Assembly object representing a continuous track with a given number of shoes (nodes). More...

#include <Track.h>

Inheritance diagram for agxVehicle::Track:

Public Types
using	GeometryContactContainer = agx::Vector< agx::Physics::GeometryContactPtr >

using	Iterator = TrackNodeIterator

using	NodeRange = TrackNodeRange

using	NodeRangeContainer = agx::VectorPOD< NodeRange >

using	OnNodeInitializeCallback = std::function< void(const TrackNode &)>

using	RigidBodyTrackWheelTable = agx::HashTable< const agx::RigidBody , TrackWheel >

using	TrackWheelContainer = agx::Vector< TrackWheelRef >

Public Types inherited from agxSDK::Assembly
enum	Type { ASSEMBLY , COLLECTION }
	Specifies the type an assembly is. More...

Public Member Functions
	Track (agx::RigidBody *referenceRigidBody, agx::UInt numberOfNodes, agx::Real width, agx::Real thickness, InitialTrackTension initialTension={})
	Construct track given number of nodes, size and initial tension.

	Track (agx::UInt numberOfNodes, agx::Real width, agx::Real thickness, agx::Real initialDistanceTension=agx::Real(0))
	Construct track given number of nodes, size and initial tension distance.

	Track (TrackRoute *route, InitialTrackTension initialTension)
	Construct given a track route.

agx::Bool	add (TrackWheelRef wheel, bool addToAssembly=true)
	Add track wheel to this track before this track has been initialized.

agx::Bool	addSupportGroupId (agxCollide::Geometry *geometry) const
	Add this track's support group id to `geometry`.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agxVehicle::Track)

TrackNode *	findNode (const agx::Vec3 &worldPoint) const
	Find the node closest to the given world point.

TrackWheel *	findReferenceWheel () const
	Reference wheel's rotation axis is defining the plane in which this track will be created.

bool	getEnableCollisionsWithSupport () const

bool	getEnableFullDegreeModel () const

InitialTrackTension &	getInitialTension ()

const InitialTrackTension &	getInitialTension () const

TrackInternalMergeProperties *	getInternalMergeProperties () const

Iterator	getIterator (agx::UInt index) const

template<>
Track::Iterator	getIterator (const agx::RigidBody *obj) const

template<typename T >
Iterator	getIterator (const T *obj) const

template<>
Track::Iterator	getIterator (const TrackNode *obj) const

TrackNode *	getNode (agx::UInt index) const

template<>
TrackNode *	getNode (const agx::RigidBody *obj) const

template<typename T >
TrackNode *	getNode (const T *obj) const

agx::UInt	getNodeIndex (const agx::RigidBody *rb) const

agx::UInt	getNumNodes () const

TrackProperties *	getProperties () const

agx::RigidBody *	getReferenceRigidBody () const

TrackRoute *	getRoute () const

agx::UInt32	getSupportGroupId () const

agx::Real	getTension (const TrackNode &node) const

TrackWheel *	getWheel (const agx::RigidBody *rb) const

const Track::TrackWheelContainer &	getWheels () const

virtual agx::Bool	initialize (OnNodeInitializeCallback onInitializeCallback)
	Initialize this track given already assigned route, added wheels, number of nodes and an initialize node callback.

virtual agx::Bool	initialize (TrackNodeOnInitializeCallback *onInitializeCallback=nullptr)
	Initialize this track given already assigned route, added wheels, number of nodes and an initialize node callback.

bool	isInitialized () const

NodeRange	nodes () const

NodeRange	nodes (IndexRange range) const

virtual bool	onContact (agxCollide::GeometryContact *gc)

void	onPostContact (agxCollide::GeometryContact *geometryContact)

const GeometryContactContainer &	onPreGetNodeOtherContacts (const TrackNode *node) const
	Collected contacts of node vs.

agx::UInt32Vector	onPreGetNodesWheelContacts (const TrackWheel *wheel) const
	Node indices in contact with the given wheel.

const GeometryContactContainer &	onPreGetOtherContacts () const
	Collected contacts that matches Track::get(rb) == this but isn't nodes vs.

agx::Bool	remove (TrackWheelRef wheel)
	Remove track wheel.

agx::Bool	removeSupportGroupId (agxCollide::Geometry *geometry) const
	Remove this track's support group id from `geometry`.

void	setEnableCollisionsWithSupport (bool enable)
	Enable/disable collisions between this track and geometries carrying this track's support group id.

bool	setEnableFullDegreeModel (bool enable)
	Activates or deactivates the full degrees-of-freedom track model.

void	setProperties (TrackProperties *properties)
	Assign properties to this track.

Public Member Functions inherited from agxSDK::LinkedStructure
virtual agx::Bool	addComponent (agxSDK::LinkedStructureComponent *component)
	Add new component to this linked structure.

virtual void	addGroup (agx::UInt32 id)
	Add group id to all segments in this linked structure.

virtual void	addGroup (const agx::Name &name)
	Add group name to all segments in this linked structure.

virtual void	addNotification (agxSDK::Simulation *)
	Called when this assembly is added to a simulation (given that it not already is in the simulation).

void	addNotification (agxSDK::Simulation *simulation) final override
	Called when this linked structure is added to the simulation.

virtual void	addNotification (Assembly *)
	Called when this assembly is added to another assembly.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agxSDK::LinkedStructure)

virtual agx::Real	findCurrentLength (agx::Real restLengthFromStart) const
	Calculates the current length of a given rest length.

virtual agxCollide::GroupIdCollection	findGroupIdCollection () const

virtual agx::Vec3	findPoint (agx::Real restLengthFromStart) const
	Finds center point on this structure given rest length from the start.

virtual agx::Vec3	findPoint (const agx::Vec3 &worldPoint) const
	Given any world point, find a center point on this structure that is closest to the given `worldPoint`.

virtual agx::Real	findRestLength (agx::Real currentLengthFromStart) const
	Calculates the rest length of a given current length from start.

