Simulation is a class that bridges the collision space agxCollide::Space and the dynamic simulation system agx::DynamicsSystem. More...

#include <Simulation.h>

Inheritance diagram for agxSDK::Simulation:

Public Types
enum	CleanupSelectionMask { STEP_LISTENERS = EventManager::STEP_LISTENERS , CONTACT_LISTENERS = EventManager::CONTACT_LISTENERS , GUI_LISTENERS = EventManager::GUI_LISTENERS , LISTENERS = EventManager::LISTENERS , SYSTEM = 0x200 , SPACE = 0x400 , MATERIALS = 0x800 , ASSEMBLIES = 0x1000 , PARTICLE_SYSTEMS = 0x2000 , CONTACT_DATA = 0x4000 , PLOTSYSTEM = 0x8000 , CLEANUP_ALL = LISTENERS \| SYSTEM \| SPACE \| MATERIALS \| ASSEMBLIES \| PARTICLE_SYSTEMS \| CONTACT_DATA \| PLOTSYSTEM }
	Specification of what should be cleaned up from a simulation during a call to the cleanup() method. More...

typedef agx::Event2< Simulation , agx::Constraint >	ConstraintEvent

typedef agx::Event2< Simulation , agx::ContactMaterial >	ContactMaterialEvent

typedef agx::Event2< Simulation , agxCollide::Geometry >	GeometryEvent

typedef agx::Event2< Simulation , agx::Journal >	JournalAttachEvent

typedef agx::Event2< Simulation , agx::Material >	MaterialEvent

enum	ReadSelectionMask { READ_NONE = 0x0 , READ_TIMESTEP = 0x1 , READ_TIMESTAMP = 0x2 , READ_GRAVITY = 0x4 , READ_SOLVER = 0x8 , READ_ALL = READ_TIMESTEP + READ_TIMESTAMP + READ_GRAVITY + READ_SOLVER , READ_DEFAULT = READ_TIMESTEP + READ_GRAVITY + READ_SOLVER }
	Enum for specifying some additional, part of a simulation that can be restored from a serialization. More...

typedef agx::Event2< Simulation , agx::RigidBody >	RigidBodyEvent

Public Types inherited from agx::Component
typedef Event2< Component , Object >	ObjectEvent
	Event when adding removing child objects.

typedef Callback1< Object * >	TraverseCallback

Public Types inherited from agx::Object
typedef agx::observer_ptr< const Event >	EventConstObserver

typedef agx::ref_ptr< const Event >	EventConstRef

typedef agx::observer_ptr< Event >	EventObserver

typedef agx::Vector< EventObserver >	EventObserverVector

typedef agx::VectorPOD< Event * >	EventPtrVector

typedef agx::ref_ptr< Event >	EventRef

typedef agx::Vector< EventRef >	EventRefVector

Public Member Functions
	Simulation ()
	Default constructor This constructor CAN Throw a std::runtime_exception if configuration file is broken/invalid.

	Simulation (agx::Device *device)
	Special constructor which will associate the Simulation to a specified device.

bool	add (agx::Component *subComponent)
	Add a sub component to the Simulation.

bool	add (agx::Constraint *constraint)
	Add a constraint to the simulation.

bool	add (agx::ContactMaterial *material)
	Add an explicit contact material to the simulation.

bool	add (agx::Emitter *emitter, bool addGeometries=true)
	Add an emitter to the Simulation.

bool	add (agx::Interaction *interaction)
	Add an Interaction to the Simulation.

bool	add (agx::Material *material)
	Add a material to the simulation.

bool	add (agx::MergedBody *mergedBody)
	Add a merged body to this simulation.

bool	add (agx::ObserverFrame *observerFrame)
	Add a ObserverFrame to the Simulation.

bool	add (agx::ParticleContactSensor *sensor)
	Add a particle contact sensor to the Simulation.

bool	add (agx::ParticleSystem *particleSystem)
	Add a particle system to the simulation.

bool	add (agx::RigidBody *body, bool addGeometries=true)

bool	add (agxCollide::Geometry *geometry)

bool	add (agxControl::Action *action)
	Register an action to this simulation.

bool	add (agxControl::Operation *operation)
	Register an operation to this simulation.

bool	add (agxSDK::Assembly *assembly, bool addAllEntries=true)
	Add an assembly to the simulation including all its parts.

bool	add (agxSDK::EventListener *listener, int priority=EventManager::DEFAULT_PRIORITY)
	Add an event listener The listener will get a call to its addNotification method if adding was successful.

bool	add (agxSDK::SimulationParameter *parameter)
	Add a parameter to the simulation configuration interface.

bool	add (agxSDK::TerrainInstance *terrain)
	Add terrain (agxTerrain::Terrain) instance to this simulation.

bool	add (agxSDK::TerrainToolInstance *toolInstance)
	Add a terrain tool instance to this simulation.

bool	add (agxStream::Serializable *object)
	Add an object as a serializable object.

bool	addEventListener (agxSDK::EventListener *listener, int priority=EventManager::DEFAULT_PRIORITY)
	Add an event listener The listener will get a call to its addNotification method if adding was successful.

bool	addRestoreListener (agxStream::RestoreListener *listener)
	Add a restore listener to the Simulation.

void	addSolveModel (agx::SolveModel *model)

bool	allowCreateParticles () const

bool	breakStepTo ()
	Break an initiated stepTo() after the current simulation step.

void	cleanup (agx::UInt selection=CLEANUP_ALL, bool fast=false)
	This method will remove/cleanup selected parts of the simulation.

void	clearContactData ()
	Clears contact data in the simulation.

void	commit (agxSDK::SimulationProxy *simulationProxy)
	Internal method.

bool	contains (const agx::Component *object) const
	Is the object contained in the simulation?

bool	contains (const agxSDK::TerrainInstance *terrain) const
	Is the terrain contained in the simulation?

bool	contains (const agxSDK::TerrainToolInstance *toolInstance) const
	Is the terrain tool instance contained in the simulation?

void	createRenderTask ()

bool	disableThreadTimeline (const agx::String &format="chrome")
	Stops recording timeline data and exports gathered data to disk.

void	dumpMemoryUsage (const agx::String &filePath="TaskTimers.xml")
	Print current agxData buffer allocations to a file.

void	dumpTaskTimers (const agx::String &filePath="BufferAllocations.xml")
	Print current task performance timers to a file.

bool	enableThreadTimeline (const agx::String &sessionName="", const agx::String &journalName="Profiling.agxJournal")
	Record profiling information from this simulation and store it in a journal.

void	garbageCollect ()
	Use with caution!

agxControl::ActionManager *	getActionManager ()
	Gets the action manager.

const AssemblyHash &	getAssemblies () const

agxSDK::Assembly *	getAssembly (const agx::Name &name)
	Find (linear search) and return named Assembly.

const agxSDK::Assembly *	getAssembly (const agx::Name &name) const
	Find (linear search) and return named Assembly.

agxSDK::Assembly *	getAssembly (const agx::Uuid &uuid)
	Find (linear search) and return an Assembly matching the given uuid.

const agxSDK::Assembly *	getAssembly (const agx::Uuid &uuid) const
	Find (linear search) and return an Assembly matching the given uuid.

AssemblyPtrVector	getAssemblyPtrVector () const

agx::Clock *	getClock ()

const agx::Clock *	getClock () const

agx::Constraint *	getConstraint (const agx::Name &name)
	Find (linear search) and return named Constraint.

template<typename T >
T *	getConstraint (const agx::Name &name)
	Find and return named Constraint of a templated type, for example Hinge:

const agx::Constraint *	getConstraint (const agx::Name &name) const
	Find (linear search) and return named Constraint.

template<typename T >
const T *	getConstraint (const agx::Name &name) const
	Find and return named Constraint of a templated type, for example Hinge:

agx::Constraint *	getConstraint (const agx::Uuid &uuid)
	Find and return a pointer to a Constraint with the given uuid.

template<typename T >
T *	getConstraint (const agx::Uuid &uuid)
	Find and return named Constraint of a templated type, for example Hinge:

const agx::Constraint *	getConstraint (const agx::Uuid &uuid) const
	Find (linear search) and return a pointer to a Constraint with the given uuid.

template<typename T >
const T *	getConstraint (const agx::Uuid &uuid) const
	Find and return named Constraint of a templated type, for example Hinge:

agx::Constraint1DOF *	getConstraint1DOF (const agx::Name &name)

agx::Constraint2DOF *	getConstraint2DOF (const agx::Name &name)

agx::ConstraintRefSetVector &	getConstraints ()

const agx::ConstraintRefSetVector &	getConstraints () const

agx::UInt8	getContactReductionBinResolution () const

agx::UInt	getContactReductionThreshold () const

agx::DynamicsSystem *	getDynamicsSystem ()

const agx::DynamicsSystem *	getDynamicsSystem () const

agx::Emitter *	getEmitter (const agx::Name &name)
	Find (linear search) and return an emitter matching the given name.

agx::Emitter *	getEmitter (const agx::Name &name) const
	Find (linear search) and return an emitter matching the given name.

agx::Emitter *	getEmitter (const agx::Uuid &uuid)
	Find (linear search) and return an emitter matching the given uuid.

const agx::Emitter *	getEmitter (const agx::Uuid &uuid) const
	Find (linear search) and return an emitter matching the given uuid.

agx::EmitterRefVector	getEmitters ()

agxData::EntityStorage *	getEmitterStorage ()

bool	getEnableClearRenderTemporaries () const

agx::RigidBodyPtrSetVector &	getEnabledRigidBodies ()

const agx::RigidBodyPtrSetVector &	getEnabledRigidBodies () const

bool	getEnableRemoteDebugging () const

bool	getEnableStatistics () const

bool	getEnableStatisticsRendering () const

bool	getEnableWebDebugger () const

agxSDK::EnergyManager *	getEnergyManager () const
	return the energy manager of the system.

agxSDK::EventListener *	getEventListener (const agx::Name &name)
	Find and return the first matching named event listener.

const agxSDK::EventListener *	getEventListener (const agx::Name &name) const
	Find and return the first matching named event listener.

agxSDK::EventListener *	getEventListener (const agx::Uuid &uuid)
	Find (linear search) and return the first event listener matching the uuid.

const agxSDK::EventListener *	getEventListener (const agx::Uuid &uuid) const
	Find (linear search) and return the first event listener matching the uuid.

void	getEventListeners (EventListenerPtrVector &eventListeners) const
	Get a vector containing all the registered event listeners.

const agxCollide::GeometryRefVector &	getGeometries () const

agxCollide::Geometry *	getGeometry (const agx::Name &name)
	Find (linear search) and return named collision Geometry.

const agxCollide::Geometry *	getGeometry (const agx::Name &name) const
	Find (linear search) and return named collision Geometry.

agxCollide::Geometry *	getGeometry (const agx::Uuid &uuid)
	Find (linear search) and return a geometry matching the given uuid.

const agxCollide::Geometry *	getGeometry (const agx::Uuid &uuid) const
	Find (linear search) and return a geometry matching the given uuid.

agx::GravityField *	getGravityField ()

const agx::GravityField *	getGravityField () const

agx::Component *	getHeader ()

agx::Journal *	getJournal ()

const agx::Journal *	getJournal () const

agx::Material *	getMaterial (const agx::Name &materialName)

const agx::Material *	getMaterial (const agx::Name &materialName) const

agx::Material *	getMaterial (const agx::Uuid &uuid)

