#include <TrimeshDeformer.h>

Inheritance diagram for agxUtil::TrimeshDeformer:

Public Member Functions
	TrimeshDeformer (agxCollide::Trimesh trimesh, agxCollide::Geometry trimeshGeometry)

bool	activateDualFrameInterapolation (agx::Frame interpolationFrame1, agx::Frame interpolationFrame2, agx::Vec3 localMeshDir)
	The dual frame interpolation will move all verticies of the trimesh in between the x-y planes of interpolationFrame1 and interpolationFrame2.

void	activateLocalOffsetInterpolation ()
	Prepare all local offsets, and calculate weight for each effected vertex.

bool	addLocalDeformation (const agx::RigidBody relativeBody, const agx::RigidBody body, agx::Real offsetReach, agx::Real fullOffsetPercent, agx::Vec3 *relativePosition=nullptr)
	For simulation models that consist of several rigid bodies, but we like to have just one visual but it is interesting to visualize local deformations.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agxUtil::TrimeshDeformer)

bool	getEnableUpdateCollisionGeometry () const

agxCollide::Geometry *	getGeometry ()

agxCollide::Trimesh *	getTrimesh ()

bool	isValid () const

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

void	setEnableUpdateCollisionGeometry (bool enable)
	Specify if the mesh collision properties, including mass properties and bounding box calculations needed for collision detection should be calculated each time step.

void	update ()
	Update the trimesh given the operations activated.

void	updateCollisionGeometry ()

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

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.

Static Public Member Functions
static agxStream::Serializable *	create (agxStream::InputArchive &)

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
	TrimeshDeformer ()

virtual	~TrimeshDeformer ()

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

void	setOwner (ParallelTrimeshDeformer *deformer)

void	updateDualFrameInterpolation ()

void	updateLocalOffset (const BodyLocalOffsetRef offset)

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 ()

Protected Attributes
bool	m_enableUpdate

agx::Real	m_fullInterpolationLength

agx::FrameRef	m_interpolationFrame1

agx::FrameRef	m_interpolationFrame2

agx::AffineMatrix4x4	m_localFrame1VertexRotation

agx::Vec3	m_localMeshNormal

BodyLocalOffsetRefVector	m_localOffsets

agx::Vector< agx::Vec3 >	m_originalVertices

agx::observer_ptr< ParallelTrimeshDeformer >	m_owner

agxCollide::TrimeshObserver	m_trimesh

agxCollide::GeometryObserver	m_trimeshGeometry

agx::Vector< agx::Vec3 >	m_verticesRelative1

agx::Vector< agx::Vec3 >	m_verticesRelative2

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

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 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.

Detailed Description

Definition at line 74 of file TrimeshDeformer.h.

Constructor & Destructor Documentation

◆ TrimeshDeformer() [1/2]

agxUtil::TrimeshDeformer::TrimeshDeformer	(	agxCollide::Trimesh *	trimesh,
		agxCollide::Geometry *	trimeshGeometry
	)

Parameters

trimesh	- an trimesh shape, which we like to update each timestep
trimeshGeometry	- the geometry which include the trimesh shape. There should be no relative shape transform.

◆ TrimeshDeformer() [2/2]

agxUtil::TrimeshDeformer::TrimeshDeformer ( )

protected

◆ ~TrimeshDeformer()

virtual agxUtil::TrimeshDeformer::~TrimeshDeformer ( )

protectedvirtual

Member Function Documentation

◆ activateDualFrameInterapolation()

bool agxUtil::TrimeshDeformer::activateDualFrameInterapolation	(	agx::Frame *	interpolationFrame1,
		agx::Frame *	interpolationFrame2,
		agx::Vec3	localMeshDir
	)

The dual frame interpolation will move all verticies of the trimesh in between the x-y planes of interpolationFrame1 and interpolationFrame2.

