Helper to use lambdas as preCollide, pre, post and last step events. More...

#include <StepEventCallback.h>

Inheritance diagram for agxUtil::StepEventCallback:

Classes
struct	DefaultIsPreCollide
	Used as argument in timed callbacks (callAt, callFor et al.) where it might not matter as much when the callback is performed. More...

Static Public Member Functions
template<typename FuncT , typename... Args>
static void	callAt (agx::Real timeStamp, DefaultIsPreCollide callbackType, FuncT &&callback, agxSDK::Simulation *simulation, Args &&... args)
	Register callback to be called at a given simulation time.

template<typename FuncT , typename... Args>
static void	callFor (agx::Real seconds, DefaultIsPreCollide callbackType, FuncT &&callback, agxSDK::Simulation *simulation, Args &&... args)
	Executes given `callback` in `seconds` seconds from the current time stamp of the given simulation.

template<typename FuncT , typename... Args>
static void	last (FuncT &&callback, agxSDK::Simulation *simulation, Args &&... args)
	Register a last step event callback.

template<typename FuncT , typename... Args>
static void	post (FuncT &&callback, agxSDK::Simulation *simulation, Args &&... args)
	Register a post step event callback.

template<typename FuncT , typename... Args>
static void	pre (FuncT &&callback, agxSDK::Simulation *simulation, Args &&... args)
	Register a pre step event callback.

template<typename FuncT , typename... Args>
static void	preCollide (FuncT &&callback, agxSDK::Simulation *simulation, Args &&... args)
	Register a pre-collide step event callback.

static void	removeMe (agxSDK::Simulation *simulation)
	Call this from within a callback to be removed from receiving any more calls.

static void	uninitialize (agxSDK::Simulation *simulation)
	Removes internal step event listener from the simulation (if created).

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

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

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)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Protected Member Functions
virtual	~StepEventCallback ()
	Reference counted object, protected destructor.

virtual void	addNotification () override
	Add notification callback.

virtual void	last (const agx::TimeStamp &t) override
	Called after a step is taken in the simulation Implement this method in the derived class to get callbacks.

virtual void	post (const agx::TimeStamp &t) override
	Called after a step is taken in the simulation Implement this method in the derived class to get callbacks.

virtual void	pre (const agx::TimeStamp &t) override
	Called before a step is taken in the simulation Implement this method in the derived class to get callbacks.

virtual void	preCollide (const agx::TimeStamp &t) override
	Called before collision detection is performed in the simulation Implement this method in the derived class to get callbacks.

virtual void	removeNotification () override
	Remove notification callback - will unregister this from the static instances.

Protected Member Functions inherited from agxSDK::StepEventListener
virtual	~StepEventListener ()
	Destructor.

Protected Member Functions inherited from agxSDK::EventListener
	EventListener (Type type=UNDEFINED_TYPE)
	Default constructor.

virtual	~EventListener ()
	Destructor.

void	setSimulation (Simulation *simulation)
	Set the associated simulation for this EventListener.

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

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Additional Inherited Members
Public Types inherited from agxSDK::StepEventListener
enum	ActivationMask { STEP_NONE = 0x0 , PRE_COLLIDE = 0x1 , PRE_STEP = 0x2 , POST_STEP = 0x4 , LAST_STEP = 0x8 , DEFAULT = PRE_STEP \| POST_STEP , ALL = PRE_COLLIDE \| PRE_STEP \| POST_STEP \| LAST_STEP }
	Defines the event states for which a listener will be activated, a mask can be bitwise OR:ed from these members. More...

Public Types inherited from agxSDK::EventListener
enum	Type { UNDEFINED_TYPE , STEP_EVENT_LISTENER , CONTACT_EVENT_LISTENER , GUI_EVENT_LISTENER }
	Type of EventListener. More...

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 inherited from agxSDK::StepEventListener
	StepEventListener (int mask=DEFAULT)
	Default constructor, sets the default activation mask to all (POST_STEP and PRE_STEP) events.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agxSDK::StepEventListener)

virtual void	last (const agx::TimeStamp &time)
	Called after a step is taken in the simulation Implement this method in the derived class to get callbacks.

virtual void	post (const agx::TimeStamp &time)
	Called after a step is taken in the simulation Implement this method in the derived class to get callbacks.

virtual void	pre (const agx::TimeStamp &time)
	Called before a step is taken in the simulation Implement this method in the derived class to get callbacks.

virtual void	preCollide (const agx::TimeStamp &time)
	Called before collision detection is performed in the simulation Implement this method in the derived class to get callbacks.

virtual void	setMask (int mask) override
	Specifies a bitmask which determines which event types will activate this listener.