MaterialManager *	getMaterialManager ()

const MaterialManager *	getMaterialManager () const

agx::MergedBody *	getMergedBody (agx::UInt i) const

agx::MergedBody *	getMergedBody (const agx::Name &name)
	Find (linear search) and return named MergedBody.

const agx::MergedBody *	getMergedBody (const agx::Name &name) const
	Find (linear search) and return named MergedBody.

agx::MergedBody *	getMergedBody (const agx::Uuid &uuid)
	Find (linear search) and return a pointer to a MergedBody with the given uuid.

const agx::MergedBody *	getMergedBody (const agx::Uuid &uuid) const
	Find (linear search) and return a pointer to a MergedBody with the given uuid.

agxSDK::MergeSplitHandler *	getMergeSplitHandler () const
	Merge split handler is an object that enables performance boosts by merging rigid bodies together which results in fewer rigid bodies for the solver to solve for.

agx::UInt	getNumMergedBodies () const

agx::UInt	getNumTerrains () const

agx::ObserverFrame *	getObserver (const agx::Name &name)
	Find (linear search) and return named ObserverFrame.

const agx::ObserverFrame *	getObserver (const agx::Name &name) const
	Find (linear search) and return named ObserverFrame.

agx::ObserverFrame *	getObserver (const agx::Uuid &uuid)
	Find (linear search) and return a pointer to a ObserverFrame with the given uuid.

const agx::ObserverFrame *	getObserver (const agx::Uuid &uuid) const
	Find (linear search) and return a pointer to a ObserverFrame with the given uuid.

agx::ObserverFrame *	getObserverFrame (const agx::Name &name)
	Find (linear search) the first ObserverFrame object in the system that matches the name.

const agx::ObserverFrame *	getObserverFrame (const agx::Name &name) const
	Find (linear search) the first ObserverFrame object in the system that matches the name.

agx::ObserverFrame *	getObserverFrame (const agx::Uuid &uuid)
	Find and return a pointer to a ObserverFrame with the given uuid.

const agx::ObserverFrame *	getObserverFrame (const agx::Uuid &uuid) const
	Find (linear search) and return a pointer to a ObserverFrame with the given uuid.

agx::ObserverFrameRefSetVector &	getObserverFrames ()

const agx::ObserverFrameRefSetVector &	getObserverFrames () const

agxSDK::SimulationParameter *	getParameter (const agx::Name &name)

const agxSDK::SimulationParameterRefVector &	getParameters () const

agx::ParticleEmitterRefVector	getParticleEmitters ()

agx::ParticleSystem *	getParticleSystem () const

agx::ParticleSystemRefVector &	getParticleSystems ()

const agx::ParticleSystemRefVector &	getParticleSystems () const

agxSDK::PickHandler *	getPickHandler ()

const agxSDK::PickHandler *	getPickHandler () const

agxPlot::System *	getPlotSystem () const

bool	getPreIntegratePositions () const

agx::Real	getProfilingFrequency () const

agx::Real	getRemoteDebuggingTimeStep () const

agxRender::RenderManager *	getRenderManager ()

const agxRender::RenderManager *	getRenderManager () const

agx::RigidBodyRefVector &	getRigidBodies ()

const agx::RigidBodyRefVector &	getRigidBodies () const

agx::RigidBody *	getRigidBody (const agx::Name &name)
	Find (linear search) and return named RigidBody.

const agx::RigidBody *	getRigidBody (const agx::Name &name) const
	Find (linear search) and return named RigidBody.

agx::RigidBody *	getRigidBody (const agx::Uuid &uuid)
	Find (linear search) and return a pointer to a RigidBody with the given uuid.

const agx::RigidBody *	getRigidBody (const agx::Uuid &uuid) const
	Find (linear search) and return a pointer to a RigidBody with the given uuid.

ISensorEnvironment *	getSensorEnvironment () const

SimulationSerializer *	getSerializer ()

const SimulationSerializer *	getSerializer () const

agxSDK::SimulationProxy *	getSimulationProxy () const
	Internal method.

SimulationStatisticsListener *	getSimulationStatisticsListener ()

const SimulationStatisticsListener *	getSimulationStatisticsListener () const

agx::SolveModel *	getSolveModel (const agx::Name &name)

const agx::SolveModelRefVector &	getSolveModels () const

agx::Solver *	getSolver ()

const agx::Solver *	getSolver () const

agxCollide::Space *	getSpace ()

const agxCollide::Space *	getSpace () const

agxSDK::TerrainInstance *	getTerrain (agx::UInt i) const

agxSDK::TerrainManager *	getTerrainManager () const

agxPlot::DataSeries *	getTimeDataSeries () const
	A data series that contains all time stamps of the simulation.

agx::Real	getTimeStamp () const

agx::Real	getTimeStep () const

agx::Vec3	getUniformGravity () const
	If the current gravity field is not a uniform one (for example PointGravityField), 0,0,0 will be returned.

agx::TaskGroup *	getUpdateTask ()

agxWire::Wire *	getWire (const agx::Name &name)
	Find and return the first matching named wire.

const agxWire::Wire *	getWire (const agx::Name &name) const
	Find and return the first matching named wire.

agxWire::Wire *	getWire (const agx::Uuid &uuid)
	Find (linear search) and return the first wire matching the uuid.

const agxWire::Wire *	getWire (const agx::Uuid &uuid) const
	Find (linear search) and return the first wire matching the uuid.

void	handleStabiltyReport (const agx::StabilityReport *stabilityReport)
	Internal method.

void	loadSolveModels (const agx::String &path, bool clear=false)

size_t	read (const agx::String &filename, agxSDK::Assembly *parent=nullptr, agx::UInt selection=READ_DEFAULT)
	Read serialized simulation from the specified file and append to this simulation.

size_t	read (std::istream &stream, bool isBinary, agxSDK::Assembly *parent=nullptr, agx::UInt selection=READ_DEFAULT)
	Read serialized simulation from the specified stream.

void	readStoragePermutations (agxStream::InputArchive &in, bool clearStorages=false)

bool	remove (agx::Component *subComponent)
	Remove a sub component from Simulation.

bool	remove (agx::Constraint *constraint)
	Remove a constraint from the simulation.

bool	remove (agx::ContactMaterial *material)
	Remove an explicit contact material from the set of existing ContactMaterials.

bool	remove (agx::Emitter *emitter, bool removeGeometries=true)
	Remove an emitter from the system.

bool	remove (agx::Interaction *interaction)
	Remove an Interaction from the Simulation.

bool	remove (agx::Material *material)
	Remove a specified material from the simulation.

bool	remove (agx::MergedBody *mergedBody)
	Removes the merged body from this simulation.

bool	remove (agx::ObserverFrame *observerFrame)
	Remove a ObserverFrame to the Simulation.

bool	remove (agx::ParticleContactSensor *sensor)
	Remove a particle contact sensor from the system.

bool	remove (agx::ParticleSystem *particleSystem)
	Remove a particle system from the simulation.

bool	remove (agx::RigidBody *body, bool removeGeometries=true)
	Remove a body from the Simulation, the body will be disabled!

bool	remove (agxCollide::Geometry *geometry)
	Remove `geometry` from collision space.

bool	remove (agxControl::Action *action)
	Remove an action from this simulation.

bool	remove (agxControl::Operation *operation)
	Remove an operation from this simulation.

bool	remove (agxSDK::Assembly *assembly, bool removeAllEntries=true)
	Remove an assembly from the simulation.

bool	remove (agxSDK::EventListener *listener)
	Remove a Event listener.

bool	remove (agxSDK::SimulationParameter *parameter)
	Remove a parameter from the simulation configuration interface.

bool	remove (agxSDK::TerrainInstance *terrain)
	Remove terrain (agxTerrain::Terrain) instance from this simulation.

bool	remove (agxSDK::TerrainToolInstance *toolInstance)
	Remove a terrain tool instance from this simulation.

bool	remove (agxStream::Serializable *object)
	Remove an object as a serializable object.

bool	removeEventListener (agxSDK::EventListener *listener)
	Remove the specified listener.

bool	removeRestoreListener (agxStream::RestoreListener *listener)
	Remove an existing listener in a simulation.

void	removeSolveModel (agx::SolveModel *model)

void	renderComponents ()

void	resetTaskTimers ()
	Reset profiling timers.

void	restore (agxStream::InputArchive &in, agxSDK::Assembly *parent=nullptr, agx::UInt selection=READ_DEFAULT, bool replaceUsingCache=false)
	Read data from the input archive and add to the simulation.

bool	restore (const agx::String &filename, agx::UInt selection=READ_DEFAULT)
	Restore state from a serialized scene file.

bool	restore (std::istream &stream, bool isBinary, agx::UInt selection=READ_DEFAULT)

void	sendSimulation ()
	Send the simulation to the remote debugger (if enabled)

void	setActionManagerTimeStamp (const agx::TimeStamp &time)
	Truncating an AGX simulation does not reset the timestamp in the action manager.

void	setContactReductionBinResolution (agx::UInt8 binResolution)
	Specify the bin resolution used when evaluating contacts for reduction between body-body contacts.

void	setContactReductionThreshold (agx::UInt threshold)
	Specify the minimum number of contacts between two bodies required to execute contact reduction.

void	setDynamicsSystem (agx::DynamicsSystem *system)
	Replace the current DynamicsSystem with `system`.

void	setEnableClearRenderTemporaries (bool enable)

void	setEnableRemoteDebugging (bool flag, agx::Int16 port=-1, bool useCompression=false, bool waitForSynchronization=true)
	Enable/Disable remote debugging.

void	setEnableSimulationStatisticsListener (bool flag)
	Enable/disable the listener that collects all statistics data from the simulation.

void	setEnableStatistics (bool enable)
	Enable/disable statistics logging to disk.

void	setEnableStatisticsRendering (bool enable)

void	setEnableWebDebugger (bool flag, agx::UInt16 port=9001)
	Enable/Disable the Web debugger simulation WebSocket API.

void	setGravityField (agx::GravityField *gravityField)
	Set the GravityField model used in gravity calculations.

void	setMainWorkThread (agx::Thread *thread)
	Specify which is the main working thread for the Simulation.

void	setPickHandler (agxSDK::PickHandler *pickHandler)
	Assign interface for pick handler.

void	setPlotSystem (agxPlot::System *plotSystem)
	Replace the current PlotSystem with `plotSystem`.

void	setPreIntegratePositions (bool flag)
	Set true to integrate positions at the start of the timestep rather than at the end.

void	setProfilingFrequency (agx::Real frequency)
	Specify the frequency for performance profiling.

void	setRemoteDebuggingTimeStep (agx::Real timeStep)
	Sets the time step for remote debugging.

void	setSensorEnvironment (ISensorEnvironment *environment)
	Assign new sensor environment to this simulation, nullptr to remove the current environment.

void	setSerializer (SimulationSerializer *serializer)
	Replace the current SimulationSerializer with a new instance.

void	setSpace (agxCollide::Space *space)
	Replace the current Collision space with `space`.

void	setStatisticsInterval (agx::Real interval)

void	setStatisticsPath (const agx::String &path)
	Specify the path to a file where the statistics information will be written when enabled.