virtual agx::Real	findRestLengthTo (const agx::Vec3 &worldPoint) const
	Given any world point, find a center point on this structure that is closest to the given `worldPoint` and return the rest length from start.

virtual agx::Real	findRestLengthTo (const agxSDK::LinkedSegment *segment) const
	Finds rest length to the start of the given segment.

virtual agx::Vec3	getAngularVelocityDamping () const

template<typename T >
T *	getComponent () const

agxSDK::LinkedStructureComponent *	getComponent (const agx::Name &name) const

virtual agx::Real	getCurrentLength () const
	Calculates and returns the total length of this linked structure, at current state.

virtual agx::UInt32	getDisabledCollisionGroupId () const

virtual agx::Bool	getEnableCollisions (const agx::RigidBody *rb) const

virtual agx::Bool	getEnableCollisions (const agxCollide::Geometry *geometry) const

virtual agx::Vec3	getLinearVelocityDamping () const

virtual agx::Real	getMass () const
	Calculates and returns the total mass of this linked structure.

virtual agx::Material *	getMaterial () const

virtual agx::Real	getRestLength () const
	Calculates and returns the total length of this linked structure, at rest.

virtual agx::Real	getRestVolume () const
	Calculates and returns the total volume of this linked structure, at rest.

template<>
LinkedSegment *	getSegment (const agx::RigidBody *rb) const

agx::UInt	getSegmentIndex (const agx::RigidBody *rb) const

const agxSDK::LinkedSegmentContainer &	getSegmentsContainer () const

virtual agx::UInt32	getUniqueId () const

virtual agx::Bool	hasGroup (agx::UInt32 id) const

virtual agx::Bool	hasGroup (const agx::Name &name) const

virtual agx::Bool	rebind ()
	Make the current relative positions of all nodes the rest state.

virtual agx::Bool	removeComponent (agxSDK::LinkedStructureComponent *component)
	Remove an added component from this linked structure.

virtual void	removeGroup (agx::UInt32 id)
	Remove group id from all segments in this linked structure.

virtual void	removeGroup (const agx::Name &name)
	Remove group name from all segments in this linked structure.

virtual void	removeNotification (agxSDK::Simulation *)
	Called when this assembly is removed from a simulation.

void	removeNotification (agxSDK::Simulation *simulation) final override
	Called when this linked structure is added to the simulation.

virtual void	removeNotification (Assembly *)
	Called when this assembly is removed from another assembly.

agxSDK::LinkedSegmentRange< agxSDK::LinkedSegment >	segments ()

virtual void	setAngularVelocityDamping (const agx::Vec3 &angularVelocityDamping)
	Assigns angular velocity damping to all segments in this linked structure.

virtual void	setDisabledCollisionsId (const agx::Uuid &uuid)
	Set the collision id of this linked structure.

virtual void	setEnableCollisions (agx::RigidBody *rb, agx::Bool enable)
	Enable/disable collisions between the rigid body and all segments of this linked structure.

virtual void	setEnableCollisions (agxCollide::Geometry *geometry, agx::Bool enable)
	Enable/disable collisions between the geometry and all segments of this linked structure.

virtual void	setLinearVelocityDamping (const agx::Vec3 &linearVelocityDamping)
	Assigns linear velocity damping to all segments in this linked structure.

virtual void	setMaterial (agx::Material *material)
	Assign material to all segments in this linked structure.

virtual void	setUniqueId (const agx::Uuid &uuid)
	Set the unique id of this linked structure.

Public Member Functions inherited from agxSDK::Assembly
	Assembly ()
	Default constructor.

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

bool	add (agx::ContactMaterial *contactMaterial)
	Add a contact material to this assembly.

bool	add (agx::Emitter *emitter)
	Add an emitter to this assembly.

bool	add (agx::Interaction *interaction)
	Add an interaction to this assembly.

bool	add (agx::MergedBody *mergedBody)
	Add a MergedBody to this assembly.

bool	add (agx::ObserverFrame *observerFrame)
	Add an ObserverFrame to this assembly.

bool	add (agx::RigidBody *body)
	Add a rigid body to the assembly.

bool	add (agxCollide::Geometry *geometry)
	Add a geometry to the assembly.

bool	add (agxSDK::EventListener *listener)
	Add a listener to the assembly.

bool	add (agxSDK::TerrainInstance *terrainInstance)
	Add a TerrainInstance to this assembly.

bool	add (agxSDK::TerrainToolInstance *toolInstance)
	Add a TerrainToolInstance to this assembly.

bool	add (agxStream::Serializable *object)
	Add an object of type serialized.

bool	add (Assembly *assembly)
	Add another assembly as child to this assembly.

virtual void	addNotification (agxSDK::Simulation *)
	Called when this assembly is added to a simulation (given that it not already is in the simulation).

virtual void	addNotification (Assembly *)
	Called when this assembly is added to another assembly.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agxSDK::Assembly)

size_t	collect (agx::ConstraintRefVector &result, bool recursive=true)

size_t	collect (agx::EmitterRefVector &result, bool recursive=true)

size_t	collect (agx::InteractionRefVector &result, bool recursive=true)

size_t	collect (agx::MergedBodyRefVector &result, bool recursive=true)

size_t	collect (agx::ObserverFrameRefVector &result, bool recursive=true)

size_t	collect (agx::ParticleSystemRefVector &result, bool recursive=true)

size_t	collect (agx::RigidBodyRefVector &result, bool recursive=true)

size_t	collect (agxCollide::GeometryRefVector &result, bool recursive=true)

size_t	collect (agxSDK::AssemblyRefVector &result, bool recursive=true)

size_t	collect (agxSDK::EventListenerRefVector &result, bool recursive=true)

size_t	collect (agxSDK::TerrainInstanceRefVector &result, bool recursive=true)

size_t	collect (agxSDK::TerrainToolInstanceRefVector &result, bool recursive=true)

bool	empty () const

const AssemblyRefSetVector &	getAssemblies () const

agxSDK::Assembly *	getAssembly (const agx::Name &name, bool recursive=true)
	Find (linear search) and return named Assembly.

const agxSDK::Assembly *	getAssembly (const agx::Name &name, bool recursive=true) const
	Find (linear search) and return named Assembly.