Public Member Functions inherited from agxSDK::EventListener
virtual void	addNotification ()
	Called when this listener is added to the simulation.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agxSDK::EventListener)

int	getMask () const

agx::UInt32	getPriority () const

Simulation *	getSimulation ()

const Simulation *	getSimulation () const

Type	getType () const

bool	isEnabled () const

virtual void	removeNotification ()
	Called when this listener is removed from the simulation.

void	setEnable (bool enable)
	Specify whether the listener should react at all at events.

virtual void	setMask (int f)
	Specifies a bit mask which determines which event types that will activate this listener.

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
	Returns All child objects of a specified type in the result container.

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.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Public Attributes inherited from agx::Component
ObjectEvent	addObjectEvent

ObjectEvent	removeObjectEvent

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 agxSDK::EventListener
bool	m_enabled

int	m_mask

agx::UInt32	m_priority

Type	m_type

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

Helper to use lambdas as preCollide, pre, post and last step events.

The arguments after the lambda are bind to the arguments. A pointer to the simulation is mandatory. Usage: Pre-collide callback that prints time. agxUtil::StepEventCallback::preCollide( []( agxSDK::Simulation* simulation ) { std::cout << "Simulation time: " << simulation->getTimeStamp() << " s." << std::endl; }, simulation );

Post-step callback with a counter. agxUtil::StepEventCallback::post( []( agxSDK::Simulation*, int& counter ) { std::cout << "# time steps: " << ++counter << std::endl; }, simulation, int{} );

Note: The internally created agxSDK::StepEventListener has to be removed either implicitly when calling agxSDK::Simulation::cleanup or explicitly by doing agxUtil::StepEventCallback::uninitialize( simulation ).

Definition at line 45 of file StepEventCallback.h.

Constructor & Destructor Documentation

◆ ~StepEventCallback()

virtual agxUtil::StepEventCallback::~StepEventCallback ( )

protectedvirtual

Reference counted object, protected destructor.

Member Function Documentation

◆ addNotification()

virtual void agxUtil::StepEventCallback::addNotification ( )

overrideprotectedvirtual

Add notification callback.

Reimplemented from agxSDK::EventListener.

◆ callAt()

template<typename FuncT , typename... Args>

void agxUtil::StepEventCallback::callAt	(	agx::Real	timeStamp,
		DefaultIsPreCollide	callbackType,
		FuncT &&	callback,
		agxSDK::Simulation *	simulation,
		Args &&...	args
	)

static

Register callback to be called at a given simulation time.

callbackType is the step event type the callback will be executed in, e.g., {} (default is PRE_COLLIDE), agxSDK::StepEventCallback::POST_STEP or agxSDK::StepEventCallback::PRE_COLLIDE | agxSDK::StepEventCallback::POST_STEP for both pre-collide and post step that time.

Note: The time stamp has changed in LAST_STEP, so if callbackType includes LAST_STEP and some/all other (PRE_COLLIDE, PRE_STEP, POST_STEP) are included LAST_STEP will be called "first", i.e., last of the previous step.

Parameters

timeStamp	- simulation time stamp for the callback to be executed
callbackType	- activation mask, default PRE_COLLIDE
callback	- the callback function
simulation	- the simulation the callback should be coupled with
args	- rest of the arguments to the callback

Definition at line 392 of file StepEventCallback.h.

◆ callFor()

template<typename FuncT , typename... Args>

void agxUtil::StepEventCallback::callFor	(	agx::Real	seconds,
		DefaultIsPreCollide	callbackType,
		FuncT &&	callback,
		agxSDK::Simulation *	simulation,
		Args &&...	args
	)

static

Executes given callback in seconds seconds from the current time stamp of the given simulation.

Parameters

seconds	- number of simulation seconds the callback should be executed before removed
callbackType	- activation mask, default PRE_COLLIDE
callback	- the callback function
simulation	- the simulation the callback should be coupled with
args	- rest of the arguments to the callback

Definition at line 408 of file StepEventCallback.h.

References agxSDK::Simulation::getTimeStamp().