void	setTimeStamp (agx::TimeStamp t)
	Set the timestamp for the simulation (and the DynamicsSystem)

bool	setTimeStep (agx::Real timeStep)
	Sets the time step determined by the TimeGovernor in the DynamicsSystem.

bool	setUniformGravity (const agx::Vec3 &g)
	Set the uniform gravity.

void	stepForward ()
	Take one step forward in the simulation.

agx::TimeStamp	stepTo (agx::TimeStamp t)
	Step the simulation forward 1 or more time steps in time until we get to the time t.

void	store (agxStream::OutputArchive &archive) const
	Save this simulation to the output archive.

bool	triggerEvent (const GuiEvent &e)
	Execute a GuiEvent.

void	updateActionManager ()
	Internal method.

void	updateRenderManager ()
	Make an explicit call to RenderManager::update() to update the debug rendering information.

void	updateStatisticsRenderData ()
	Make an explicit call to RenderManager::update() to update the statistics rendering information.

size_t	write (const agx::String &filename) const
	Serialize the simulation to the specified file.

size_t	write (std::ostream &stream, bool binary) const
	Serialize the simulation to the specified file.

void	writeStatisticsFiles (const agx::String &directoryPath="Statistics", bool taskProfile=true, bool threadTimeline=true, const agx::Vector< agx::String > &timelineFormats=agx::Vector< agx::String >(), bool bufferAllocations=true)

void	writeStoragePermutations (agxStream::OutputArchive &archive) const

Public Member Functions inherited from agx::Component
	Component (const agx::Name &name=agx::Name(), agx::Model model=agx::Component::ClassModel(), agx::Device device=nullptr)

virtual void	addObject (agx::Object *object, bool assignContext=true)
	Add an object to the component.

virtual String	autoComplete (const String &partialName, StringVector &matchingNames) const

virtual void	buildNavigationTree (agxJson::Value &eNode) const override

void	configure (Model *model)

virtual void	configure (TiXmlElement *eComponent) override

agx::Device *	getDevice ()

template<typename T >
T *	getDevice ()

const agx::Device *	getDevice () const

template<typename T >
const T *	getDevice () const

size_t	getNumObjects (const agx::Name &name) const

agx::Object *	getObject (const agx::Name &name, agx::Model *model, size_t index=0)

const agx::Object *	getObject (const agx::Name &name, agx::Model *model, size_t index=0) const

agx::Object *	getObject (const agx::Name &name, size_t index=0)

template<typename T >
T *	getObject (const agx::Name &name, size_t index=0)

const agx::Object *	getObject (const agx::Name &name, size_t index=0) const

template<typename T >
const T *	getObject (const agx::Name &name, size_t index=0) const

const agx::ObjectRefVector &	getObjects () const

template<typename T >
void	getObjects (agx::ObjectPtrVector &result, bool recursive=false) const

void	getObjects (agx::ObjectPtrVector &result, const agx::Model *model, bool recursive=false) const

virtual Object *	getResourceImpl (const Path &path, agx::Model *model) override

virtual void	printSubtree () const override

void	printSubtree (std::ostream &stream, int depth=0) const

virtual void	rebind () override

void	removeAllObjects ()
	Remove all components.

virtual void	removeObject (agx::Object *object)
	Remove an object from the component.

void	removeObject (const agx::Name &name, size_t index=0)
	Remove an object with a specified name (and optional index) from the component.

virtual void	snapshot (TiXmlNode *eParent, const String &directory) const override

void	traverse (ComponentVisitor *)

void	traverse (const TraverseCallback &callback)

Public Member Functions inherited from agx::Object
	Object (const Name &name=Name(), Model *model=Object::ClassModel())

void	addListener (EventListener *listener)

virtual void	buildNavigationTree (agxJson::Value &eNode) const

virtual void	configure (TiXmlElement *)

agx::String	fullName () const

agx::String	fullPath () const

agx::String	fullPath (const agx::Object *root) const

template<typename T >
T *	getAutoScopedResource (const agx::Path &path)

template<typename T >
const T *	getAutoScopedResource (const agx::Path &path) const

agx::Object *	getAutoScopedResource (const agx::Path &path, agx::Model *model=nullptr)

const agx::Object *	getAutoScopedResource (const agx::Path &path, agx::Model *model=nullptr) const

agx::Object *	getContext ()

template<typename T >
T *	getContext ()

const agx::Object *	getContext () const

template<typename T >
const T *	getContext () const

agx::UInt32	getId () const

const agx::Name &	getImplementationName () const

agx::Model *	getModel ()

const agx::Model *	getModel () const

const agx::Name &	getName () const

agx::Object *	getNextSibling ()

const agx::Object *	getNextSibling () const

agx::Path	getPath () const

agx::Path	getPath (const agx::Object *root) const

template<typename T >
T *	getResource (const agx::Path &path)

template<typename T >
const T *	getResource (const agx::Path &path) const

agx::Object *	getResource (const agx::Path &path, agx::Model *model=nullptr)

const agx::Object *	getResource (const agx::Path &path, agx::Model *model=nullptr) const

virtual agx::Object *	getResourceImpl (const agx::Path &path, agx::Model *model)

agx::Object *	getRootContext ()

const agx::Object *	getRootContext () const

bool	hasListener (EventListener *listener)

bool	hasParent (const agx::Object *node) const

bool	isUnique () const

virtual void	printSubtree () const

virtual void	rebind ()

void	removeListener (EventListener *listener)

virtual void	save (TiXmlElement *) const

virtual void	setContext (agx::Object *context)

void	setId (UInt32 id)

void	setModel (agx::Model *model)
	Set the object model (handled automatically).

void	setName (const agx::Name &name)
	Set the name of the object.

virtual void	snapshot (TiXmlNode *, const String &) 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.

Static Public Member Functions
static agx::Model *	ClassModel ()
	Internal method.

static agxSDK::SimulationProxyRef	createDefaultProxy (agxSDK::Simulation *simulation)
	Creates new simulation proxy of default type.

static Simulation *	load (agx::TiXmlElement eSimulation, agx::Device device)

Static Public Member Functions inherited from agx::Component
static Component *	_load (TiXmlElement eComponent, Device device)

static agx::Model *	ClassModel ()

static Component *	load (const Path &path, const Name &implementation, Device *device, const Path &_namespace=Path())

static Component *	load (const String &path, const Path &_namespace=Path())

static Component *	load (const String &path, Device *device, const Path &_namespace=Path())

static Component *	load (TiXmlElement eComponent, Device device)

Static Public Member Functions inherited from agx::Object
static agx::Model *	ClassModel ()

static agx::String	generateName (const agx::String &bindPath)

static const HashSet< Object * > &	getActiveObjects ()

static bool	getEnableRebind ()
	Should rebinding be allowed? Right now a global setting.

static Object *	load (const String &path, Device *device, const String &type, const String &attribute, const String &value)

template<typename T >
static T *	load (const String &path, Device *device, const String &type, const String &attribute, const String &value)

static Object *	load (const String &path, Device *device, const String &type="", size_t instance=0)

template<typename T >
static T *	load (const String &path, Device *device, const String &type="", size_t instance=0)

static void	load (const String &path, Device *device, ObjectPtrVector &loadedObjects)

static Object *	load (TiXmlElement eObject, Device device)

template<typename T >
static T *	load (TiXmlElement eObject, Device device)

static TiXmlDocument	openDocument (const String &path)

static void	setEnableRebind (bool flag)
	Sets if rebinding of objects should be allowed (Right now a global setting).

Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Protected Member Functions
virtual	~Simulation ()
	Destructor.

Protected Member Functions inherited from agx::Component
virtual	~Component ()

String	expandAutoCompletionMatch (const String &query, const StringVector &matchingNames) const

void	setDevice (Device *device)

Protected Member Functions inherited from agx::Object
virtual	~Object ()

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

Simulation is a class that bridges the collision space agxCollide::Space and the dynamic simulation system agx::DynamicsSystem.

All add/remove of objects must go through a the interface for Simulation.

Definition at line 130 of file Simulation.h.

Member Typedef Documentation

◆ ConstraintEvent

typedef agx::Event2<Simulation*, agx::Constraint*> agxSDK::Simulation::ConstraintEvent

Definition at line 135 of file Simulation.h.

◆ ContactMaterialEvent

typedef agx::Event2<Simulation*, agx::ContactMaterial*> agxSDK::Simulation::ContactMaterialEvent

Definition at line 137 of file Simulation.h.

◆ GeometryEvent

typedef agx::Event2<Simulation*, agxCollide::Geometry*> agxSDK::Simulation::GeometryEvent

Definition at line 133 of file Simulation.h.

◆ JournalAttachEvent

typedef agx::Event2<Simulation*, agx::Journal*> agxSDK::Simulation::JournalAttachEvent

Definition at line 138 of file Simulation.h.

◆ MaterialEvent

typedef agx::Event2<Simulation*, agx::Material*> agxSDK::Simulation::MaterialEvent

Definition at line 136 of file Simulation.h.

◆ RigidBodyEvent

typedef agx::Event2<Simulation*, agx::RigidBody*> agxSDK::Simulation::RigidBodyEvent

Definition at line 134 of file Simulation.h.

Member Enumeration Documentation

◆ CleanupSelectionMask

enum agxSDK::Simulation::CleanupSelectionMask

Specification of what should be cleaned up from a simulation during a call to the cleanup() method.

These flags can be bit masked/or:ed together.

Enumerator
STEP_LISTENERS	Remove all step contact listeners.
CONTACT_LISTENERS	Remove all contact contact listeners.
GUI_LISTENERS	Remove all gui event listeners.
LISTENERS	Remove all listeners.
SYSTEM	Remove the dynamic system.
SPACE	Remove the collision space.
MATERIALS	Remove all materials.
ASSEMBLIES	Remove all assemblies.
PARTICLE_SYSTEMS	Remove all particle systems.
CONTACT_DATA	Remove all contact data.
PLOTSYSTEM	Remove plotsystem.
CLEANUP_ALL

Definition at line 1026 of file Simulation.h.

◆ ReadSelectionMask

enum agxSDK::Simulation::ReadSelectionMask

Enum for specifying some additional, part of a simulation that can be restored from a serialization.

Enumerator
READ_NONE	! Select to read none of the items below
READ_TIMESTEP	! Select to read and restore the TimeStep of the Simulation.
READ_TIMESTAMP	! Select to read the TimeStamp (current time of the simulation)
READ_GRAVITY	! Select to read and restore the Gravity model of the simulation.
READ_SOLVER	! Select to read solver parameters.
READ_ALL
READ_DEFAULT

Definition at line 1046 of file Simulation.h.

Constructor & Destructor Documentation

◆ Simulation() [1/2]

agxSDK::Simulation::Simulation ( )

Default constructor This constructor CAN Throw a std::runtime_exception if configuration file is broken/invalid.

◆ Simulation() [2/2]

agxSDK::Simulation::Simulation ( agx::Device * device )

Special constructor which will associate the Simulation to a specified device.

◆ ~Simulation()

virtual agxSDK::Simulation::~Simulation ( )

protectedvirtual

Destructor.

Member Function Documentation

◆ add() [1/20]

bool agxSDK::Simulation::add ( agx::Component * subComponent )

Add a sub component to the Simulation.

