Connecting nodes contains two nodes, one at center of mass and the other at the user defined position. More...

#include <Node.h>

Inheritance diagram for agxWire::ConnectingNode:

Classes
struct	StabilityParameters
	Stability parameters object defining the behavior of the constraints associated to this connecting node. More...

Public Member Functions
	ConnectingNode (agx::RigidBody *rb, const agx::Vec3 &relativeTranslate, agx::Real radius)
	Construct connecting node given body, model frame offset and radius.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agxWire::ConnectingNode)

void	fullTransform ()
	Transform this and (if present) the center of mass node.

BodyFixedNode *	getCmNode () const

agx::Real	getOffsetLength () const

void	setCmNode (agxWire::BodyFixedNode *cmNode)
	Internal method used by serialization to assign the stored center of mass node.

Public Member Functions inherited from agxWire::EyeNode
	EyeNode (agx::RigidBody *rb, agx::Real radius=agx::Real(0))
	Construct a sliding node given a body and a radius.

	EyeNode (agx::RigidBody *rb, agx::Real relTranslate_x, agx::Real relTranslate_y, agx::Real relTranslate_z, const agx::Vec3 &extraEyeVector=agx::Vec3(), agx::Real radius=agx::Real(0))
	Construct a sliding node given a body, model center offset and a radius.

	EyeNode (agx::RigidBody *rb, const agx::Vec3 &relativeTranslate, agx::Real radius=agx::Real(0))
	Construct a sliding node given a body, model center offset and a radius.

	EyeNode (agx::RigidBody *rb, const agx::Vec3 &relativeTranslate, const agx::Vec3 &extraEyeVector, agx::Real radius=agx::Real(0))
	Construct a sliding node given a body, model center offset and a radius.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agxWire::EyeNode)

agx::Real	findSpeedAlongWire (const agxWire::Wire *wire) const
	Calculates the speed in which this eye node travels along a wire.

EyeNode *	getChildNode ()

const EyeNode *	getChildNode () const

agx::Real	getDistanceToChild () const

bool	getFixFrictionDirection () const

EyeNode *	getParentNode () const

agx::Real	getRadius () const

bool	getReverseAdd () const

agx::Vec3	getVectorToChild () const

virtual void	reverse () override
	Only for internal use! Reverse all direction dependent internal structures.

void	setFixFrictionDirection (bool fixFrictionDirection, bool goForward)
	Assign fixed friction direction for this eye node.

void	setRadius (agx::Real radius)
	Set the radius of this eye node.

void	setReverseAdd (bool reverseAdd)
	If this node has a child node, this parameter controls in which order the nodes (parent and child) gets added/inserted into the wire.

void	setVectorToChild (const agx::Vec3 &vec)
	set the relative translation from this node to its child node (if child present)

Public Member Functions inherited from agxWire::Node
void	addState (int state)
	Add state mask to the current state.

BodyFixedNode *	getAsBodyFixed ()

const BodyFixedNode *	getAsBodyFixed () const

ConnectingNode *	getAsConnecting ()

const ConnectingNode *	getAsConnecting () const

ContactNode *	getAsContact ()

const ContactNode *	getAsContact () const

EyeNode *	getAsEye ()

const EyeNode *	getAsEye () const

EyeNode *	getAsEyeLineNode ()

const EyeNode *	getAsEyeLineNode () const

FreeNode *	getAsFree ()

const FreeNode *	getAsFree () const

ShapeContactNode *	getAsShapeContact ()

const ShapeContactNode *	getAsShapeContact () const

StopNode *	getAsStop ()

const StopNode *	getAsStop () const

agx::Referenced *	getCustomData () const

NodeFrame *	getFrame ()

const NodeFrame *	getFrame () const

HighResolutionRange *	getHighResolutionRange ()

const HighResolutionRange *	getHighResolutionRange () const

bool	getIgnoreBend () const

agx::Vec3	getIntegratedPosition (agx::Real t, bool onlyTranslational=true) const
	Calculates the position of this node at time t from now.

NodeMaterial *	getMaterial ()

const NodeMaterial *	getMaterial () const

NodeFrame &	getNodeFrame ()

Type	getNodeType () const

const agx::Vec3 &	getPosition () const

agx::RigidBody *	getRigidBody () const

int	getState () const

const agx::Vec3 &	getTranslate () const

Node::Type	getType () const

virtual agx::Vec3	getVelocity () const

const agx::Vec3 &	getWorldPosition () const

agx::Bool	isType (agx::Int typeMask) const
	Test several types, e.g., node->isType( agxWire::Node::EYE \| agxWire::Node::CONNECTING ).

void	removeState (int state)
	Remove state mask from the current state.

virtual void	reverse ()
	Only for internal use! Reverses all, internal, direction dependent structures.

void	setCustomData (agx::Referenced *customData)
	Set custom data to this node.

void	setIgnoreBend (bool ignoreBend)
	Flag if bend constraints should be ignored over this node.

void	setTranslate (agx::Real x, agx::Real y, agx::Real z)
	Set the relative translate of this node in parent frame (body frame if body is set, otherwise world frame)

virtual void	setTranslate (const agx::Vec3 &translate)
	Set the relative translate of this node in parent frame (body frame if body is set, otherwise world frame)

void	transform ()
	Transforms the frame.

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

Static Public Member Functions inherited from agxWire::Node
static int	findNodeState (const agxCollide::Geometry *geometry)
	Class used to track nodes when CCD is used.

static agx::Bool	isContactType (const Node *node)

static agx::Bool	isContactType (const Node::Type &type)

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
	ConnectingNode ()
	Protected default constructor.

virtual	~ConnectingNode ()
	Destructor.

void	create (agx::RigidBody *rb, const agx::Vec3 &relativeTranslate)
	Create method used by public constructors.