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

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

agx::Constraint *	getConstraint (const agx::Name &name, bool recursive=true)
	Find (linear search) and return named Constraint.

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

const agx::Constraint *	getConstraint (const agx::Name &name, bool recursive=true) const
	Find (linear search) and return named Constraint.

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

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

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

agx::Constraint1DOF *	getConstraint1DOF (const agx::Name &name, bool recursive=true)

agx::Constraint2DOF *	getConstraint2DOF (const agx::Name &name, bool recursive=true)

const agx::ConstraintRefSetVector &	getConstraints () const

const agx::EmitterRefSetVector &	getEmitters () const

const EventListenerRefSetVector &	getEventListeners () const

virtual agx::Frame *	getFrame ()
	Return a reference to the frame containing transformation and velocity information for this assembly.

virtual const agx::Frame *	getFrame () const

const agxCollide::GeometryRefSetVector &	getGeometries () const

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

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

agxCollide::Geometry *	getGeometry (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return a Geometry matching the given uuid.

const agxCollide::Geometry *	getGeometry (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return a Geometry matching the given uuid.

const agx::InteractionRefSetVector &	getInteractions () const

agx::Vec3	getLocalPosition () const

agx::Quat	getLocalRotation () const

const agx::AffineMatrix4x4 &	getLocalTransform () const

const agx::MergedBodyRefSetVector &	getMergedBodies () const

agx::MergedBody *	getMergedBody (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return an MergedBody matching the given uuid.

const agx::MergedBody *	getMergedBody (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return an MergedBody matching the given uuid.

agx::Name	getName () const

agx::ObserverFrame *	getObserverFrame (const agx::Name &name, bool recursive=true)
	Find (linear search) and return an ObserverFrame matching the given uuid.

const agx::ObserverFrame *	getObserverFrame (const agx::Name &name, bool recursive=true) const
	Find (linear search) and return an ObserverFrame matching the given uuid.

agx::ObserverFrame *	getObserverFrame (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return an ObserverFrame matching the given uuid.

const agx::ObserverFrame *	getObserverFrame (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return an ObserverFrame matching the given uuid.

const agx::ObserverFrameRefSetVector &	getObserverFrames () const

Assembly *	getParent ()

const Assembly *	getParent () const

agx::Frame *	getParentFrame ()

const agx::Frame *	getParentFrame () const

const agx::ParticleSystemRefSetVector &	getParticleSystems () const

const agx::RigidBodyRefSetVector &	getRigidBodies () const

agx::RigidBody *	getRigidBody (const agx::Name &name, bool recursive=true)
	Find (linear search) and return named RigidBody.

const agx::RigidBody *	getRigidBody (const agx::Name &name, bool recursive=true) const
	Find (linear search) and return named RigidBody.

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

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

agxSDK::Simulation *	getSimulation ()

const agxSDK::Simulation *	getSimulation () const

agxSDK::TerrainInstance *	getTerrainInstance (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return an TerrainInstance matching the given uuid.

const agxSDK::TerrainInstance *	getTerrainInstance (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return an TerrainInstance matching the given uuid.

const agxSDK::TerrainInstanceRefSetVector &	getTerrainInstances () const

agxSDK::TerrainToolInstance *	getTerrainToolInstance (const agx::Uuid &uuid, bool recursive=true)
	Find (linear search) and return an TerrainToolInstance matching the given uuid.

const agxSDK::TerrainToolInstance *	getTerrainToolInstance (const agx::Uuid &uuid, bool recursive=true) const
	Find (linear search) and return an TerrainToolInstance matching the given uuid.

const agxSDK::TerrainToolInstanceRefSetVector &	getTerrainToolInstances () const

Type	getType () const

bool	remove (agx::Constraint *constraint)
	Remove a constraint from this assembly (does not recurse down in tree).

bool	remove (agx::ContactMaterial *contactMaterial)
	Remove a contact material from this assembly.

bool	remove (agx::Emitter *emitter)
	Remove an emitter from this assembly.

bool	remove (agx::Interaction *interaction)
	Remove an interaction from this assembly.

bool	remove (agx::MergedBody *mergedBody)
	Remove a MergedBody from this assembly.

bool	remove (agx::ObserverFrame *observerFrame, bool resetParentFrame=true)
	Remove an ObserverFrame from this assembly.

bool	remove (agx::RigidBody *body, bool removeAssociatedGeometries=false, bool resetParentFrame=true)
	Remove a rigid body from this assembly (does not recurse down in tree).

bool	remove (agxCollide::Geometry *geometry, bool resetParentFrame=true)
	Remove a geometry from this assembly (does not recurse down in tree).

bool	remove (agxSDK::TerrainInstance *terrainInstance)
	Remove a TerrainInstance from this assembly.

bool	remove (agxSDK::TerrainToolInstance *toolInstance)
	Remove a TerrainToolInstance from this assembly.

bool	remove (Assembly *assembly, bool resetParentFrame=true)
	Remove a child assembly from a parent.

bool	remove (EventListener *listener)
	Remove an EventListener from the assembly.

virtual void	removeNotification (agxSDK::Simulation *)
	Called when this assembly is removed from a simulation.

virtual void	removeNotification (Assembly *)
	Called when this assembly is removed from another assembly.

bool	reset (bool resetParentFrame=true)
	If this assembly is not added to a simulation it will clear all added bodies etc.

virtual void	setAngularVelocity (const agx::Vec3 &velocity)
	Set the angular velocity (in world frame) recursively for all rigid bodies stored in assembly.

void	setLocalPosition (agx::Real x, agx::Real y, agx::Real z)
	Set the position of the assembly relative to its frame's parent frame.

void	setLocalPosition (const agx::Vec3 &p)
	Set the position of the assembly relative to its frame's parent frame.

void	setLocalRotation (const agx::EulerAngles &e)
	Set the rotation of the assembly relative to its frame's parent frame.

void	setLocalRotation (const agx::Quat &q)
	Set the rotation of the assembly relative to its frame's parent frame.

void	setLocalTransform (const agx::AffineMatrix4x4 &matrix)
	Assign the local transformation matrix for this assembly, ignoring any eventual parent transformation.