Parameters

subComponent - The component to be added as a sub component to this Simulation

Returns: true if adding the component was successful.

◆ add() [2/20]

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

Add a constraint to the simulation.

Parameters

constraint - The constraint to be added.

Returns: true if the constraint was successfully added (and not already added)

◆ add() [3/20]

bool agxSDK::Simulation::add ( agx::ContactMaterial * material )

Add an explicit contact material to the simulation.

Returns: true if the contact material was successfully added to the simulation

◆ add() [4/20]

bool agxSDK::Simulation::add	(	agx::Emitter *	emitter,
		bool	addGeometries = `true`
	)

Add an emitter to the Simulation.

Parameters

emitter	- The emitter to be added.
addGeometries	- true if the emitter geometry should be added to the simulation, false otherwise. (Default: true)

Returns: true if the emitter was successfully added.

◆ add() [5/20]

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

Add an Interaction to the Simulation.

Parameters

interaction

Returns: true if adding was successful (and not already added)

◆ add() [6/20]

bool agxSDK::Simulation::add ( agx::Material * material )

Add a material to the simulation.

If a material with the same name already exists, it will return false.

Returns: true if adding the material was successfully added to the simulation.

◆ add() [7/20]

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

Add a merged body to this simulation.

Parameters

mergedBody - merged body to add

Returns: true if added, otherwise false

◆ add() [8/20]

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

Add a ObserverFrame to the Simulation.

Parameters

observerFrame the frame to add

Returns: true if adding the frame was successful

◆ add() [9/20]

bool agxSDK::Simulation::add ( agx::ParticleContactSensor * sensor )

Add a particle contact sensor to the Simulation.

Parameters

sensor - The particle contact sensor to be added.

Returns: true if the particle contact sensor was successfully added.

◆ add() [10/20]

bool agxSDK::Simulation::add ( agx::ParticleSystem * particleSystem )

Add a particle system to the simulation.

Parameters

particleSystem - The particle system to be added.

Returns: true if the particle system was successfully added.

◆ add() [11/20]

bool agxSDK::Simulation::add	(	agx::RigidBody *	body,
		bool	addGeometries = `true`
	)

Add a body to the Simulation. Side effect: the associated Geometries will also be added to Collision space (if addGeometries is == true)

Parameters

body	- The body that will be added to the simulation.
addGeometries	- If true, then all geometries in body will also be added to simulation.

Returns: true if adding was successful (and not already added)

◆ add() [12/20]

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

Add a geometry to the Simulation Side effect: Will add the material associated to the geometry to the material manager too.

Returns: true if adding was successful (and not already added)

◆ add() [13/20]

bool agxSDK::Simulation::add ( agxControl::Action * action )

Register an action to this simulation.

Parameters

action - action to add

Returns: true if added (and not already added)

◆ add() [14/20]

bool agxSDK::Simulation::add ( agxControl::Operation * operation )

Register an operation to this simulation.

Parameters

operation - operation to add

Returns: true if added (and not already added)

◆ add() [15/20]

bool agxSDK::Simulation::add	(	agxSDK::Assembly *	assembly,
		bool	addAllEntries = `true`
	)

Add an assembly to the simulation including all its parts.

Parameters

assembly	- The assembly to be added
addAllEntries	- If true (default) all its contained entries will also be added.

Returns: false if one of the elements in the assembly failed to be added

◆ add() [16/20]

bool agxSDK::Simulation::add	(	agxSDK::EventListener *	listener,
		int	priority = `EventManager::DEFAULT_PRIORITY`
	)

Add an event listener The listener will get a call to its addNotification method if adding was successful.

Parameters

listener	- Pointer to the listener that will be activated during events.
priority	- An execution priority for this listener. Higher executed earlier in the list of added listeners. Range of priority is [EventManager::LOWEST_PRIORITY, EventManager::HIGHEST_PRIORITY]

Returns: false if listener was already added, or if priority is outside of the valid range, otherwise true.

◆ add() [17/20]

bool agxSDK::Simulation::add ( agxSDK::SimulationParameter * parameter )

Add a parameter to the simulation configuration interface.

◆ add() [18/20]

bool agxSDK::Simulation::add ( agxSDK::TerrainInstance * terrain )

Add terrain (agxTerrain::Terrain) instance to this simulation.

Parameters

terrain - terrain to add

Returns: true if added, false if nullptr or already present in this or another simulation

◆ add() [19/20]

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

Add a terrain tool instance to this simulation.

Parameters

toolInstance - the terrain tool instance to add

Returns: true if added, false if nullptr or already present in this or another simulation

◆ add() [20/20]

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

Add an object as a serializable object.

Might be any of the above classes having an add method: Geometry, RigidBody etc.

Return values

successfully added (and not already added)?

◆ addEventListener()

bool agxSDK::Simulation::addEventListener	(	agxSDK::EventListener *	listener,
		int	priority = `EventManager::DEFAULT_PRIORITY`
	)

Add an event listener The listener will get a call to its addNotification method if adding was successful.

Parameters

listener	- Pointer to the listener that will be activated during events.
priority	- An execution priority for this listener. Higher executed earlier in the list of added listeners. Range of priority is [EventManager::LOWEST_PRIORITY, EventManager::HIGHEST_PRIORITY]

Returns: false if listener was already added, or if priority is outside of the valid range, otherwise true.

◆ addRestoreListener()

bool agxSDK::Simulation::addRestoreListener ( agxStream::RestoreListener * listener )

Add a restore listener to the Simulation.

Whenever a simulation is restored from a serialization, these listeners will be called upon.

Parameters

listener - A pointer to a RestoreListener

Returns: true if listener did not previously existed, and hence is added

◆ addSolveModel()

void agxSDK::Simulation::addSolveModel ( agx::SolveModel * model )

◆ allowCreateParticles()

bool agxSDK::Simulation::allowCreateParticles ( ) const

Returns: true if particles are allowed to be created at this point in the simulaion step

Definition at line 1919 of file Simulation.h.

◆ breakStepTo()

bool agxSDK::Simulation::breakStepTo ( )

Break an initiated stepTo() after the current simulation step.

When stepTo() is called, a number if iterations calling stepForward() will be done. If you want to cancel these iterations from within an EventListener you can call breakStepTo().

Returns: true if a started stepTo() is stopped, otherwise it returns false and does nothing.

◆ ClassModel()

static agx::Model * agxSDK::Simulation::ClassModel ( )

static

Internal method.

◆ cleanup()

void agxSDK::Simulation::cleanup	(	agx::UInt	selection = `CLEANUP_ALL`,
		bool	fast = `false`
	)

This method will remove/cleanup selected parts of the simulation.

By using the CleanupSelectionMask one can select what should be removed, for example all contact listeners.

Parameters

selection	- Specify from enum CleanupSelectionMask what should be cleaned up
fast	- If true, we will try to remove bodies, geometries, listeners one by one instead of creating new DynamicsSystem, Space etc. which does have a lot of overhead.

◆ clearContactData()

void agxSDK::Simulation::clearContactData ( )

Clears contact data in the simulation.

◆ commit()

void agxSDK::Simulation::commit ( agxSDK::SimulationProxy * simulationProxy )

Internal method.

Add content from a simulation proxy to this simulation.

Parameters

simulationProxy - simulation proxy to commit

◆ contains() [1/3]

bool agxSDK::Simulation::contains ( const agx::Component * object ) const

Is the object contained in the simulation?

Parameters

object - The object to test

Returns: true if the object is contained in the simulation.

Note: Might be linear complexity in all the objects of the same type in the simulation.

◆ contains() [2/3]

bool agxSDK::Simulation::contains ( const agxSDK::TerrainInstance * terrain ) const

Is the terrain contained in the simulation?

Parameters

terrain - The terrain to test

Returns: true if the terrain is contained in the simulation.

Note: Might be linear complexity in all the objects of the same type in the simulation.

◆ contains() [3/3]

bool agxSDK::Simulation::contains ( const agxSDK::TerrainToolInstance * toolInstance ) const

Is the terrain tool instance contained in the simulation?

Parameters

toolInstance - The terrain tool instance to test

Returns: true if the terrain tool instance is contained in the simulation.

Note: Might be linear complexity in all the objects of the same type in the simulation.

◆ createDefaultProxy()

static agxSDK::SimulationProxyRef agxSDK::Simulation::createDefaultProxy ( agxSDK::Simulation * simulation )

static

Creates new simulation proxy of default type.

Returns: new simulation proxy of default type

◆ createRenderTask()

void agxSDK::Simulation::createRenderTask ( )

◆ disableThreadTimeline()

bool agxSDK::Simulation::disableThreadTimeline ( const agx::String & format = "chrome" )

Stops recording timeline data and exports gathered data to disk.

If specified format is "svg", then multiple svg files with timeline data are generated. Default format is chrome which produces a ChromeTracing.json file which can be viewed in a Chromium based browser, e.g. Google Chrome, by opening chrome://tracing/ and loading the generated file.

Generated data will be created in directory named Profiling/ThreadTimelines/{sessionName}/.

Parameters

format Output format for timelines, valid options are "svg" or "chrome".

Returns: True if recording of timeline data could be stopped and timelines generated.

◆ dumpMemoryUsage()

void agxSDK::Simulation::dumpMemoryUsage ( const agx::String & filePath = "TaskTimers.xml" )

Print current agxData buffer allocations to a file.

◆ dumpTaskTimers()

void agxSDK::Simulation::dumpTaskTimers ( const agx::String & filePath = "BufferAllocations.xml" )

Print current task performance timers to a file.

◆ enableThreadTimeline()

bool agxSDK::Simulation::enableThreadTimeline	(	const agx::String &	sessionName = `""`,
		const agx::String &	journalName = `"Profiling.agxJournal"`
	)

Record profiling information from this simulation and store it in a journal.

When the simulation is destoryed, or if disableThreadTimeline is called, thread timelines will be generated from the journal and stored to disk. See also setProfilingFrequency for control of how often data is gathered.

Parameters

sessionName	Name for profiling session. If left empty, current date and time will be used as name.
journalName	Name for journal file used when recording timeline data. Parameter is used the first time recording is enabled, then the journal is reused.

Returns: True if attaching journal for profile data could be performed successfully.

Note: Two different simulations can not store data to the same journal at the same time. Concurrent simulations should specify the journalName and use unique filenames. A single simulation can use the default filename.

◆ garbageCollect()

void agxSDK::Simulation::garbageCollect ( )

Use with caution!

Collect garbage of internal states (e.g., removed geometries and rigid bodies). The garbage will default be collected automatically during next simulation step.

Note: After calling this method e.g., the geometry contact list could be invalid. Other internal structures may as well become invalid. So in general it is not recommended to call this method at all.

◆ getActionManager()

agxControl::ActionManager * agxSDK::Simulation::getActionManager ( )

Gets the action manager.

◆ getAssemblies()

const AssemblyHash & agxSDK::Simulation::getAssemblies ( ) const

Returns: all assemblies added to the Simulation.

◆ getAssembly() [1/4]

agxSDK::Assembly * agxSDK::Simulation::getAssembly ( const agx::Name & name )

Find (linear search) and return named Assembly.

Parameters

name	- name of the Assembly to find

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

◆ getAssembly() [2/4]

const agxSDK::Assembly * agxSDK::Simulation::getAssembly ( const agx::Name & name ) const

Find (linear search) and return named Assembly.