Protected Member Functions inherited from agxWire::EyeNode
	EyeNode ()
	Protected default constructor.

	EyeNode (Type type, agx::Real radius=agx::Real(0))
	Protected constructor used by other nodes.

virtual	~EyeNode ()
	Destructor.

void	create (agx::RigidBody *rb, const agx::Vec3 &relativeTranslate, const agx::Vec3 &extraEyeVector, agx::Real radius)
	Create method used by all public constructors.

Protected Member Functions inherited from agxWire::Node
	Node ()
	Default constructor.

	Node (Type type)
	Constructor given general node type.

virtual	~Node ()
	Destructor.

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
BodyFixedNodeRef	m_cmNode

Protected Attributes inherited from agxWire::EyeNode
agx::ref_ptr< EyeNode >	m_childNode

agx::Vec3	m_normal

agx::Real	m_radius

bool	m_reverseAdd

Protected Attributes inherited from agxWire::Node
BodyFixedNode *	m_bodyFixed

ConnectingNode *	m_connecting

ContactNode *	m_contact

ContactForce	m_contactForce

agx::ref_ptr< agx::Referenced >	m_customData

EyeNode *	m_eye

FreeNode *	m_free

HighResolutionRange	m_highResolutionRange

NodeMaterial	m_material

NodeFrame	m_nf

int	m_nodeState

agx::observer_ptr< Node >	m_parent

ShapeContactNode *	m_shapeContact

SpatialState	m_spatialState

StopNode *	m_stop

StoreRestoreData	m_storeRestoreData

Tension	m_tension

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 agxWire::Node
enum	StateInfo { STANDARD = 0 , WAS_CONTACT = (1<< 0) , IS_HIGH_RES = (1<< 1) , IGNORE_BEND = (1<< 2) , NO_LUMP_NEAR = (1<< 3) , NO_CIRCLE_CONTACT = (1<< 4) , GYPSY_CONTACT = (1<< 5) , NO_MOVEMENT_RANGE = (1<< 6) , NO_FRICTION = (1<< 7) , SPLIT_ENABLED = (1<< 8) , INSIDE_OBJECT = (1<< 9) , WAS_CONTACT_LAST_TIMESTEP = (1<<10) , PERMANENT_LUMP = (1<<11) , REPLACE_SUPERBEND_WITH_BEND = (1<<12) , LUMPED_NODE = (1<<13) , LUMP_CONTACT = (1<<14) , WW_STABILIZED = (1<<15) }
	Internal state a node may have. More...

enum	Type { NOT_DEFINED = 0 , EYE = (1<<0) , MISSING = (1<<1) , CONNECTING = (1<<2) , FREE = (1<<3) , CONTACT = (1<<4) , BODY_FIXED = (1<<5) , STOP = (1 << 6) , SHAPE_CONTACT = (1<<7) }
	The supported node types. More...

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

Connecting nodes contains two nodes, one at center of mass and the other at the user defined position.

Used to handle heavy loads and this type carries special constraints for stability.

Definition at line 1557 of file agxWire/Node.h.

Constructor & Destructor Documentation

◆ ConnectingNode() [1/2]

agxWire::ConnectingNode::ConnectingNode	(	agx::RigidBody *	rb,
		const agx::Vec3 &	relativeTranslate,
		agx::Real	radius
	)

Construct connecting node given body, model frame offset and radius.

Parameters

rb	- body this node should be attached to
relativeTranslate	- model frame offset
radius	- radius of this node

◆ ConnectingNode() [2/2]

agxWire::ConnectingNode::ConnectingNode ( )

protected

Protected default constructor.

◆ ~ConnectingNode()

virtual agxWire::ConnectingNode::~ConnectingNode ( )

protectedvirtual

Destructor.

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

agxWire::ConnectingNode::AGXSTREAM_DECLARE_SERIALIZABLE_BASE ( agxWire::ConnectingNode )

◆ create() [1/2]

void agxWire::ConnectingNode::create	(	agx::RigidBody *	rb,
		const agx::Vec3 &	relativeTranslate
	)

protected

Create method used by public constructors.

Parameters

rb	- the body
relativeTranslate	- model frame offset

◆ create() [2/2]

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

inlinestatic

Definition at line 1627 of file agxWire/Node.h.

◆ fullTransform()

void agxWire::ConnectingNode::fullTransform ( )

Transform this and (if present) the center of mass node.

◆ getCmNode()

BodyFixedNode * agxWire::ConnectingNode::getCmNode ( ) const

Returns: the extra node located at center of mass of the rigid body

◆ getOffsetLength()

agx::Real agxWire::ConnectingNode::getOffsetLength ( ) const

Returns: the length from model center to this node

◆ setCmNode()

void agxWire::ConnectingNode::setCmNode ( agxWire::BodyFixedNode * cmNode )

Internal method used by serialization to assign the stored center of mass node.

Parameters

cmNode - new center of mass node

Member Data Documentation

◆ m_cmNode

BodyFixedNodeRef agxWire::ConnectingNode::m_cmNode

protected

Definition at line 1648 of file agxWire/Node.h.

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

agxWire/Node.h

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ConnectingNode() [1/2]

◆ ConnectingNode() [2/2]

◆ ~ConnectingNode()

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

◆ create() [1/2]

◆ create() [2/2]

◆ fullTransform()

◆ getCmNode()

◆ getOffsetLength()

◆ setCmNode()

Member Data Documentation

◆ m_cmNode