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

bool	setParentFrame (agx::Frame *frame)
	Set the parent frame of this assembly's frame.

void	setPosition (agx::Real x, agx::Real y, agx::Real z)
	Set the position of the frame in world coordinates.

void	setPosition (const agx::Vec3 &p)
	Set the position of the frame in world coordinates.

void	setRotation (const agx::EulerAngles &e)
	Set the rotation of the assembly relative to world frame.

void	setRotation (const agx::OrthoMatrix3x3 &m)
	Set the rotation of the assembly relative to world frame.

void	setRotation (const agx::Quat &q)
	Set the rotation of the assembly relative to world frame.

void	setTransform (const agx::AffineMatrix4x4 &matrix)
	Set the transform of the assembly.

virtual void	setVelocity (const agx::Vec3 &velocity)
	Set the linear velocity (in world frame) recursively for all rigid bodies stored in assembly.

bool	transfer (agxSDK::Assembly *target)
	Transfer all the content from this assembly to the `target`, including name and transformation.

virtual void	traverse (AssemblyVisitor *visitor)
	Traverse the assembly tree recursively using a visitor.

virtual void	traverse (const AssemblyVisitor *visitor) 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 Track *	find (agxSDK::Simulation *simulation, const agx::Name &name)
	Find track instance given simulation and name.

static Track *	find (agxSDK::Simulation *simulation, const agx::Uuid &uuid)
	Find track instance given simulation and unique id.

static TrackPtrVector	findAll (agxSDK::Simulation *simulation)
	Finds all agxVehicle::Track instances in the given simulation.

static TrackPtrVector	findAll (agxSDK::Simulation *simulation, const agx::Name &name)
	Finds all track instances given simulation and name.

static Track *	get (agx::RigidBody *rb)

static const Track *	get (const agx::RigidBody *rb)

static const Track *	get (const Wheel *wheel)

static Track *	get (Wheel *wheel)

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

static LinkedStructure *	get (agx::RigidBody *body)

static LinkedStructure *	get (agxCollide::Geometry *geometry)

static const LinkedStructure *	get (const agx::RigidBody *body)

static const LinkedStructure *	get (const agxCollide::Geometry *geometry)

Static Public Member Functions inherited from agxSDK::Assembly
static Assembly *	asAssembly (agxStream::Serializable *obj)

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

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 Types
using	State = agx::BitState< StateEnum, agx::UInt32 >

enum	StateEnum : agx::UInt32 { INITIALIZED = 1 << 0 , ACTIVE_TRACK_IMPLEMENTATION = 1 << 1 }

Protected Member Functions
	Track ()

virtual	~Track ()

virtual void	onAddNotification (agxSDK::Simulation *simulation) override
	Called when addNotification is executed when this linked structure is added to the simulation.

virtual void	onGroupAdd (const agxSDK::LinkedStructure::IdData &group) override
	Called when a new group has been added.

virtual void	onGroupRemove (const agxSDK::LinkedStructure::IdData &group) override
	Called when an existing group has been removed.

virtual void	onLastStep () override
	Called on simulation last step event - after user lastStep.

virtual void	onMaterialNew () override
	Called when a new material has been assigned.

virtual void	onPostIntegrate () override
	Called on simulation post integrate event - when transforms has been updated given current velocities.

virtual void	onPostStep () override
	Called on simulation post step event - after user postStep.

virtual void	onPreCollideStep () override
	Called on simulation pre-collide step event - after user preCollide.

virtual void	onPreStep () override
	Called on simulation pre step event - after user preStep.

virtual void	onRemoveNotification (agxSDK::Simulation *simulation) override
	Called when removeNotification is executed when this linked structure is removed from the simulation.

virtual void	onSetEnableCollisions (agxCollide::Geometry *geometry, agx::Bool enable) override
	Called when collision state changed for given geometry.

Protected Member Functions inherited from agxSDK::LinkedStructure
	LinkedStructure ()
	Hidden default constructor.

virtual	~LinkedStructure ()
	Reference counted object - protected destructor.

void	add (LinkedSegment *segment)
	Add segment to this linked structure.

std::tuple< agx::Vec3, LinkedSegment * >	findPointAndSegment (const agx::Vec3 &worldPoint) const

template<typename T >
T *	findSegment (const agx::Vec3 &worldPoint) const

LinkedStructureObjectData *	getData (const agx::RigidBody *rb) const

agx::UInt	getNumSegments () const

template<typename T >
T *	getSegment (agx::Real restLengthFromStart) const

LinkedSegment *	getSegment (agx::UInt index) const

template<typename ObjT >
LinkedSegment *	getSegment (const ObjT *rb) const

template<typename T >
LinkedSegmentIterator< T >	getSegmentIterator (agx::UInt index, agx::Bool boundaryless=false) const

template<typename T , typename ObjT >
LinkedSegmentIterator< T >	getSegmentIterator (const ObjT *rb, agx::Bool boundaryless=false) const

template<typename T >
LinkedSegmentRange< T >	getSegments () const
	Constructs a segment range over all segments.

template<typename T >
LinkedSegmentRange< T >	getSegments (agx::UInt beginIndex, agx::UInt endIndex) const
	Range given begin and end segment index.

virtual void	onAddNotification (agxSDK::Simulation *simulation)
	Called when addNotification is executed when this linked structure is added to the simulation.

virtual void	onGroupAdd (const IdData &group)
	Called when a new group has been added.

virtual void	onGroupRemove (const IdData &group)
	Called when an existing group has been removed.

virtual void	onLastStep ()
	Called on simulation last step event - after user lastStep.

virtual void	onMaterialNew ()
	Called when a new material has been assigned.

virtual void	onPostIntegrate ()
	Called on simulation post integrate event - when transforms has been updated given current velocities.

virtual void	onPostStep ()
	Called on simulation post step event - after user postStep.

virtual void	onPreCollideStep ()
	Called on simulation pre-collide step event - after user preCollide.

virtual void	onPreStep ()
	Called on simulation pre step event - after user preStep.

virtual void	onRemoveNotification (agxSDK::Simulation *simulation)
	Called when removeNotification is executed when this linked structure is removed from the simulation.

virtual void	onSetEnableCollisions (agxCollide::Geometry *geometry, agx::Bool enable)
	Called when collision state changed for given geometry.