Parameters

name	- name of the Assembly to find

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

◆ getAssembly() [3/4]

agxSDK::Assembly * agxSDK::Simulation::getAssembly ( const agx::Uuid & uuid )

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

Parameters

uuid	- uuid of the Assembly to find

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

◆ getAssembly() [4/4]

const agxSDK::Assembly * agxSDK::Simulation::getAssembly ( const agx::Uuid & uuid ) const

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

Parameters

uuid	- uuid of the Assembly to find

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

◆ getAssemblyPtrVector()

AssemblyPtrVector agxSDK::Simulation::getAssemblyPtrVector ( ) const

Returns: all assemblies in this simulation

◆ getClock() [1/2]

agx::Clock * agxSDK::Simulation::getClock ( )

Returns: The clock.

Definition at line 1909 of file Simulation.h.

◆ getClock() [2/2]

const agx::Clock * agxSDK::Simulation::getClock ( ) const

Returns: The clock.

Definition at line 1914 of file Simulation.h.

◆ getConstraint() [1/8]

agx::Constraint * agxSDK::Simulation::getConstraint ( const agx::Name & name )

Find (linear search) and return named Constraint.

Parameters

name	- name of the Constraint to find

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

◆ getConstraint() [2/8]

template<typename T >

T * agxSDK::Simulation::getConstraint ( const agx::Name & name )

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

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

Parameters

name	- name of the Constraint to find

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

Definition at line 1942 of file Simulation.h.

References getConstraint().

◆ getConstraint() [3/8]

const agx::Constraint * agxSDK::Simulation::getConstraint ( const agx::Name & name ) const

Find (linear search) and return named Constraint.

Parameters

name	- name of the Constraint to find

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

◆ getConstraint() [4/8]

template<typename T >

const T * agxSDK::Simulation::getConstraint ( const agx::Name & name ) const

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

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

Parameters

name	- name of the Constraint to find

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

Definition at line 1948 of file Simulation.h.

References getConstraint().

◆ getConstraint() [5/8]

agx::Constraint * agxSDK::Simulation::getConstraint ( const agx::Uuid & uuid )

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

Parameters

uuid	- uuid of the requested constraint

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

◆ getConstraint() [6/8]

template<typename T >

T * agxSDK::Simulation::getConstraint ( const agx::Uuid & uuid )

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

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

Parameters

uuid	- uuid of the Constraint to find

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

Definition at line 1930 of file Simulation.h.

References getConstraint().

◆ getConstraint() [7/8]

const agx::Constraint * agxSDK::Simulation::getConstraint ( const agx::Uuid & uuid ) const

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

Parameters

uuid	- uuid of the requested constraint

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

Referenced by getConstraint().

◆ getConstraint() [8/8]

template<typename T >

const T * agxSDK::Simulation::getConstraint ( const agx::Uuid & uuid ) const

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

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

Parameters

uuid	- uuid of the Constraint to find

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

Definition at line 1936 of file Simulation.h.

References getConstraint().

◆ getConstraint1DOF()

agx::Constraint1DOF * agxSDK::Simulation::getConstraint1DOF ( const agx::Name & name )

inline

Definition at line 1584 of file Simulation.h.

◆ getConstraint2DOF()

agx::Constraint2DOF * agxSDK::Simulation::getConstraint2DOF ( const agx::Name & name )

inline

Definition at line 1585 of file Simulation.h.

◆ getConstraints() [1/2]

agx::ConstraintRefSetVector & agxSDK::Simulation::getConstraints ( )

Returns: All constraints in the system.

◆ getConstraints() [2/2]

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

Returns: All constraints in the system.

◆ getContactReductionBinResolution()

agx::UInt8 agxSDK::Simulation::getContactReductionBinResolution ( ) const

Returns: the bin resolution used in body-body contact reduction for this Simulation.

◆ getContactReductionThreshold()

agx::UInt agxSDK::Simulation::getContactReductionThreshold ( ) const

Returns: The minimum number of contacts between two bodies required to execute the contact reduction.

◆ getDynamicsSystem() [1/2]

agx::DynamicsSystem * agxSDK::Simulation::getDynamicsSystem ( )

Returns: A pointer to the DynamicsSystem used in the Simulation

Definition at line 1898 of file Simulation.h.

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

◆ getDynamicsSystem() [2/2]

const agx::DynamicsSystem * agxSDK::Simulation::getDynamicsSystem ( ) const

Returns: A pointer to the DynamicsSystem used in the Simulation

Definition at line 1893 of file Simulation.h.

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

◆ getEmitter() [1/4]

agx::Emitter * agxSDK::Simulation::getEmitter ( const agx::Name & name )

Find (linear search) and return an emitter matching the given name.

Parameters

name	- name of the emitter to find

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

◆ getEmitter() [2/4]

agx::Emitter * agxSDK::Simulation::getEmitter ( const agx::Name & name ) const

Find (linear search) and return an emitter matching the given name.

Parameters

name	- name of the emitter to find

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

◆ getEmitter() [3/4]

agx::Emitter * agxSDK::Simulation::getEmitter ( const agx::Uuid & uuid )

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

Parameters

uuid	- uuid of the emitter to find

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

◆ getEmitter() [4/4]

const agx::Emitter * agxSDK::Simulation::getEmitter ( const agx::Uuid & uuid ) const

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

Parameters

uuid	- uuid of the emitter to find

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

◆ getEmitters()

agx::EmitterRefVector agxSDK::Simulation::getEmitters ( )

Returns: a vector of all emitters in the simulation, including ParticleEmitters and RigidBodyEmitters

◆ getEmitterStorage()

agxData::EntityStorage * agxSDK::Simulation::getEmitterStorage ( )

◆ getEnableClearRenderTemporaries()

bool agxSDK::Simulation::getEnableClearRenderTemporaries ( ) const

◆ getEnabledRigidBodies() [1/2]

agx::RigidBodyPtrSetVector & agxSDK::Simulation::getEnabledRigidBodies ( )

Returns: a set of all enabled bodies in this system

◆ getEnabledRigidBodies() [2/2]

const agx::RigidBodyPtrSetVector & agxSDK::Simulation::getEnabledRigidBodies ( ) const

Returns: a set of all enabled bodies in this system

◆ getEnableRemoteDebugging()

bool agxSDK::Simulation::getEnableRemoteDebugging ( ) const

Returns: true if remote debugging is enabled

◆ getEnableStatistics()

bool agxSDK::Simulation::getEnableStatistics ( ) const

Returns: true if statistics logging is enabled

◆ getEnableStatisticsRendering()

bool agxSDK::Simulation::getEnableStatisticsRendering ( ) const

Returns: true if rendering of statistics is enabled

◆ getEnableWebDebugger()

bool agxSDK::Simulation::getEnableWebDebugger ( ) const

Returns: true if WebDebugger is enabled.

◆ getEnergyManager()

agxSDK::EnergyManager * agxSDK::Simulation::getEnergyManager ( ) const

return the energy manager of the system.

◆ getEventListener() [1/4]

agxSDK::EventListener * agxSDK::Simulation::getEventListener ( const agx::Name & name )

Find and return the first matching named event listener.

Parameters

name	- name of the event listener to find

Returns: pointer to the found event listener, null if not found

◆ getEventListener() [2/4]

const agxSDK::EventListener * agxSDK::Simulation::getEventListener ( const agx::Name & name ) const

Find and return the first matching named event listener.

Parameters

name	- name of the event listener to find

Returns: pointer to the found event listener, null if not found

◆ getEventListener() [3/4]

agxSDK::EventListener * agxSDK::Simulation::getEventListener ( const agx::Uuid & uuid )

Find (linear search) and return the first event listener matching the uuid.

Parameters

uuid	- uuid of the event listener to find

Returns: pointer to the found event listener, null if not found

◆ getEventListener() [4/4]

const agxSDK::EventListener * agxSDK::Simulation::getEventListener ( const agx::Uuid & uuid ) const

Find (linear search) and return the first event listener matching the uuid.

Parameters

uuid	- uuid of the event listener to find

Returns: pointer to the found event listener, null if not found

◆ getEventListeners()

void agxSDK::Simulation::getEventListeners ( EventListenerPtrVector & eventListeners ) const

Get a vector containing all the registered event listeners.

◆ getGeometries()

const agxCollide::GeometryRefVector & agxSDK::Simulation::getGeometries ( ) const

Returns: vector of geometries which has been added to this space

◆ getGeometry() [1/4]

agxCollide::Geometry * agxSDK::Simulation::getGeometry ( const agx::Name & name )

Find (linear search) and return named collision Geometry.

Parameters

name	- name of the collision Geometry to find

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

◆ getGeometry() [2/4]

const agxCollide::Geometry * agxSDK::Simulation::getGeometry ( const agx::Name & name ) const

Find (linear search) and return named collision Geometry.

Parameters

name	- name of the collision Geometry to find

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

◆ getGeometry() [3/4]

agxCollide::Geometry * agxSDK::Simulation::getGeometry ( const agx::Uuid & uuid )

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

Parameters

uuid	- uuid of the collision Geometry to find

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

◆ getGeometry() [4/4]

const agxCollide::Geometry * agxSDK::Simulation::getGeometry ( const agx::Uuid & uuid ) const

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

Parameters

uuid	- uuid of the collision Geometry to find

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

◆ getGravityField() [1/2]

agx::GravityField * agxSDK::Simulation::getGravityField ( )

Returns: the current GravityField

◆ getGravityField() [2/2]

const agx::GravityField * agxSDK::Simulation::getGravityField ( ) const

Returns: the current GravityField

◆ getHeader()

agx::Component * agxSDK::Simulation::getHeader ( )

◆ getJournal() [1/2]

agx::Journal * agxSDK::Simulation::getJournal ( )

Returns: The attached simulation journal.

◆ getJournal() [2/2]

const agx::Journal * agxSDK::Simulation::getJournal ( ) const

Returns: The attached simulation journal.

◆ getMaterial() [1/3]

agx::Material * agxSDK::Simulation::getMaterial ( const agx::Name & materialName )

Returns: a material given a name, null if not found.

◆ getMaterial() [2/3]

const agx::Material * agxSDK::Simulation::getMaterial ( const agx::Name & materialName ) const

Returns: a material given a name, null if not found.

◆ getMaterial() [3/3]

agx::Material * agxSDK::Simulation::getMaterial ( const agx::Uuid & uuid )

Returns: a material given a name, null if not found.

◆ getMaterialManager() [1/2]

MaterialManager * agxSDK::Simulation::getMaterialManager ( )

Returns: the material manager.

◆ getMaterialManager() [2/2]

const MaterialManager * agxSDK::Simulation::getMaterialManager ( ) const

Returns: the material manager.

◆ getMergedBody() [1/5]

agx::MergedBody * agxSDK::Simulation::getMergedBody ( agx::UInt i ) const

See also: getNumMergedBodies

Returns: merged body with index i

◆ getMergedBody() [2/5]

agx::MergedBody * agxSDK::Simulation::getMergedBody ( const agx::Name & name )

Find (linear search) and return named MergedBody.

Parameters

name	- name of the body to find

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

◆ getMergedBody() [3/5]

const agx::MergedBody * agxSDK::Simulation::getMergedBody ( const agx::Name & name ) const

Find (linear search) and return named MergedBody.