The relative transform between the interpolation frames at creation is considered the relaxed state. When the simulation forces the frames to move individually, all vertices get updated positions. The rule is that the verticies in the local x-y planes are not transformed, but then given the distance to the respective planes, the position for each vertex gets a weighted average depending on distance given where they would be if the shape was located at either interpolation frame, un-transformed.

This method is useful when visualizing the deformation of springs or suction cups, where the dynamics is represented by one constraint.

Initial state Transformed state ____________ x-y plane interpolationFrame2 _ \ / / / \ / / / _/\ rotated x-y plane interpolationFrame2 _/__/________ x-y plane interpolationFrame1 / / /___/____x-y plane interpolationFrame1

Parameters

interpolationFrame1	- a frame from where the trimesh shape starts
interpolationFrame2	- a frame from where the trimesh shape ends
localMeshDir	- the mesh local direction defining trimesh start and end

◆ activateLocalOffsetInterpolation()

void agxUtil::TrimeshDeformer::activateLocalOffsetInterpolation ( )

Prepare all local offsets, and calculate weight for each effected vertex.

◆ addLocalDeformation()

bool agxUtil::TrimeshDeformer::addLocalDeformation	(	const agx::RigidBody *	relativeBody,
		const agx::RigidBody *	body,
		agx::Real	offsetReach,
		agx::Real	fullOffsetPercent,
		agx::Vec3 *	relativePosition = `nullptr`
	)

For simulation models that consist of several rigid bodies, but we like to have just one visual but it is interesting to visualize local deformations.

Could be a tire, bending steel plate or a flexible lip of a suction cup which should deform non uniformly.

Parameters

relativeBody	- a central body which is the owner of the trimeshGeometry that will deform
body	- a body which transform relative the relativeBody we like to visualize by trimesh deformations
offsetReach	- define within which distance from the body should vertices be affected
fullOffsetPercent	- between (0,1) how big fraction within the offsetReach should vertices fully reflect the offset, outside it will decay linearly
relativePosition	- specify if there is a known wanted realtive position, if not specified the current position will be used.

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

agxUtil::TrimeshDeformer::AGXSTREAM_DECLARE_SERIALIZABLE_BASE ( agxUtil::TrimeshDeformer )

◆ create()

static agxStream::Serializable * agxUtil::TrimeshDeformer::create ( agxStream::InputArchive & )

inlinestatic

Definition at line 170 of file TrimeshDeformer.h.

◆ getEnableUpdateCollisionGeometry()

bool agxUtil::TrimeshDeformer::getEnableUpdateCollisionGeometry ( ) const

Returns: true if the mesh collision properties, including mass properties and bounding box calculations needed for collision detection should be calculated each time step.

◆ getGeometry()

agxCollide::Geometry * agxUtil::TrimeshDeformer::getGeometry ( )

Returns: pointer to the geometry of the trimesh being deformed

◆ getTrimesh()

agxCollide::Trimesh * agxUtil::TrimeshDeformer::getTrimesh ( )

Returns: pointer to the trimesh being deformed

◆ isValid()

bool agxUtil::TrimeshDeformer::isValid ( ) const

Returns: true if the trimesh and geometry instances exist.

◆ last()

void agxUtil::TrimeshDeformer::last ( const agx::TimeStamp & time )

overridevirtual

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.

◆ removeNotification()

void agxUtil::TrimeshDeformer::removeNotification ( )

overrideprotectedvirtual

Called when this listener is removed from the simulation.

Reimplemented from agxSDK::EventListener.

◆ setEnableUpdateCollisionGeometry()

void agxUtil::TrimeshDeformer::setEnableUpdateCollisionGeometry ( bool enable )

Specify if the mesh collision properties, including mass properties and bounding box calculations needed for collision detection should be calculated each time step.

Not needed if the trimesh is only for the visual.

◆ setOwner()

void agxUtil::TrimeshDeformer::setOwner ( ParallelTrimeshDeformer * deformer )

protected

◆ update()

void agxUtil::TrimeshDeformer::update ( )

Update the trimesh given the operations activated.