Protected Member Functions inherited from agxSDK::Assembly
	Assembly (Type type)

virtual	~Assembly ()
	Destructor.

bool	addParticleSystem (agx::ParticleSystem *particleSystem)
	Add a particle system to this assembly.

void	addToSimulation (Simulation *simulation)

void	removeFromSimulation (Simulation *simulation)

bool	removeParticleSystem (agx::ParticleSystem *particleSystem)
	Remove a particle system from this assembly.

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
Static Protected Member Functions inherited from agxSDK::LinkedStructure
template<typename T >
static T *	getT (agx::RigidBody *rb)

template<typename T >
static const T *	getT (const agx::RigidBody *rb)

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

Assembly object representing a continuous track with a given number of shoes (nodes).

Definition at line 39 of file agxVehicle/Track.h.

Member Typedef Documentation

◆ GeometryContactContainer

using agxVehicle::Track::GeometryContactContainer = agx::Vector<agx::Physics::GeometryContactPtr>

Definition at line 48 of file agxVehicle/Track.h.

◆ Iterator

using agxVehicle::Track::Iterator = TrackNodeIterator

Definition at line 44 of file agxVehicle/Track.h.

◆ NodeRange

using agxVehicle::Track::NodeRange = TrackNodeRange

Definition at line 45 of file agxVehicle/Track.h.

◆ NodeRangeContainer

using agxVehicle::Track::NodeRangeContainer = agx::VectorPOD<NodeRange>

Definition at line 46 of file agxVehicle/Track.h.

◆ OnNodeInitializeCallback

using agxVehicle::Track::OnNodeInitializeCallback = std::function<void( const TrackNode& )>

Definition at line 47 of file agxVehicle/Track.h.

◆ RigidBodyTrackWheelTable

using agxVehicle::Track::RigidBodyTrackWheelTable = agx::HashTable<const agx::RigidBody*, TrackWheel*>

Definition at line 43 of file agxVehicle/Track.h.

◆ State

using agxVehicle::Track::State = agx::BitState<StateEnum, agx::UInt32>

protected

Definition at line 453 of file agxVehicle/Track.h.

◆ TrackWheelContainer

using agxVehicle::Track::TrackWheelContainer = agx::Vector<TrackWheelRef>

Definition at line 42 of file agxVehicle/Track.h.

Member Enumeration Documentation

◆ StateEnum

enum agxVehicle::Track::StateEnum : agx::UInt32

protected

Enumerator
INITIALIZED
ACTIVE_TRACK_IMPLEMENTATION

Definition at line 448 of file agxVehicle/Track.h.

Constructor & Destructor Documentation

◆ Track() [1/4]

agxVehicle::Track::Track	(	agx::RigidBody *	referenceRigidBody,
		agx::UInt	numberOfNodes,
		agx::Real	width,
		agx::Real	thickness,
		InitialTrackTension	initialTension = `{}`
	)

Construct track given number of nodes, size and initial tension.

Parameters

referenceRigidBody	- This rigid body is the reference body that this track is attached to, normally the chassis of a vehicle. Note that the track is routed around track wheels that are connected directly or via links to this rigid body. If nullptr, the track is assumed to be attached in world.
numberOfNodes	- number of nodes in the track
width	- width of the track (this is an implicit definition, the geometry may be any size)
thickness	- thickness of the track (this is an implicit definition, the geometry may be any size)
initialTension	- how much is the initial tension, in Newton, of the track after it has been routed around the track wheels. Note that the final track tension also depends on the vehicle configurations, e.g. dampers. The given initial tension is an approximation of the final tension value.

◆ Track() [2/4]

agxVehicle::Track::Track	(	agx::UInt	numberOfNodes,
		agx::Real	width,
		agx::Real	thickness,
		agx::Real	initialDistanceTension = `agx::Real(0)`
	)

Construct track given number of nodes, size and initial tension distance.

Parameters

numberOfNodes	- number of nodes in the track
width	- width of the track (this is an implicit definition, the geometry may be any size)
thickness	- thickness of the track (this is an implicit definition, the geometry may be any size)
initialDistanceTension	- value (distance) of how much shorter each node should be which causes tension in the system of tracks and wheels. Ideal case track_tension = initialDistanceTension * tensileStiffness. Since contacts and other factors are included it's not possible to know the exact tension after the system has been created.

◆ Track() [3/4]

agxVehicle::Track::Track	(	TrackRoute *	route,
		InitialTrackTension	initialTension
	)

Construct given a track route.

Parameters

route	- track route
initialTension	- how much is the initial tension, in Newton, of the track after it has been routed around the track wheels. Note that the final track tension also depends on the vehicle configurations, e.g. dampers. The given initial tension is an approximation of the final tension value.

◆ Track() [4/4]

agxVehicle::Track::Track ( )

protected

◆ ~Track()

virtual agxVehicle::Track::~Track ( )

protectedvirtual

Member Function Documentation

◆ add()

agx::Bool agxVehicle::Track::add	(	TrackWheelRef	wheel,
		bool	addToAssembly = `true`
	)

Add track wheel to this track before this track has been initialized.

Parameters

wheel	- track wheel to add
addToAssembly	- when true the wheel rigid body and all wheel constraints are added to the track assembly, default is true.

Returns: true if added - otherwise false (e.g., already added, track initialized, part of another track, null rigid body)

◆ addSupportGroupId()

agx::Bool agxVehicle::Track::addSupportGroupId ( agxCollide::Geometry * geometry ) const

Add this track's support group id to geometry.