Parameters

name	- name of the body to find

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

◆ getMergedBody() [4/5]

agx::MergedBody * agxSDK::Simulation::getMergedBody ( const agx::Uuid & uuid )

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

Parameters

uuid	- uuid of the requested rigid body

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

◆ getMergedBody() [5/5]

const agx::MergedBody * agxSDK::Simulation::getMergedBody ( const agx::Uuid & uuid ) const

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

Parameters

uuid	- uuid of the requested rigid body

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

◆ getMergeSplitHandler()

agxSDK::MergeSplitHandler * agxSDK::Simulation::getMergeSplitHandler ( ) const

Merge split handler is an object that enables performance boosts by merging rigid bodies together which results in fewer rigid bodies for the solver to solve for.

Returns: the merge split handler for this simulation

◆ getNumMergedBodies()

agx::UInt agxSDK::Simulation::getNumMergedBodies ( ) const

Returns: the number of merged bodies

◆ getNumTerrains()

agx::UInt agxSDK::Simulation::getNumTerrains ( ) const

Returns: the number of current terrains in the simulation

◆ getObserver() [1/4]

agx::ObserverFrame * agxSDK::Simulation::getObserver ( const agx::Name & name )

Find (linear search) and return named ObserverFrame.

Parameters

name	- name of the observer to find

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

◆ getObserver() [2/4]

const agx::ObserverFrame * agxSDK::Simulation::getObserver ( const agx::Name & name ) const

Find (linear search) and return named ObserverFrame.

Parameters

name	- name of the observer to find

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

◆ getObserver() [3/4]

agx::ObserverFrame * agxSDK::Simulation::getObserver ( const agx::Uuid & uuid )

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

Parameters

uuid	- uuid of the requested observer frame

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

◆ getObserver() [4/4]

const agx::ObserverFrame * agxSDK::Simulation::getObserver ( const agx::Uuid & uuid ) const

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

Parameters

uuid	- uuid of the requested observer frame

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

◆ getObserverFrame() [1/4]

agx::ObserverFrame * agxSDK::Simulation::getObserverFrame ( const agx::Name & name )

Find (linear search) the first ObserverFrame object in the system that matches the name.

Returns: a pointer to the found observer frame, nullptr if none found.

◆ getObserverFrame() [2/4]

const agx::ObserverFrame * agxSDK::Simulation::getObserverFrame ( const agx::Name & name ) const

Find (linear search) the first ObserverFrame object in the system that matches the name.

Returns: a pointer to the found observer frame, nullptr if none found.

◆ getObserverFrame() [3/4]

agx::ObserverFrame * agxSDK::Simulation::getObserverFrame ( const agx::Uuid & uuid )

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

Parameters

uuid	- uuid of the requested observer frame

Returns: pointer to the found observer frame, null if not found

◆ getObserverFrame() [4/4]

const agx::ObserverFrame * agxSDK::Simulation::getObserverFrame ( const agx::Uuid & uuid ) const

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

Parameters

uuid	- uuid of the requested observer frame

Returns: const pointer to the found observer frame, null if not found

◆ getObserverFrames() [1/2]

agx::ObserverFrameRefSetVector & agxSDK::Simulation::getObserverFrames ( )

Returns: All observer frames in the system.

◆ getObserverFrames() [2/2]

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

Returns: All observer frames in the system.

◆ getParameter()

agxSDK::SimulationParameter * agxSDK::Simulation::getParameter ( const agx::Name & name )

Returns: The parameter with a specified name.

◆ getParameters()

const agxSDK::SimulationParameterRefVector & agxSDK::Simulation::getParameters ( ) const

Returns: The set of published simulation parameters.

◆ getParticleEmitters()

agx::ParticleEmitterRefVector agxSDK::Simulation::getParticleEmitters ( )

Returns: a vector of all particle emitters in the simulation

◆ getParticleSystem()

agx::ParticleSystem * agxSDK::Simulation::getParticleSystem ( ) const

Returns: The active particle system in the simulation.

◆ getParticleSystems() [1/2]

agx::ParticleSystemRefVector & agxSDK::Simulation::getParticleSystems ( )

Returns: a vector of all particle systems which is added to this Simulation

◆ getParticleSystems() [2/2]

const agx::ParticleSystemRefVector & agxSDK::Simulation::getParticleSystems ( ) const

Returns: a vector of all particle systems which is added to this Simulation

◆ getPickHandler() [1/2]

agxSDK::PickHandler * agxSDK::Simulation::getPickHandler ( )

Returns: the interface to the pick handler associated to this simulation object

Note: If no pick handler has been set, these methods will return zero.

◆ getPickHandler() [2/2]

const agxSDK::PickHandler * agxSDK::Simulation::getPickHandler ( ) const

Returns: the interface to the pick handler associated to this simulation object

Note: If no pick handler has been set, these methods will return zero.

◆ getPlotSystem()

agxPlot::System * agxSDK::Simulation::getPlotSystem ( ) const

Returns: A pointer to the PlotSystem used in the Simulation

◆ getPreIntegratePositions()

bool agxSDK::Simulation::getPreIntegratePositions ( ) const

Returns: True if the positions are integrated at the start of the timestep, false if integrated at the end.

◆ getProfilingFrequency()

agx::Real agxSDK::Simulation::getProfilingFrequency ( ) const

Returns: The profiling frequency

◆ getRemoteDebuggingTimeStep()

agx::Real agxSDK::Simulation::getRemoteDebuggingTimeStep ( ) const

Returns: the time step for remote debugging. Should be a multiple of the simulation time step.

◆ getRenderManager() [1/2]

agxRender::RenderManager * agxSDK::Simulation::getRenderManager ( )

Returns: a pointer to the RenderManager for this simulation

◆ getRenderManager() [2/2]

const agxRender::RenderManager * agxSDK::Simulation::getRenderManager ( ) const

Returns: a pointer to the RenderManager for this simulation

◆ getRigidBodies() [1/2]

agx::RigidBodyRefVector & agxSDK::Simulation::getRigidBodies ( )

Returns: a vector of all bodies in the DynamicsSystem, both enabled and disabled

◆ getRigidBodies() [2/2]

const agx::RigidBodyRefVector & agxSDK::Simulation::getRigidBodies ( ) const

Returns: a vector of all bodies in the DynamicsSystem, both enabled and disabled

◆ getRigidBody() [1/4]

agx::RigidBody * agxSDK::Simulation::getRigidBody ( const agx::Name & name )

Find (linear search) and return named RigidBody.

Parameters

name	- name of the body to find

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

◆ getRigidBody() [2/4]

const agx::RigidBody * agxSDK::Simulation::getRigidBody ( const agx::Name & name ) const

Find (linear search) and return named RigidBody.

Parameters

name	- name of the body to find

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

◆ getRigidBody() [3/4]

agx::RigidBody * agxSDK::Simulation::getRigidBody ( const agx::Uuid & uuid )

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

Parameters

uuid	- uuid of the requested rigid body

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

◆ getRigidBody() [4/4]

const agx::RigidBody * agxSDK::Simulation::getRigidBody ( const agx::Uuid & uuid ) const

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

Parameters

uuid	- uuid of the requested rigid body

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

◆ getSensorEnvironment()

ISensorEnvironment * agxSDK::Simulation::getSensorEnvironment ( ) const

Returns: the sensor environment for this simulation if created, otherwise nullptr

◆ getSerializer() [1/2]

SimulationSerializer * agxSDK::Simulation::getSerializer ( )

Returns: a pointer to the SimulationSerializer which is a StepEventListener that will be periodically called from the Simulation's stepForward method to store the simulation state to disk (if enabled)

◆ getSerializer() [2/2]

const SimulationSerializer * agxSDK::Simulation::getSerializer ( ) const

Returns: a pointer to the SimulationSerializer which is a StepEventListener that will be periodically called from the Simulation's stepForward method to store the simulation state to disk (if enabled)

◆ getSimulationProxy()

agxSDK::SimulationProxy * agxSDK::Simulation::getSimulationProxy ( ) const

Internal method.

Proxy of this object used by objects running in parallel and still needs to add/remove things from this simulation.

◆ getSimulationStatisticsListener() [1/2]

SimulationStatisticsListener * agxSDK::Simulation::getSimulationStatisticsListener ( )

◆ getSimulationStatisticsListener() [2/2]

const SimulationStatisticsListener * agxSDK::Simulation::getSimulationStatisticsListener ( ) const

◆ getSolveModel()

agx::SolveModel * agxSDK::Simulation::getSolveModel ( const agx::Name & name )

◆ getSolveModels()

const agx::SolveModelRefVector & agxSDK::Simulation::getSolveModels ( ) const

Definition at line 1924 of file Simulation.h.

◆ getSolver() [1/2]

agx::Solver * agxSDK::Simulation::getSolver ( )

Returns: the solver.

◆ getSolver() [2/2]

const agx::Solver * agxSDK::Simulation::getSolver ( ) const

Returns: the solver.

◆ getSpace() [1/2]

agxCollide::Space * agxSDK::Simulation::getSpace ( )

Returns: A pointer to the Collision space used in the Simulation

Definition at line 1883 of file Simulation.h.

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

◆ getSpace() [2/2]

const agxCollide::Space * agxSDK::Simulation::getSpace ( ) const

Returns: A pointer to the Collision space used in the Simulation

Definition at line 1888 of file Simulation.h.

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

◆ getTerrain()

agxSDK::TerrainInstance * agxSDK::Simulation::getTerrain ( agx::UInt i ) const

Parameters

i	- index (i < getNumTerrains())

Returns: terrain instance at given index i

◆ getTerrainManager()

agxSDK::TerrainManager * agxSDK::Simulation::getTerrainManager ( ) const

◆ getTimeDataSeries()

agxPlot::DataSeries * agxSDK::Simulation::getTimeDataSeries ( ) const

A data series that contains all time stamps of the simulation.

◆ getTimeStamp()

agx::Real agxSDK::Simulation::getTimeStamp ( ) const

Returns: The current accumulated simulation time.

Definition at line 1878 of file Simulation.h.

References agx::Clock::getTime().

◆ getTimeStep()

agx::Real agxSDK::Simulation::getTimeStep ( ) const

Returns: the time step determined by the TimeGovernor in the DynamicsSystem.

Definition at line 1903 of file Simulation.h.

◆ getUniformGravity()

agx::Vec3 agxSDK::Simulation::getUniformGravity ( ) const

If the current gravity field is not a uniform one (for example PointGravityField), 0,0,0 will be returned.

Returns: the uniform gravity

◆ getUpdateTask()

agx::TaskGroup * agxSDK::Simulation::getUpdateTask ( )

◆ getWire() [1/4]

agxWire::Wire * agxSDK::Simulation::getWire ( const agx::Name & name )

Find and return the first matching named wire.

Parameters

name	- name of the wire to find

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

◆ getWire() [2/4]

const agxWire::Wire * agxSDK::Simulation::getWire ( const agx::Name & name ) const

Find and return the first matching named wire.

Parameters

name	- name of the wire to find

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

◆ getWire() [3/4]

agxWire::Wire * agxSDK::Simulation::getWire ( const agx::Uuid & uuid )

Find (linear search) and return the first wire matching the uuid.

