperties ( agx::Constraint *  constraint )

static

Creates (or returns already present) merge-split parameters given a constraint.

This method will return null if the constraint is null.

Parameters

constraint

- constraint to get merge-split parameters for.

Returns

merge-split parameters for the constraint.

getOrCreateProperties() [2/5]

static agxSDK::MergeSplitProperties * agxSDK::MergeSplitHandler::getOrCreateProperties ( agx::ConstraintImplementation *  constraint )

static

Creates (or returns already present) merge-split parameters given a constraint implementation.

Currently only the 'merge' property is used. This method will return null if the constraint is null.

Parameters

constraint

- constraint implementation to get merge-split parameters for.

Returns

merge-split parameters for the constraint implementation.

getOrCreateProperties() [3/5]

static agxSDK::MergeSplitProperties * agxSDK::MergeSplitHandler::getOrCreateProperties ( agx::RigidBody *  rb )

static

Creates (or returns already present) merge-split parameters given a rigid body.

This method will return null if the rigid body is null.

Parameters

rb	- rigid body to get merge-split parameters for

Returns

merge-split parameters for the rigid body

getOrCreateProperties() [4/5]

static agxSDK::MergeSplitProperties * agxSDK::MergeSplitHandler::getOrCreateProperties ( agxCollide::Geometry *  geometry )

static

Creates (or returns already present) merge-split parameters given a geometry.

If this geometry currently doesn't have any merge-split properties but has a rigid body with merge-split properties as parent - the merge-split properties of the rigid body will be cloned. This method will return null if the geometry is null.

Parameters

geometry

- geometry to get merge-split parameters for

Returns

merge-split parameters for the geometry

getOrCreateProperties() [5/5]

static agxSDK::MergeSplitProperties * agxSDK::MergeSplitHandler::getOrCreateProperties ( agxWire::Wire *  wire )

static

Creates (or returns already present) merge-split parameters given a wire.

This method will return null if the wire is null.

Parameters

wire	- wire to get merge-split parameters for

Returns

merge-split parameters for the wire

getProperties() [1/10]

MergeSplitProperties * agxSDK::MergeSplitHandler::getProperties ( agx::Constraint *  constraint )

inlinestatic

Merge-split properties for the constraint, if created - otherwise null.

Parameters

constraint

- constraint with parameters.

Returns

the merge-split parameters for constraint if present, otherwise null.

Definition at line 828 of file MergeSplitHandler.h.

References getProperties(), and agx::Constraint::getRep().

getProperties() [2/10]

MergeSplitProperties * agxSDK::MergeSplitHandler::getProperties ( agx::ConstraintImplementation *  constraint )

static

Merge-split properties for the constraint, if created - otherwise null.

Parameters

constraint

- ConstraintImplementation with parameters.

Returns

the merge-split parameters for constraint if present, otherwise null.

Definition at line 838 of file MergeSplitHandler.h.

getProperties() [3/10]

MergeSplitProperties * agxSDK::MergeSplitHandler::getProperties ( agx::RigidBody *  rb )

static

Parameters

rb	- rigid body with parameters

Returns

the merge-split parameters for rb if present, otherwise null

Definition at line 803 of file MergeSplitHandler.h.

getProperties() [4/10]

MergeSplitProperties * agxSDK::MergeSplitHandler::getProperties ( agxCollide::Geometry *  geometry )

static

Merge-split properties for the geometry or inherited by the rigid body this geometry belongs to.

To create merge-split properties for this geometry, use getOrCreateProperties( geometry ).

Parameters

geometry

- geometry with parameters

Returns

the merge-split parameters for geometry or parent rigid body if present, otherwise null

Definition at line 817 of file MergeSplitHandler.h.

References getProperties(), and agxCollide::Geometry::getRigidBody().

getProperties() [5/10]

static agxSDK::MergeSplitProperties * agxSDK::MergeSplitHandler::getProperties ( agxWire::Wire *  wire )

static

Parameters

wire	- wire with parameters

Returns

the merge-split parameters for wire if present, otherwise null

getProperties() [6/10]

const MergeSplitProperties * agxSDK::MergeSplitHandler::getProperties ( const agx::Constraint *  constraint )

inlinestatic

Merge-split properties for the constraint, if created - otherwise null.