In the track model, geometries with this collision group id are treated as support geometries when in contact with the inside/top side of the track. Note that this method is equivalent to calling: geometry->addGroup(getSupportGroupId());

Parameters

geometry - geometry that should be treated as support geometry

Returns: true if the group id was added, false if geometry is null or already has the group id

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

agxVehicle::Track::AGXSTREAM_DECLARE_SERIALIZABLE_BASE ( agxVehicle::Track )

◆ create()

static agxStream::Serializable * agxVehicle::Track::create ( agxStream::InputArchive & )

inlinestatic

Definition at line 441 of file agxVehicle/Track.h.

◆ find() [1/2]

static Track * agxVehicle::Track::find	(	agxSDK::Simulation *	simulation,
		const agx::Name &	name
	)

static

Find track instance given simulation and name.

Parameters

simulation	- simulation
name	- name of track instance to find

Returns: track instance with given name if found - otherwise null

◆ find() [2/2]

static Track * agxVehicle::Track::find	(	agxSDK::Simulation *	simulation,
		const agx::Uuid &	uuid
	)

static

Find track instance given simulation and unique id.

Parameters

simulation	- simulation
uuid	- UUID of track instance to find

Returns: track instance with given UUID if found - otherwise null

◆ findAll() [1/2]

static TrackPtrVector agxVehicle::Track::findAll ( agxSDK::Simulation * simulation )

static

Finds all agxVehicle::Track instances in the given simulation.

Parameters

simulation - simulation

Returns: track instances found in the given simulation

◆ findAll() [2/2]

static TrackPtrVector agxVehicle::Track::findAll	(	agxSDK::Simulation *	simulation,
		const agx::Name &	name
	)

static

Finds all track instances given simulation and name.

Parameters

simulation	- simulation
name	- name of track instances to find

Returns: track instances with given name

◆ findNode()

TrackNode * agxVehicle::Track::findNode ( const agx::Vec3 & worldPoint ) const

Find the node closest to the given world point.

If this track hasn't been initialized, nullptr is returned.

Parameters

worldPoint - any point in world

Returns: the segment that is closest to the given worldPoint, nullptr if there are no nodes in the track.

◆ findReferenceWheel()

TrackWheel * agxVehicle::Track::findReferenceWheel ( ) const

Reference wheel's rotation axis is defining the plane in which this track will be created.

The reference wheel is (in priority order) either a (first) sprocket, a (first) idler or the first wheel added to this track.

◆ get() [1/4]

Track * agxVehicle::Track::get ( agx::RigidBody * rb )

inlinestatic

Parameters

rb	- rigid body

Returns: track instance rb belongs to, given rb is a TrackNode body

Definition at line 532 of file agxVehicle/Track.h.

Referenced by agxVehicle::calculateTrackTangentPlane().

◆ get() [2/4]

const Track * agxVehicle::Track::get ( const agx::RigidBody * rb )

inlinestatic

Parameters

rb	- rigid body

Returns: track instance rb belongs to, given rb is a TrackNode body

Definition at line 537 of file agxVehicle/Track.h.

◆ get() [3/4]

static const Track * agxVehicle::Track::get ( const Wheel * wheel )

static

Parameters

wheel - track wheel

Returns: track instance wheel belongs to, nullptr if wheel isn't a TrackWheel or not added to a track

◆ get() [4/4]

static Track * agxVehicle::Track::get ( Wheel * wheel )

static

Parameters

wheel - track wheel

Returns: track instance wheel belongs to, nullptr if wheel isn't a TrackWheel or not added to a track

◆ getEnableCollisionsWithSupport()

bool agxVehicle::Track::getEnableCollisionsWithSupport ( ) const

Returns: true if collisions with support geometries are enabled, otherwise false

◆ getEnableFullDegreeModel()

bool agxVehicle::Track::getEnableFullDegreeModel ( ) const

Returns: true if the full degrees-of-freedom track model is active, default is false.

◆ getInitialTension() [1/2]

InitialTrackTension & agxVehicle::Track::getInitialTension ( )

inline

Returns: The initial tension used during track initiation.

Definition at line 614 of file agxVehicle/Track.h.

◆ getInitialTension() [2/2]

const InitialTrackTension & agxVehicle::Track::getInitialTension ( ) const

inline

Returns: The initial tension used during track initiation.

Definition at line 609 of file agxVehicle/Track.h.

◆ getInternalMergeProperties()

TrackInternalMergeProperties * agxVehicle::Track::getInternalMergeProperties ( ) const

Returns: node to node merge properties and thresholds

◆ getIterator() [1/4]

Track::Iterator agxVehicle::Track::getIterator ( agx::UInt index ) const

inline

Returns: track node iterator given node index

Definition at line 590 of file agxVehicle/Track.h.

Referenced by agxVehicle::utils::createRangeExcludingNodeIndex(), and getIterator().

◆ getIterator() [2/4]

template<>

Track::Iterator agxVehicle::Track::getIterator ( const agx::RigidBody * obj ) const

inline

Definition at line 596 of file agxVehicle/Track.h.

◆ getIterator() [3/4]

template<typename T >

Iterator agxVehicle::Track::getIterator ( const T * obj ) const

Note: This method as template to handle ambiguity with index 0 and null.

Returns: track node iterator given rigid body - null when the body isn't a node in this track

◆ getIterator() [4/4]

template<>

Track::Iterator agxVehicle::Track::getIterator ( const TrackNode * obj ) const

inline

Definition at line 602 of file agxVehicle/Track.h.

References agxSDK::LinkedSegmentIterator< T >::end(), getIterator(), agxSDK::LinkedSegment::getRigidBody(), and agxSDK::LinkedStructure::getSegmentsContainer().

◆ getNode() [1/3]

TrackNode * agxVehicle::Track::getNode ( agx::UInt index ) const

inline

Returns: the node of given index

Definition at line 573 of file agxVehicle/Track.h.

References agx::Referenced::as(), and agxSDK::LinkedStructure::getSegment().