Parameters

uuid	- uuid of the wire to find

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

◆ getWire() [4/4]

const agxWire::Wire * agxSDK::Simulation::getWire ( const agx::Uuid & uuid ) const

Find (linear search) and return the first wire matching the uuid.

Parameters

uuid	- uuid of the wire to find

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

◆ handleStabiltyReport()

void agxSDK::Simulation::handleStabiltyReport ( const agx::StabilityReport * stabilityReport )

Internal method.

Handles stability report sent from the solver.

◆ load()

static Simulation * agxSDK::Simulation::load	(	agx::TiXmlElement *	eSimulation,
		agx::Device *	device
	)

static

◆ loadSolveModels()

void agxSDK::Simulation::loadSolveModels	(	const agx::String &	path,
		bool	clear = `false`
	)

◆ read() [1/2]

size_t agxSDK::Simulation::read	(	const agx::String &	filename,
		agxSDK::Assembly *	parent = `nullptr`,
		agx::UInt	selection = `READ_DEFAULT`
	)

Read serialized simulation from the specified file and append to this simulation.

Parameters

parent	- If != nullptr, all read objects will be added to this parent too.
selection	- Options for reading in. See ReadSelectionMask.

Returns: number of serialized objects read from file

◆ read() [2/2]

size_t agxSDK::Simulation::read	(	std::istream &	stream,
		bool	isBinary,
		agxSDK::Assembly *	parent = `nullptr`,
		agx::UInt	selection = `READ_DEFAULT`
	)

Read serialized simulation from the specified stream.

Parameters

stream	- Stream from which serialized data is to be read.
isBinary	- if true, it's a binary dataset.
parent	- If != nullptr, all read objects will be added to this parent too.
selection	- Options for reading in. See ReadSelectionMask.

Returns: number of serialized objects read from file

◆ readStoragePermutations()

void agxSDK::Simulation::readStoragePermutations	(	agxStream::InputArchive &	in,
		bool	clearStorages = `false`
	)

◆ remove() [1/20]

bool agxSDK::Simulation::remove ( agx::Component * subComponent )

Remove a sub component from Simulation.

Parameters

subComponent - The component to be removed

Returns: true if the removal was successful.

◆ remove() [2/20]

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

Remove a constraint from the simulation.

Parameters

constraint - The constraint to be removed.

Returns: true if removal was successful (was part of the simulation)

◆ remove() [3/20]

bool agxSDK::Simulation::remove ( agx::ContactMaterial * material )

Remove an explicit contact material from the set of existing ContactMaterials.

Returns: true if the contact material existed and was successfully removed

Referenced by agxUtil::GeneralContactEventListener< T >::separation().

◆ remove() [4/20]

bool agxSDK::Simulation::remove	(	agx::Emitter *	emitter,
		bool	removeGeometries = `true`
	)

Remove an emitter from the system.

Parameters

emitter	- The emitter to be removed.
removeGeometries	- true if the emitter geometry should be removed from the simulation, false otherwise. (Default: true)

Returns: true if the emitter was successfully removed.

◆ remove() [5/20]

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

Remove an Interaction from the Simulation.

Parameters

interaction - The object to be removed

Returns: true if the interaction was successfully removed

◆ remove() [6/20]

bool agxSDK::Simulation::remove ( agx::Material * material )

Remove a specified material from the simulation.

Returns: true if material was successfully removed

◆ remove() [7/20]

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

Removes the merged body from this simulation.

Parameters

mergedBody - merged body to remove

Returns: true if removed, otherwise false

◆ remove() [8/20]

bool agxSDK::Simulation::remove ( agx::ObserverFrame * observerFrame )

Remove a ObserverFrame to the Simulation.

Parameters

observerFrame the frame to remove

Returns: true if removal of the frame was successful

◆ remove() [9/20]

bool agxSDK::Simulation::remove ( agx::ParticleContactSensor * sensor )

Remove a particle contact sensor from the system.

Parameters

sensor - The particle contact sensor to be removed.

Returns: true if the particle contact sensor was successfully removed.

◆ remove() [10/20]

bool agxSDK::Simulation::remove ( agx::ParticleSystem * particleSystem )

Remove a particle system from the simulation.

Parameters

particleSystem - The particle system to be removed.

Returns: true if the particle system was successfully removed.

◆ remove() [11/20]

bool agxSDK::Simulation::remove	(	agx::RigidBody *	body,
		bool	removeGeometries = `true`
	)

Remove a body from the Simulation, the body will be disabled!

Parameters

body	- The body that should be removed
removeGeometries	- If true, any geometries associated with this body should also silently be removed. If the removal of any of these geometries fails, it is not reported in the return value of this method.

Returns: true if the body was successfully removed

◆ remove() [12/20]

bool agxSDK::Simulation::remove ( agxCollide::Geometry * geometry )

Remove geometry from collision space.

Any subsequent call to Space::testGeometryOverlap will not contain this geometry.

Space will keep one reference to the geometry until next call to Space::update() where it will be released. Also The Geometry will also possibly be present in the list of contacts and BroadPhase overlaps. This will also be cleaned up after next call to Space::update()

Returns: true if removal was successful.

◆ remove() [13/20]

bool agxSDK::Simulation::remove ( agxControl::Action * action )

Remove an action from this simulation.

Parameters

action - action to remove

Returns: true if removed

◆ remove() [14/20]

bool agxSDK::Simulation::remove ( agxControl::Operation * operation )

Remove an operation from this simulation.

Parameters

operation - operation to remove

Returns: true if removed (and not already added)

◆ remove() [15/20]

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

Remove an assembly from the simulation.

Parameters

removeAllEntries - If true (default) it will also remove all its contained entries, such as geometries, bodies, EventListeners, sub-assemblies and constraints

Returns: true if assembly and all its contained elements (if removeAllEntries==true are) successfully removed

◆ remove() [16/20]

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

Remove a Event listener.

Parameters

listener The listener to remove.

Return values

true	if successfully removed (and part of Simulation before).

◆ remove() [17/20]

bool agxSDK::Simulation::remove ( agxSDK::SimulationParameter * parameter )

Remove a parameter from the simulation configuration interface.

◆ remove() [18/20]

bool agxSDK::Simulation::remove ( agxSDK::TerrainInstance * terrain )

Remove terrain (agxTerrain::Terrain) instance from this simulation.

Parameters

terrain - terrain to remove

Returns: true if removed, false if nullptr or not part of this simulation

◆ remove() [19/20]

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

Remove a terrain tool instance from this simulation.

Parameters

toolInstance - terrain tool instance to remove

Returns: true if removed, false if nullptr or not part of this simulation

◆ remove() [20/20]

bool agxSDK::Simulation::remove ( agxStream::Serializable * object )

Remove an object as a serializable object.

Might be any of the above classes having an add method: Geometry, RigidBody etc.

Return values

successfully removed?

◆ removeEventListener()

bool agxSDK::Simulation::removeEventListener ( agxSDK::EventListener * listener )

Remove the specified listener.

The listener will get a call to its removeNotification method if removal was successful.

Returns: true if the listener was successfully removed.

◆ removeRestoreListener()

bool agxSDK::Simulation::removeRestoreListener ( agxStream::RestoreListener * listener )

Remove an existing listener in a simulation.

Parameters

listener The listener to be removed

Returns: true if listener existed and hence was removed

◆ removeSolveModel()

void agxSDK::Simulation::removeSolveModel ( agx::SolveModel * model )

◆ renderComponents()

void agxSDK::Simulation::renderComponents ( )

◆ resetTaskTimers()

void agxSDK::Simulation::resetTaskTimers ( )

Reset profiling timers.

◆ restore() [1/3]

void agxSDK::Simulation::restore	(	agxStream::InputArchive &	in,
		agxSDK::Assembly *	parent = `nullptr`,
		agx::UInt	selection = `READ_DEFAULT`,
		bool	replaceUsingCache = `false`
	)

Read data from the input archive and add to the simulation.

Parameters

in	- Archive to read from
parent	- if != nullptr, all items will also be added to this assembly
selection	- Options for reading in. See ReadSelectionMask.
replaceUsingCache	- Replace current state by archive, but reuse matching objects that exist in both representations

◆ restore() [2/3]

bool agxSDK::Simulation::restore	(	const agx::String &	filename,
		agx::UInt	selection = `READ_DEFAULT`
	)

Restore state from a serialized scene file.

Matching object UUIDs, so any object present in both current simulation and the serialized scene will retain the current object.

Returns: true if successful

◆ restore() [3/3]

bool agxSDK::Simulation::restore	(	std::istream &	stream,
		bool	isBinary,
		agx::UInt	selection = `READ_DEFAULT`
	)

◆ sendSimulation()

void agxSDK::Simulation::sendSimulation ( )

Send the simulation to the remote debugger (if enabled)

◆ setActionManagerTimeStamp()

void agxSDK::Simulation::setActionManagerTimeStamp ( const agx::TimeStamp & time )

Truncating an AGX simulation does not reset the timestamp in the action manager.

This function allows for resetting the action manager timestamp from Simulation.h

◆ setContactReductionBinResolution()

void agxSDK::Simulation::setContactReductionBinResolution ( agx::UInt8 binResolution )

Specify the bin resolution used when evaluating contacts for reduction between body-body contacts.

(Body-body contact reduction is not enabled by default, see settings in ContactMaterial to enable it). A high value will keep more contacts, lower will result in more aggressive reduction. Commonly a value of 2-3 will give good results. Default is 3. Values from 1 to 10 are valid.

Parameters

binResolution - parameter to ContactReducer.

◆ setContactReductionThreshold()

void agxSDK::Simulation::setContactReductionThreshold ( agx::UInt threshold )

Specify the minimum number of contacts between two bodies required to execute contact reduction.

Default value is 3 contacts.

Parameters

threshold - Set the lower bound threshold for number of contact points in a body-body rigid body contact in order run contact reduction on it.

◆ setDynamicsSystem()

void agxSDK::Simulation::setDynamicsSystem ( agx::DynamicsSystem * system )

Replace the current DynamicsSystem with system.

◆ setEnableClearRenderTemporaries()

void agxSDK::Simulation::setEnableClearRenderTemporaries ( bool enable )

◆ setEnableRemoteDebugging()

void agxSDK::Simulation::setEnableRemoteDebugging	(	bool	flag,
		agx::Int16	port = `-1`,
		bool	useCompression = `false`,
		bool	waitForSynchronization = `true`
	)

Enable/Disable remote debugging.

Parameters

flag	- If true, a server for remote debugging will be created
port	- Socket port. If -1, the default port will be used.
useCompression	- If true the data will be compressed before sent to the remote listener
waitForSynchronization	- If true the server will wait for the client to ask for more data before it sends another frame

◆ setEnableSimulationStatisticsListener()

void agxSDK::Simulation::setEnableSimulationStatisticsListener ( bool flag )

Enable/disable the listener that collects all statistics data from the simulation.

Disabling will remove/delete the previous listener, hence no data will be stored. Make sure you update any external pointers to the SimulationStatisticsListener retrieved through the getSimulationStatisticsListener() method.

◆ setEnableStatistics()

void agxSDK::Simulation::setEnableStatistics ( bool enable )

Enable/disable statistics logging to disk.

This will also toggle the agx::Statistics::instance()->setEnable() which will control whether statistics data is logged at all.