Parameters

constraint

- ConstraintImplementation with parameters.

Returns

the merge-split parameters for constraint if present, otherwise null.

Definition at line 833 of file MergeSplitHandler.h.

References getProperties(), and agx::Constraint::getRep().

getProperties() [7/10]

const MergeSplitProperties * agxSDK::MergeSplitHandler::getProperties ( const agx::ConstraintImplementation *  constraint )

static

Merge-split properties for the constraint, if created - otherwise null.

Parameters

constraint

- ConstraintImplementation with parameters.

Returns

the merge-split parameters for constraint if present, otherwise null.

Definition at line 844 of file MergeSplitHandler.h.

getProperties() [8/10]

const MergeSplitProperties * agxSDK::MergeSplitHandler::getProperties ( const agx::RigidBody *  rb )

static

Parameters

rb	- rigid body with parameters

Returns

the merge-split parameters for rb if present, otherwise null

Definition at line 797 of file MergeSplitHandler.h.

Referenced by getProperties().

getProperties() [9/10]

const MergeSplitProperties * agxSDK::MergeSplitHandler::getProperties ( const agxCollide::Geometry *  geometry )

static

Merge-split properties for the geometry or inherited by the rigid body this geometry belongs to.

To create merge-split properties for this geometry, use getOrCreateProperties( geometry ).

Parameters

geometry

- geometry with parameters

Returns

the merge-split parameters for geometry or parent rigid body if present, otherwise null

Definition at line 809 of file MergeSplitHandler.h.

References getProperties(), and agxCollide::Geometry::getRigidBody().

getProperties() [10/10]

static const agxSDK::MergeSplitProperties * agxSDK::MergeSplitHandler::getProperties ( const agxWire::Wire *  wire )

static

Parameters

wire	- wire with parameters

Returns

the merge-split parameters for wire if present, otherwise null

getSimulation()

const agxSDK::Simulation * agxSDK::MergeSplitHandler::getSimulation

(

)

const

Returns

the simulation

isMergedByHandler()

static agx::Bool agxSDK::MergeSplitHandler::isMergedByHandler ( const agx::RigidBody *  rb )

static

Determine if a body is merged explicitly (added to an agx::MergedBody by the user) or merged by an agxSDK::MergeSplitHandler.

Returns

true if the body is merged and is merged by an agxSDK::MergeSplitHandler - otherwise false

mayMerge() [1/3]

agx::Bool agxSDK::MergeSplitHandler::mayMerge	(	const agx::RigidBody *	rb1,
		const agx::RigidBody *	rb2
	)		const

Returns

true if merge is enabled between two objects with merge-split properties

mayMerge() [2/3]

agx::Bool agxSDK::MergeSplitHandler::mayMerge	(	const agx::RigidBody *	rb1,
		const agxSDK::MergeSplitProperties *	p1,
		const agx::RigidBody *	rb2,
		const agxSDK::MergeSplitProperties *	p2
	)		const

Returns

true if the bodies may merge given associated properties (the properties could belong to a geometry in the body)

mayMerge() [3/3]

agx::Bool agxSDK::MergeSplitHandler::mayMerge	(	const agxCollide::Geometry *	geometry1,
		const agxCollide::Geometry *	geometry2
	)		const

Returns

true if merge is enabled between the two geometries

mayMergeProperties()

agx::Bool agxSDK::MergeSplitHandler::mayMergeProperties ( const agxSDK::MergeSplitProperties *  properties ) const

inline

Returns

true if merge is enabled in the given properties or globally enabled

Definition at line 946 of file MergeSplitHandler.h.

References agxSDK::MergeSplitProperties::getEnableMerge().

maySplit() [1/2]

agx::Bool agxSDK::MergeSplitHandler::maySplit

(

const agx::RigidBody *

rb

)

const

Returns

true if split is possible for the body

Referenced by agxSDK::MergeSplitUtils::collectConnectingEdges().

maySplit() [2/2]

agx::Bool agxSDK::MergeSplitHandler::maySplit	(	const agx::RigidBody *	rb,
		const agxSDK::MergeSplitProperties *	properties
	)		const

Returns

true if split is enabled in the given properties or globally enabled

maySplitProperties()

agx::Bool agxSDK::MergeSplitHandler::maySplitProperties ( const agxSDK::MergeSplitProperties *  properties ) const

inline

Returns

true if split is enabled in the given properties or globally enabled

Definition at line 953 of file MergeSplitHandler.h.

