This is a utility class that disables ContactPoints where the contact normal prevents movement along the surface velocity direction. More...

#include <SurfaceVelocityContactFilter.h>

Inheritance diagram for agxUtil::SurfaceVelocityContactFilter:

Public Member Functions
	SurfaceVelocityContactFilter (agxSDK::ExecuteFilter *filter=nullptr)

virtual KeepContactPolicy	contact (const agx::TimeStamp &time, agxCollide::GeometryContact *geometryContact) override
	Called upon contact event if getFilter() contain CONTACT.

virtual KeepContactPolicy	impact (const agx::TimeStamp &time, agxCollide::GeometryContact *geometryContact) override
	Called upon impact event if getFilter() contain IMPACT.

Public Member Functions inherited from agxSDK::ContactEventListener
	ContactEventListener (int m=DEFAULT, ExecuteFilter *filter=nullptr)
	Default constructor, sets the activation mask by default to Impact and Separation.

virtual KeepContactPolicy	contact (const agx::TimeStamp &time, agxCollide::GeometryContact *geometryContact)
	Called upon contact event if getFilter() contain CONTACT.

ExecuteFilter *	getFilter ()

const ExecuteFilter *	getFilter () const

virtual KeepContactPolicy	impact (const agx::TimeStamp &time, agxCollide::GeometryContact *geometryContact)
	Called upon impact event if getFilter() contain IMPACT.

virtual void	post (const agx::TimeStamp &time, agxCollide::GeometryContact *geometryContact)
	Called before agxSDK::StepEventListener::post now that the geometry contacts has contact forces from the solver.

virtual void	separation (const agx::TimeStamp &time, agxCollide::GeometryPair &geometryPair)
	Called upon separation event if getFilter() contain SEPARATION.

void	setFilter (ExecuteFilter *filter)
	Replaces the current filter with a new one.

virtual void	setMask (int f)
	Specifies a bit mask which determines which event types that 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

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.

Additional Inherited Members
Public Types inherited from agxSDK::ContactEventListener
enum	ActivationMask { IMPACT = 1 << 0 , CONTACT = 1 << 1 , SEPARATION = 1 << 2 , POST = 1 << 3 , DEFAULT = IMPACT \| SEPARATION , ALL = IMPACT \| CONTACT \| SEPARATION \| POST }
	Defines the event states for which a listener will be activated, a mask can be bitwise OR:ed from these members. More...

enum	KeepContactPolicy { KEEP_CONTACT , REMOVE_CONTACT , REMOVE_CONTACT_IMMEDIATELY }
	Defines whether contact should be kept or removed after contact/impact methods returns. 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

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.

Public Attributes inherited from agx::Component
ObjectEvent	addObjectEvent

ObjectEvent	removeObjectEvent

Protected Member Functions inherited from agxSDK::ContactEventListener
virtual	~ContactEventListener ()
	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 ()

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::ContactEventListener
ExecuteFilterRef	m_executeFilter

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

This is a utility class that disables ContactPoints where the contact normal prevents movement along the surface velocity direction.

A usecase for this class can be when multiple shapes are placed after each other to form a conveyor belt structure. When the transition from one shape to the next occurs, the object moving along the conveyor belt can collide so there are two types of contact normals: "vertical / stay ontop of the conveyor belt" as well as "horizontal / don't move into this object". The reason for this is that the overlap tests are done pairwise.

This contact listener disables the contact points that prevents the transportation along surface velocity direction.

Definition at line 43 of file SurfaceVelocityContactFilter.h.

Constructor & Destructor Documentation

◆ SurfaceVelocityContactFilter()

agxUtil::SurfaceVelocityContactFilter::SurfaceVelocityContactFilter ( agxSDK::ExecuteFilter * filter = nullptr )

Member Function Documentation

◆ contact()

virtual KeepContactPolicy agxUtil::SurfaceVelocityContactFilter::contact	(	const agx::TimeStamp &	time,
		agxCollide::GeometryContact *	geometryContact
	)

overridevirtual

Called upon contact event if getFilter() contain CONTACT.

Implement this method in the derived class to get callbacks.

Parameters

time	- Last committed time in the simulation
geometryContact	- Pointer to the contact data for the two contacting geometries.

Returns: Return KEEP_CONTACT if the contact data should be kept.

Reimplemented from agxSDK::ContactEventListener.

◆ impact()

virtual KeepContactPolicy agxUtil::SurfaceVelocityContactFilter::impact	(	const agx::TimeStamp &	time,
		agxCollide::GeometryContact *	geometryContact
	)