◆ last() [1/2]

virtual void agxUtil::StepEventCallback::last ( const agx::TimeStamp & time )

overrideprotectedvirtual

Called after a step is taken in the simulation Implement this method in the derived class to get callbacks.

Note: In this call, the simulation time is the new updated time.

Parameters

time	- The new updated simulation time incremented by the time step.

Reimplemented from agxSDK::StepEventListener.

◆ last() [2/2]

template<typename FuncT , typename... Args>

void agxUtil::StepEventCallback::last	(	FuncT &&	callback,
		agxSDK::Simulation *	simulation,
		Args &&...	args
	)

static

Register a last step event callback.

Parameters

callback	- the callback function
simulation	- the simulation the callback should be coupled with
args	- rest of the arguments to the callback

Definition at line 379 of file StepEventCallback.h.

◆ post() [1/2]

virtual void agxUtil::StepEventCallback::post ( const agx::TimeStamp & time )

overrideprotectedvirtual

Called after a step is taken in the simulation Implement this method in the derived class to get callbacks.

Parameters

time	- the current simulation time

Reimplemented from agxSDK::StepEventListener.

◆ post() [2/2]

template<typename FuncT , typename... Args>

void agxUtil::StepEventCallback::post	(	FuncT &&	callback,
		agxSDK::Simulation *	simulation,
		Args &&...	args
	)

static

Register a post step event callback.

Parameters

callback	- the callback function
simulation	- the simulation the callback should be coupled with
args	- rest of the arguments to the callback

Definition at line 366 of file StepEventCallback.h.

◆ pre() [1/2]

virtual void agxUtil::StepEventCallback::pre ( const agx::TimeStamp & time )

overrideprotectedvirtual

Called before a step is taken in the simulation Implement this method in the derived class to get callbacks.

Parameters

time	- the current simulation time

Reimplemented from agxSDK::StepEventListener.

◆ pre() [2/2]

template<typename FuncT , typename... Args>

void agxUtil::StepEventCallback::pre	(	FuncT &&	callback,
		agxSDK::Simulation *	simulation,
		Args &&...	args
	)

static

Register a pre step event callback.

Parameters

callback	- the callback function
simulation	- the simulation the callback should be coupled with
args	- rest of the arguments to the callback

Definition at line 353 of file StepEventCallback.h.

◆ preCollide() [1/2]

virtual void agxUtil::StepEventCallback::preCollide ( const agx::TimeStamp & time )

overrideprotectedvirtual

Called before collision detection is performed in the simulation Implement this method in the derived class to get callbacks.

Parameters

time	- the current simulation time

Reimplemented from agxSDK::StepEventListener.

◆ preCollide() [2/2]

template<typename FuncT , typename... Args>

void agxUtil::StepEventCallback::preCollide	(	FuncT &&	callback,
		agxSDK::Simulation *	simulation,
		Args &&...	args
	)

static

Register a pre-collide step event callback.

Parameters

callback	- the callback function
simulation	- the simulation the callback should be coupled with
args	- rest of the arguments to the callback

Definition at line 340 of file StepEventCallback.h.

◆ removeMe()

static void agxUtil::StepEventCallback::removeMe ( agxSDK::Simulation * simulation )

static

Call this from within a callback to be removed from receiving any more calls.

E.g.,

agxUtil::StepEventCallback::preCollide( []( agxSDK::Simulation* simulation, ... ) { if ( simulation->getTimeStamp() > 0.5 ) { agxUtil::StepEventCallback::removeMe( simulation ); return; } }, ... );

◆ removeNotification()

virtual void agxUtil::StepEventCallback::removeNotification ( )

overrideprotectedvirtual

Remove notification callback - will unregister this from the static instances.

Reimplemented from agxSDK::EventListener.

◆ uninitialize()

static void agxUtil::StepEventCallback::uninitialize ( agxSDK::Simulation * simulation )

static

Removes internal step event listener from the simulation (if created).

Note: It's in general not necessary to call this as long as agxSDK::Simulation::cleanup is called with flag ALL.

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

StepEventCallback.h

Classes

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~StepEventCallback()

Member Function Documentation

◆ addNotification()

◆ callAt()

◆ callFor()

◆ last() [1/2]

◆ last() [2/2]

◆ post() [1/2]

◆ post() [2/2]

◆ pre() [1/2]

◆ pre() [2/2]

◆ preCollide() [1/2]

◆ preCollide() [2/2]

◆ removeMe()

◆ removeNotification()

◆ uninitialize()