◆ setEnableStatisticsRendering()

void agxSDK::Simulation::setEnableStatisticsRendering ( bool enable )

Parameters

enable - if true, the rendering of statistics will be dispatched to the agxRender::RenderManager

◆ setEnableWebDebugger()

void agxSDK::Simulation::setEnableWebDebugger	(	bool	flag,
		agx::UInt16	port = `9001`
	)

Enable/Disable the Web debugger simulation WebSocket API.

Note: Side effects from using this method is that any previously enabled DebugRenderProxies will be disabled. There can only be one DebugRenderer connected to a simulation. Also the rendering flags for the RenderingManager will be modified.

Parameters

flag	- If true the webdebugger WebSocket server will be started.
port	- WebSocket port to which the client should connect to receive data.

◆ setGravityField()

void agxSDK::Simulation::setGravityField ( agx::GravityField * gravityField )

Set the GravityField model used in gravity calculations.

Default is UniformGravityField.

Parameters

gravityField - The model used.

◆ setMainWorkThread()

void agxSDK::Simulation::setMainWorkThread ( agx::Thread * thread )

Specify which is the main working thread for the Simulation.

All calls from event listeners (StepEventListener::pre() etc.) will come from this thread.

Parameters

thread - A pointer to the thread that should be the main thread.

◆ setPickHandler()

void agxSDK::Simulation::setPickHandler ( agxSDK::PickHandler * pickHandler )

Assign interface for pick handler.

Parameters

pickHandler - pick handler interface

◆ setPlotSystem()

void agxSDK::Simulation::setPlotSystem ( agxPlot::System * plotSystem )

Replace the current PlotSystem with plotSystem.

◆ setPreIntegratePositions()

void agxSDK::Simulation::setPreIntegratePositions ( bool flag )

Set true to integrate positions at the start of the timestep rather than at the end.

◆ setProfilingFrequency()

void agxSDK::Simulation::setProfilingFrequency ( agx::Real frequency )

Specify the frequency for performance profiling.

◆ setRemoteDebuggingTimeStep()

void agxSDK::Simulation::setRemoteDebuggingTimeStep ( agx::Real timeStep )

Sets the time step for remote debugging.

Should be a multiple of the simulation time step. If timeStep=0, then the simulation time step will be used.

◆ setSensorEnvironment()

void agxSDK::Simulation::setSensorEnvironment ( ISensorEnvironment * environment )

Assign new sensor environment to this simulation, nullptr to remove the current environment.

If an environement already exist, and environment is valid, the previous environment will be removed.

Parameters

environment - new sensor enviroment for this simulation, nullptr to remove the current.

◆ setSerializer()

void agxSDK::Simulation::setSerializer ( SimulationSerializer * serializer )

Replace the current SimulationSerializer with a new instance.

◆ setSpace()

void agxSDK::Simulation::setSpace ( agxCollide::Space * space )

Replace the current Collision space with space.

◆ setStatisticsInterval()

void agxSDK::Simulation::setStatisticsInterval ( agx::Real interval )

Parameters

interval - specifies the interval in seconds for writing statistics data down to disk

◆ setStatisticsPath()

void agxSDK::Simulation::setStatisticsPath ( const agx::String & path )

Specify the path to a file where the statistics information will be written when enabled.

Parameters

path	- The path to a filename into which statistics information will be written.

◆ setTimeStamp()

void agxSDK::Simulation::setTimeStamp ( agx::TimeStamp t )

Set the timestamp for the simulation (and the DynamicsSystem)

Parameters

t	- New timestamp

◆ setTimeStep()

bool agxSDK::Simulation::setTimeStep ( agx::Real timeStep )

Sets the time step determined by the TimeGovernor in the DynamicsSystem.

Parameters

timeStep - The new time step.

Returns: true if the timestep was set successfully, false otherwise.

◆ setUniformGravity()

bool agxSDK::Simulation::setUniformGravity ( const agx::Vec3 & g )

Set the uniform gravity.

If a non-uniform gravity field is currently used (for example PointGravityField), this method will return false and will not change anything. If this is the case, and you want a uniform field, you need to create a uniform gravity field: sim->setGravityField(new agx::UniformGravityField(g))

Parameters

g	- Gravity vector

Returns: True if the uniform gravity could be set. False if a non-uniform gravity field is currently being used in the DynamicsSystem

◆ stepForward()

void agxSDK::Simulation::stepForward ( )

Take one step forward in the simulation.

Length of time step is determined by the TimeGovernor in the DynamicsSystem

◆ stepTo()

agx::TimeStamp agxSDK::Simulation::stepTo ( agx::TimeStamp t )

Step the simulation forward 1 or more time steps in time until we get to the time t.

The length of time step is determined by the TimeGovernor in the DynamicsSystem.

Returns: the current timestamp of the system. This can be now+t, but it can also be less due to a call to the breakStepTo() method from a method in an EventListener.

◆ store()

void agxSDK::Simulation::store ( agxStream::OutputArchive & archive ) const

Save this simulation to the output archive.

Parameters

archive - Archive associated to a stream to which the data will be written.

◆ triggerEvent()

bool agxSDK::Simulation::triggerEvent ( const GuiEvent & e )

Execute a GuiEvent.

Returns: true if event is listened to and handled.

◆ updateActionManager()

void agxSDK::Simulation::updateActionManager ( )

Internal method.

Update the internal active ActionManager in the simulation

◆ updateRenderManager()

void agxSDK::Simulation::updateRenderManager ( )

Make an explicit call to RenderManager::update() to update the debug rendering information.

◆ updateStatisticsRenderData()

void agxSDK::Simulation::updateStatisticsRenderData ( )

Make an explicit call to RenderManager::update() to update the statistics rendering information.

◆ write() [1/2]

size_t agxSDK::Simulation::write ( const agx::String & filename ) const

Serialize the simulation to the specified file.

Parameters

filename - Name of file to which the simulation will be written

Returns: Number of objects serialized to disk

◆ write() [2/2]

size_t agxSDK::Simulation::write	(	std::ostream &	stream,
		bool	binary
	)		const

Serialize the simulation to the specified file.

Parameters

stream	- The stream to which the simulation object will be written
binary	- if true, it's a binary dataset.

Returns: Number of objects serialized to disk

◆ writeStatisticsFiles()

void agxSDK::Simulation::writeStatisticsFiles	(	const agx::String &	directoryPath = `"Statistics"`,
		bool	taskProfile = `true`,
		bool	threadTimeline = `true`,
		const agx::Vector< agx::String > &	timelineFormats = `agx::Vector< agx::String >()`,
		bool	bufferAllocations = `true`
	)

◆ writeStoragePermutations()

void agxSDK::Simulation::writeStoragePermutations ( agxStream::OutputArchive & archive ) const

Member Data Documentation

◆ addConstraintEvent

ConstraintEvent agxSDK::Simulation::addConstraintEvent

Definition at line 146 of file Simulation.h.

◆ addContactMaterialEvent

ContactMaterialEvent agxSDK::Simulation::addContactMaterialEvent

Definition at line 152 of file Simulation.h.

◆ addGeometryEvent

GeometryEvent agxSDK::Simulation::addGeometryEvent

Definition at line 140 of file Simulation.h.

◆ addMaterialEvent

MaterialEvent agxSDK::Simulation::addMaterialEvent

Definition at line 149 of file Simulation.h.

◆ addRigidBodyEvent

RigidBodyEvent agxSDK::Simulation::addRigidBodyEvent

Definition at line 143 of file Simulation.h.

◆ journalAttachedEvent

JournalAttachEvent agxSDK::Simulation::journalAttachedEvent

Definition at line 155 of file Simulation.h.

◆ removeConstraintEvent

ConstraintEvent agxSDK::Simulation::removeConstraintEvent

Definition at line 147 of file Simulation.h.

◆ removeContactMaterialEvent

ContactMaterialEvent agxSDK::Simulation::removeContactMaterialEvent

Definition at line 153 of file Simulation.h.

◆ removeGeometryEvent

GeometryEvent agxSDK::Simulation::removeGeometryEvent

Definition at line 141 of file Simulation.h.

◆ removeMaterialEvent

MaterialEvent agxSDK::Simulation::removeMaterialEvent

Definition at line 150 of file Simulation.h.

◆ removeRigidBodyEvent

RigidBodyEvent agxSDK::Simulation::removeRigidBodyEvent

Definition at line 144 of file Simulation.h.

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

Simulation.h

Public Attributes
ConstraintEvent	addConstraintEvent

ContactMaterialEvent	addContactMaterialEvent

GeometryEvent	addGeometryEvent

MaterialEvent	addMaterialEvent

RigidBodyEvent	addRigidBodyEvent

JournalAttachEvent	journalAttachedEvent

ConstraintEvent	removeConstraintEvent

ContactMaterialEvent	removeContactMaterialEvent

GeometryEvent	removeGeometryEvent

MaterialEvent	removeMaterialEvent

RigidBodyEvent	removeRigidBodyEvent

Public Attributes inherited from agx::Component
ObjectEvent	addObjectEvent

ObjectEvent	removeObjectEvent

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConstraintEvent

◆ ContactMaterialEvent

◆ GeometryEvent

◆ JournalAttachEvent

◆ MaterialEvent

◆ RigidBodyEvent

Member Enumeration Documentation

◆ CleanupSelectionMask

◆ ReadSelectionMask

Constructor & Destructor Documentation

◆ Simulation() [1/2]

◆ Simulation() [2/2]

◆ ~Simulation()

Member Function Documentation

◆ add() [1/20]

◆ add() [2/20]

◆ add() [3/20]

◆ add() [4/20]

◆ add() [5/20]

◆ add() [6/20]

◆ add() [7/20]

◆ add() [8/20]

◆ add() [9/20]

◆ add() [10/20]

◆ add() [11/20]

◆ add() [12/20]

◆ add() [13/20]

◆ add() [14/20]

◆ add() [15/20]

◆ add() [16/20]

◆ add() [17/20]

◆ add() [18/20]

◆ add() [19/20]

◆ add() [20/20]

◆ addEventListener()

◆ addRestoreListener()

◆ addSolveModel()

◆ allowCreateParticles()

◆ breakStepTo()

◆ ClassModel()

◆ cleanup()

◆ clearContactData()

◆ commit()

◆ contains() [1/3]

◆ contains() [2/3]

◆ contains() [3/3]

◆ createDefaultProxy()

◆ createRenderTask()

◆ disableThreadTimeline()

◆ dumpMemoryUsage()

◆ dumpTaskTimers()

◆ enableThreadTimeline()

◆ garbageCollect()

◆ getActionManager()

◆ getAssemblies()

◆ getAssembly() [1/4]

◆ getAssembly() [2/4]

◆ getAssembly() [3/4]

◆ getAssembly() [4/4]

◆ getAssemblyPtrVector()

◆ getClock() [1/2]

◆ getClock() [2/2]

◆ getConstraint() [1/8]

◆ getConstraint() [2/8]

◆ getConstraint() [3/8]

◆ getConstraint() [4/8]

◆ getConstraint() [5/8]

◆ getConstraint() [6/8]

◆ getConstraint() [7/8]

◆ getConstraint() [8/8]

◆ getConstraint1DOF()

◆ getConstraint2DOF()