◆ updateCollisionGeometry()

void agxUtil::TrimeshDeformer::updateCollisionGeometry ( )

◆ updateDualFrameInterpolation()

void agxUtil::TrimeshDeformer::updateDualFrameInterpolation ( )

protected

◆ updateLocalOffset()

void agxUtil::TrimeshDeformer::updateLocalOffset ( const BodyLocalOffsetRef offset )

protected

Member Data Documentation

◆ m_enableUpdate

bool agxUtil::TrimeshDeformer::m_enableUpdate

protected

Definition at line 194 of file TrimeshDeformer.h.

◆ m_fullInterpolationLength

agx::Real agxUtil::TrimeshDeformer::m_fullInterpolationLength

protected

Definition at line 192 of file TrimeshDeformer.h.

◆ m_interpolationFrame1

agx::FrameRef agxUtil::TrimeshDeformer::m_interpolationFrame1

protected

Definition at line 190 of file TrimeshDeformer.h.

◆ m_interpolationFrame2

agx::FrameRef agxUtil::TrimeshDeformer::m_interpolationFrame2

protected

Definition at line 191 of file TrimeshDeformer.h.

◆ m_localFrame1VertexRotation

agx::AffineMatrix4x4 agxUtil::TrimeshDeformer::m_localFrame1VertexRotation

protected

Definition at line 195 of file TrimeshDeformer.h.

◆ m_localMeshNormal

agx::Vec3 agxUtil::TrimeshDeformer::m_localMeshNormal

protected

Definition at line 193 of file TrimeshDeformer.h.

◆ m_localOffsets

BodyLocalOffsetRefVector agxUtil::TrimeshDeformer::m_localOffsets

protected

Definition at line 200 of file TrimeshDeformer.h.

◆ m_originalVertices

agx::Vector<agx::Vec3> agxUtil::TrimeshDeformer::m_originalVertices

protected

Definition at line 197 of file TrimeshDeformer.h.

◆ m_owner

agx::observer_ptr<ParallelTrimeshDeformer> agxUtil::TrimeshDeformer::m_owner

protected

Definition at line 202 of file TrimeshDeformer.h.

◆ m_trimesh

agxCollide::TrimeshObserver agxUtil::TrimeshDeformer::m_trimesh

protected

Definition at line 188 of file TrimeshDeformer.h.

◆ m_trimeshGeometry

agxCollide::GeometryObserver agxUtil::TrimeshDeformer::m_trimeshGeometry

protected

Definition at line 189 of file TrimeshDeformer.h.

◆ m_verticesRelative1

agx::Vector<agx::Vec3> agxUtil::TrimeshDeformer::m_verticesRelative1

protected

Definition at line 198 of file TrimeshDeformer.h.

◆ m_verticesRelative2

agx::Vector<agx::Vec3> agxUtil::TrimeshDeformer::m_verticesRelative2

protected

Definition at line 199 of file TrimeshDeformer.h.

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

TrimeshDeformer.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TrimeshDeformer() [1/2]

◆ TrimeshDeformer() [2/2]

◆ ~TrimeshDeformer()

Member Function Documentation

◆ activateDualFrameInterapolation()

◆ activateLocalOffsetInterpolation()

◆ addLocalDeformation()

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

◆ create()

◆ getEnableUpdateCollisionGeometry()

◆ getGeometry()

◆ getTrimesh()

◆ isValid()

◆ last()

◆ removeNotification()

◆ setEnableUpdateCollisionGeometry()

◆ setOwner()

◆ update()

◆ updateCollisionGeometry()

◆ updateDualFrameInterpolation()

◆ updateLocalOffset()

Member Data Documentation

◆ m_enableUpdate

◆ m_fullInterpolationLength

◆ m_interpolationFrame1

◆ m_interpolationFrame2

◆ m_localFrame1VertexRotation

◆ m_localMeshNormal

◆ m_localOffsets

◆ m_originalVertices

◆ m_owner

◆ m_trimesh

◆ m_trimeshGeometry

◆ m_verticesRelative1

◆ m_verticesRelative2