◆ getNode() [2/3]

template<>

TrackNode * agxVehicle::Track::getNode ( const agx::RigidBody * obj ) const

inline

Definition at line 579 of file agxVehicle/Track.h.

◆ getNode() [3/3]

template<typename T >

TrackNode * agxVehicle::Track::getNode ( const T * obj ) const

Note: This method as template to handle ambiguity with index 0 and null.

Returns: track node instance given rigid body - null when the body isn't a node in this track

◆ getNodeIndex()

agx::UInt agxVehicle::Track::getNodeIndex ( const agx::RigidBody * rb ) const

inline

Returns: track node index given rigid body - agx::InvalidIndex when the body isn't a node in this track

Definition at line 585 of file agxVehicle/Track.h.

◆ getNumNodes()

agx::UInt agxVehicle::Track::getNumNodes ( ) const

inline

Returns: the number of nodes in this track

Definition at line 568 of file agxVehicle/Track.h.

References agxSDK::LinkedStructure::getNumSegments().

◆ getProperties()

TrackProperties * agxVehicle::Track::getProperties ( ) const

Returns: the properties of this track

◆ getReferenceRigidBody()

agx::RigidBody * agxVehicle::Track::getReferenceRigidBody ( ) const

Returns: the rigid body that the track is attached to. Note that this may be null if the track isn't attached to a rigid body, e.g. when running the full degree model only.

◆ getRoute()

TrackRoute * agxVehicle::Track::getRoute ( ) const

Returns: the track route used to initialize this track

Referenced by agxVehicle::utils::getNodeWheelOverlapThreshold().

◆ getSupportGroupId()

agx::UInt32 agxVehicle::Track::getSupportGroupId ( ) const

Returns: the collision group id used to identify support geometries for this track

◆ getTension()

agx::Real agxVehicle::Track::getTension ( const TrackNode & node ) const

Returns: the current tension at this node's end position

◆ getWheel()

TrackWheel * agxVehicle::Track::getWheel ( const agx::RigidBody * rb ) const

inline

Returns: track wheel instance given rigid body - null when the body isn't a wheel in this track

Definition at line 563 of file agxVehicle/Track.h.

References agx::LinearProbingHashTableImplementation< KeyT, ValueT, HashT, AllocatorT >::get_or_return_default().

◆ getWheels()

const Track::TrackWheelContainer & agxVehicle::Track::getWheels ( ) const

Returns: track wheels added to this track

◆ initialize() [1/2]

virtual agx::Bool agxVehicle::Track::initialize ( OnNodeInitializeCallback onInitializeCallback )

virtual

Initialize this track given already assigned route, added wheels, number of nodes and an initialize node callback.

If onInitializeCallback isn't given, a default function will be used that will add a box shape to the node rigid body.

Parameters

onInitializeCallback - callback when node has been created and is about to be added to this track. If desired, this callback should add shape(s) to the node rigid body.

Returns: true if initialized, i.e., more than two nodes were created - false if already initialized, no wheels in this track, track route failed to find node configuration

◆ initialize() [2/2]

virtual agx::Bool agxVehicle::Track::initialize ( TrackNodeOnInitializeCallback * onInitializeCallback = nullptr )

virtual

Initialize this track given already assigned route, added wheels, number of nodes and an initialize node callback.

If onInitializeCallback isn't given, a default function will be used that will add a box shape to the node rigid body.

Parameters

onInitializeCallback - callback when node has been created and is about to be added to this track. If desired, this callback should add shape(s) to the node rigid body.

Returns: true if initialized, i.e., more than two nodes were created - false if already initialized, no wheels in this track, track route failed to find node configuration

◆ isInitialized()

bool agxVehicle::Track::isInitialized ( ) const

Returns: true if this track is initialized

◆ nodes() [1/2]

NodeRange agxVehicle::Track::nodes ( ) const

Returns: node range spanning all nodes in this track

Referenced by agxVehicle::utils::createRangeExcludingNodeIndex(), and agxVehicle::utils::splitNonconsecutive().

◆ nodes() [2/2]

NodeRange agxVehicle::Track::nodes ( IndexRange range ) const

Returns: node range given index range

◆ onAddNotification()

virtual void agxVehicle::Track::onAddNotification ( agxSDK::Simulation * simulation )

overrideprotectedvirtual

Called when addNotification is executed when this linked structure is added to the simulation.

Reimplemented from agxSDK::LinkedStructure.

◆ onContact()

virtual bool agxVehicle::Track::onContact ( agxCollide::GeometryContact * gc )

virtual

◆ onGroupAdd()

virtual void agxVehicle::Track::onGroupAdd ( const agxSDK::LinkedStructure::IdData & group )

overrideprotectedvirtual

Called when a new group has been added.

Reimplemented from agxSDK::LinkedStructure.

◆ onGroupRemove()

virtual void agxVehicle::Track::onGroupRemove ( const agxSDK::LinkedStructure::IdData & group )

overrideprotectedvirtual

Called when an existing group has been removed.

Reimplemented from agxSDK::LinkedStructure.

◆ onLastStep()

virtual void agxVehicle::Track::onLastStep ( )

overrideprotectedvirtual

Called on simulation last step event - after user lastStep.

Reimplemented from agxSDK::LinkedStructure.

◆ onMaterialNew()

virtual void agxVehicle::Track::onMaterialNew ( )

overrideprotectedvirtual

Called when a new material has been assigned.

Reimplemented from agxSDK::LinkedStructure.

◆ onPostContact()

void agxVehicle::Track::onPostContact ( agxCollide::GeometryContact * geometryContact )

◆ onPostIntegrate()

virtual void agxVehicle::Track::onPostIntegrate ( )

overrideprotectedvirtual

Called on simulation post integrate event - when transforms has been updated given current velocities.

This event may occur before onPostStep (default), or after onPreCollide.

Reimplemented from agxSDK::LinkedStructure.

◆ onPostStep()

virtual void agxVehicle::Track::onPostStep ( )

overrideprotectedvirtual

Called on simulation post step event - after user postStep.

Reimplemented from agxSDK::LinkedStructure.