References agxSDK::MergeSplitProperties::getEnableSplit().

merge()

agx::Bool agxSDK::MergeSplitHandler::merge

(

agx::MergedBody::EdgeInteraction *

edgeInteraction

)

Merge bodies given an edge interaction.

Parameters

edgeInteraction

- edge interaction between the bodies

Returns

true if the result is that the bodies are merged

mergeSplitBegin()

virtual void agxSDK::MergeSplitHandler::mergeSplitBegin ( )

protectedvirtual

Call before merge-split callbacks are being processed.

mergeSplitEnd()

virtual void agxSDK::MergeSplitHandler::mergeSplitEnd ( )

protectedvirtual

Call after merge-split callbacks have been processed.

postStep()

virtual void agxSDK::MergeSplitHandler::postStep ( )

protectedvirtual

Post-solver callback from simulation.

preCollide()

virtual void agxSDK::MergeSplitHandler::preCollide ( )

protectedvirtual

Pre-collide callback from simulation.

preStep()

virtual void agxSDK::MergeSplitHandler::preStep ( )

protectedvirtual

Pre-solver callback from simulation.

registerMergedBody()

void agxSDK::MergeSplitHandler::registerMergedBody

(

agx::MergedBody *

mergedBody

)

Register merged body to this merge-split handler.

After this call, mergedBody may be split and merged with others. Even removed from the simulation.

Parameters

mergedBody

- merged body to hand over the control of to this handler

remove()

agx::Bool agxSDK::MergeSplitHandler::remove

(

agxSDK::MergeSplitAlgorithm *

mergeSplitAlgorithm

)

Remove split algorithm.

Parameters

mergeSplitAlgorithm

- merge-split algorithm to remove

Returns

true if removed, false if not present or invalid

reset()

virtual void agxSDK::MergeSplitHandler::reset ( agx::Bool  resetState = true )

protectedvirtual

Reset call during simulation cleanup.

Parameters

resetState

- if true the internal state will also be set to default

restore()

virtual void agxSDK::MergeSplitHandler::restore ( agxStream::InputArchive &  in )

protectedvirtual

Restore call from the simulation.

separations()

virtual void agxSDK::MergeSplitHandler::separations ( const agxCollide::SeparationPairVector &  separations )

protectedvirtual

Separation ballback from simulation.

Parameters

separations

setEnable()

void agxSDK::MergeSplitHandler::setEnable

(

agx::Bool

enable

)

Enable/disable merge split.

Parameters

enable

- true to enable merge split

setEnableGlobalMerge()

void agxSDK::MergeSplitHandler::setEnableGlobalMerge

(

agx::Bool

enable

)

Enable/disable global merge for all objects not having their MergeSplitProperties set.

Parameters

enable

- true to enable, false to disable

setEnableGlobalMergeSplit()

void agxSDK::MergeSplitHandler::setEnableGlobalMergeSplit

(

agx::Bool

enable

)

Enable/disable global merge and split for all objects not having their MergeSplitProperties set.

Parameters

enable

- true to enable, false to disable

setEnableGlobalSplit()

void agxSDK::MergeSplitHandler::setEnableGlobalSplit

(

agx::Bool

enable

)

Enable/disable global split for all objects not having their MergeSplitProperties set.

Parameters

enable

- true to enable, false to disable

setEnableMergePair() [1/4]

void agxSDK::MergeSplitHandler::setEnableMergePair	(	agx::UInt32	group1,
		agx::UInt32	group2,
		agx::Bool	enable
	)

If enable is false, from now on reject merges between bodies in the two groups even when the MergeSplitProperties of the two bodies would allow the merge to happen.

Merge groups cannot be used to enable merge for bodies whose MergeSplitProperty does not allow the merge to happen. It is a reject filter only.

Parameters

group1	- The first group.
group2	- The second group.
enable	- True if merges should be rejected. False to restore default behavior.

setEnableMergePair() [2/4]

void agxSDK::MergeSplitHandler::setEnableMergePair	(	agx::UInt32	group1,
		const agx::Name &	group2,
		agx::Bool	enable
	)

If enable is false, from now on reject merges between bodies in the two groups even when the MergeSplitProperties of the two bodies would allow the merge to happen.