◆ onPreCollideStep()

virtual void agxVehicle::Track::onPreCollideStep ( )

overrideprotectedvirtual

Called on simulation pre-collide step event - after user preCollide.

Reimplemented from agxSDK::LinkedStructure.

◆ onPreGetNodeOtherContacts()

const GeometryContactContainer & agxVehicle::Track::onPreGetNodeOtherContacts ( const TrackNode * node ) const

Collected contacts of node vs.

"unknown", i.e., any other contact that aren't against a wheel (onPreGetNodesWheelContacts).

Parameters

node	- node to get contacts for

Returns: vector of collected contacts between the given node and other objects

◆ onPreGetNodesWheelContacts()

agx::UInt32Vector agxVehicle::Track::onPreGetNodesWheelContacts ( const TrackWheel * wheel ) const

Node indices in contact with the given wheel.

Note: The contact data is only available in pre-step events.

Parameters

wheel - wheel to get contacts for

Returns: node indices of the nodes in contact with the given wheel

◆ onPreGetOtherContacts()

const GeometryContactContainer & agxVehicle::Track::onPreGetOtherContacts ( ) const

Collected contacts that matches Track::get(rb) == this but isn't nodes vs.

wheels or nodes vs. others.

Returns: vector of collected contacts that doesn't match any node in this track

◆ onPreStep()

virtual void agxVehicle::Track::onPreStep ( )

overrideprotectedvirtual

Called on simulation pre step event - after user preStep.

Reimplemented from agxSDK::LinkedStructure.

◆ onRemoveNotification()

virtual void agxVehicle::Track::onRemoveNotification ( agxSDK::Simulation * simulation )

overrideprotectedvirtual

Called when removeNotification is executed when this linked structure is removed from the simulation.

Reimplemented from agxSDK::LinkedStructure.

◆ onSetEnableCollisions()

virtual void agxVehicle::Track::onSetEnableCollisions	(	agxCollide::Geometry *	geometry,
		agx::Bool	enable
	)

overrideprotectedvirtual

Called when collision state changed for given geometry.

Reimplemented from agxSDK::LinkedStructure.

◆ remove()

agx::Bool agxVehicle::Track::remove ( TrackWheelRef wheel )

Remove track wheel.

Parameters

wheel - wheel to remove

Returns: true if removed - otherwise false

◆ removeSupportGroupId()

agx::Bool agxVehicle::Track::removeSupportGroupId ( agxCollide::Geometry * geometry ) const

Remove this track's support group id from geometry.

This method is equivalent to calling: geometry->removeGroup(getSupportGroupId());

Parameters

geometry - geometry that should no longer be treated as support geometry

Returns: true if the group id was removed, false if geometry is null or did not have the group id

◆ setEnableCollisionsWithSupport()

void agxVehicle::Track::setEnableCollisionsWithSupport ( bool enable )

Enable/disable collisions between this track and geometries carrying this track's support group id.

Default is enabled.

Parameters

enable - true to enable collisions with support geometries, false to disable them

◆ setEnableFullDegreeModel()

bool agxVehicle::Track::setEnableFullDegreeModel ( bool enable )

Activates or deactivates the full degrees-of-freedom track model.

When activated, the track nodes are constrained together using hinges. When deactivated, the track is approximated using boxes between the wheels, where each box represents all track nodes between a pair of wheels.

This full degrees-of-freedom model provides a more detailed simulation of the tracks but is also more complex to model and configure.

Note: The full degrees-of-freedom model may require a different set of track properties. These properties must be properly configured for the model to function correctly.

Parameters

enable - true to enable or false to disable full degrees-of-freedom track model

Returns: true if the requested model switch was successful.

◆ setProperties()

void agxVehicle::Track::setProperties ( TrackProperties * properties )

Assign properties to this track.

Parameters

properties - new properties of this track, if null, a new default instance is created

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

agxVehicle/Track.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ GeometryContactContainer

◆ Iterator

◆ NodeRange

◆ NodeRangeContainer

◆ OnNodeInitializeCallback

◆ RigidBodyTrackWheelTable

◆ State

◆ TrackWheelContainer

Member Enumeration Documentation

◆ StateEnum

Constructor & Destructor Documentation

◆ Track() [1/4]

◆ Track() [2/4]

◆ Track() [3/4]

◆ Track() [4/4]

◆ ~Track()

Member Function Documentation

◆ add()

◆ addSupportGroupId()

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

◆ create()

◆ find() [1/2]

◆ find() [2/2]

◆ findAll() [1/2]

◆ findAll() [2/2]

◆ findNode()

◆ findReferenceWheel()

◆ get() [1/4]

◆ get() [2/4]

◆ get() [3/4]

◆ get() [4/4]

◆ getEnableCollisionsWithSupport()

◆ getEnableFullDegreeModel()

◆ getInitialTension() [1/2]

◆ getInitialTension() [2/2]

◆ getInternalMergeProperties()

◆ getIterator() [1/4]

◆ getIterator() [2/4]

◆ getIterator() [3/4]

◆ getIterator() [4/4]

◆ getNode() [1/3]

◆ getNode() [2/3]

◆ getNode() [3/3]

◆ getNodeIndex()

◆ getNumNodes()

◆ getProperties()

◆ getReferenceRigidBody()

◆ getRoute()

◆ getSupportGroupId()

◆ getTension()

◆ getWheel()

◆ getWheels()

◆ initialize() [1/2]

◆ initialize() [2/2]

◆ isInitialized()

◆ nodes() [1/2]

◆ nodes() [2/2]

◆ onAddNotification()

◆ onContact()

◆ onGroupAdd()

◆ onGroupRemove()

◆ onLastStep()

◆ onMaterialNew()

◆ onPostContact()

◆ onPostIntegrate()

◆ onPostStep()

◆ onPreCollideStep()

◆ onPreGetNodeOtherContacts()

◆ onPreGetNodesWheelContacts()

◆ onPreGetOtherContacts()

◆ onPreStep()

◆ onRemoveNotification()