Merge groups cannot be used to enable merge for bodies whose MergeSplitProperty does not allow the merge to happen. It is a reject filter only.

Parameters

group1	- The first group.
group2	- The second group.
enable	- True if merges should be rejected. False to restore default behavior.

setEnableMergePair() [3/4]

void agxSDK::MergeSplitHandler::setEnableMergePair	(	const agx::Name &	group1,
		agx::UInt32	group2,
		agx::Bool	enable
	)

If enable is false, from now on reject merges between bodies in the two groups even when the MergeSplitProperties of the two bodies would allow the merge to happen.

Merge groups cannot be used to enable merge for bodies whose MergeSplitProperty does not allow the merge to happen. It is a reject filter only.

Parameters

group1	- The first group.
group2	- The second group.
enable	- True if merges should be rejected. False to restore default behavior.

setEnableMergePair() [4/4]

void agxSDK::MergeSplitHandler::setEnableMergePair	(	const agx::Name &	group1,
		const agx::Name &	group2,
		agx::Bool	enable
	)

If enable is false, from now on reject merges between bodies in the two groups even when the MergeSplitProperties of the two bodies would allow the merge to happen.

Merge groups cannot be used to enable merge for bodies whose MergeSplitProperty does not allow the merge to happen. It is a reject filter only.

Parameters

group1	- The first group.
group2	- The second group.
enable	- True if merges should be rejected. False to restore default behavior.

setEnableSerialization()

void agxSDK::MergeSplitHandler::setEnableSerialization

(

agx::Bool

enable

)

Enable/disable serialization of this object.

Default: enabled.

Parameters

enable

- true to enable, false to disable serialization

setEnableSplitOnSeparation()

void agxSDK::MergeSplitHandler::setEnableSplitOnSeparation

(

agx::Bool

enable

)

Enable/disable split on separation events from Space.

Parameters

enable

- true to enable, false to disable.

split()

static agx::Bool agxSDK::MergeSplitHandler::split ( agx::RigidBody *  rb )

static

Split a rigid body that has been merged by a merge split handler.

Parameters

rb	- body to split

Returns

true if the body were merged by a merge split handler and now is successfully removed, otherwise false

store()

virtual void agxSDK::MergeSplitHandler::store ( agxStream::OutputArchive &  out ) const

protectedvirtual

Store call from the simulation.

transferProperties() [1/4]

static void agxSDK::MergeSplitHandler::transferProperties ( const agx::RigidBody *  source, agx::RigidBody *  destination  )

static

Transfers merge-split properties from source rigid body to another rigid body instance.

Then destination instance will share merge-split properties instance with source.

Parameters

source	- source rigid body instance
destination	- destination rigid body instance

transferProperties() [2/4]

static void agxSDK::MergeSplitHandler::transferProperties ( const agxCollide::Geometry *  source, agxCollide::Geometry *  destination  )

static

Transfers merge-split properties from source geometry to another geometry instance.

Then destination instance will share merge-split properties instance with source.

Parameters

source	- source geometry instance
destination	- destination geometry instance

transferProperties() [3/4]

static void agxSDK::MergeSplitHandler::transferProperties ( const agxWire::Wire *  wire, agx::Constraint *  constraint  )

static

Transfers merge-split properties from the wire to the constraint.

Parameters

wire	- parent wire object
constraint	- constraint in wire, to get the merge-split properties of the wire

transferProperties() [4/4]

static void agxSDK::MergeSplitHandler::transferProperties ( const agxWire::Wire *  wire, agx::RigidBody *  rb  )

static

Transfers merge-split properties from the wire to the rigid body.

Parameters

wire	- parent wire object
rb	- body, part of wire, to get the merge-split properties of the wire

traverse()

void agxSDK::MergeSplitHandler::traverse

(

agx::MergedBody::EdgeInteractionVisitor

visitor

)

const

Traverse all edges currently active in all merged bodies handled by this handler.

Parameters

visitor

- visitor function

writeConnectivityGraph()

bool agxSDK::MergeSplitHandler::writeConnectivityGraph

(

const char *

filename

)

const

Write the MergedBody graph as a .dot file to disk.

---

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

• MergeSplitHandler.h