Contact node class is a node that, currently, is defined to live on an edge on a geometry (agxCollide::Geometry). More...

#include <Node.h>

Inheritance diagram for agxWire::ContactNode:

Public Types
enum	MovementRange { MOVEMENT_RANGE_START = 1 , MOVEMENT_RANGE_END = 2 }
	Clamp definition. More...

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...

Public Member Functions
	ContactNode (agxCollide::Geometry *geometry, const agx::Vec3 &shapeRelativeTranslate, const agx::Vec3 &shapeEdgeStart, const agx::Vec3 &shapeEdgeEnd, const agx::Vec3 &shapeEdge)
	Construct a contact node given geometry, translate, edge start and end and the edge direction (all points/vectors must be given in shape coordinate system).

	ContactNode (agxCollide::Geometry *geometry, const agx::Vec3 &shapeRelativeTranslate=agx::Vec3())
	Construct a contact node given geometry and relative translate in shape coordinates.

	ContactNode (ContactNode *cn)
	Like a copy constructor.

agxCollide::Geometry *	getGeometry () const

MeshIndex *	getMeshIndex ()

const MeshIndex *	getMeshIndex () const

bool	getNoStickContact () const

void	setGeometry (agxCollide::Geometry *geometry)
	Assign new geometry to this node.

void	setNoStickContact (bool noStickyContact)
	Enable this and the normal force vs gravity force test is ignored.

virtual void	setTranslate (const agx::Vec3 &shapeTranslate) override
	Set translate of this contact wire node in shape coordinates.

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.

Protected Member Functions
	ContactNode ()
	Protected default constructor.

virtual	~ContactNode ()
	Destructor.

void	create (agxCollide::Geometry *geometry, const agx::Vec3 &shapeRelativeTranslate, const agx::Vec3 &shapeEdgeStart, const agx::Vec3 &shapeEdgeEnd, const agx::Vec3 &shapeEdge)
	Create method all public constructors should use.

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
size_t	m_clamped

GeometryRefDepthTable	m_collidedGeometries

agx::Vec3	m_edgeOffsetFromSurface

agx::Real	m_edgeVelocity

agx::observer_ptr< agxCollide::Geometry >	m_geometry

MeshIndex	m_meshIndex

agx::observer_ptr< agxCollide::Geometry >	m_nextGeometry

bool	m_openAngle

agx::Vec3	m_shapeEdge

agx::Vec3	m_shapeEdgeEnd

agx::Vec3	m_shapeEdgeStart

agx::Vec3	m_shapeFullRangeEnd

agx::Vec3	m_shapeFullRangeStart

agx::Vec3	m_shapePreviousPosition

agx::Vec3	m_shapeTranslate

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
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.

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

Contact node class is a node that, currently, is defined to live on an edge on a geometry (agxCollide::Geometry).

Definition at line 1725 of file agxWire/Node.h.

Member Enumeration Documentation

◆ MovementRange

enum agxWire::ContactNode::MovementRange

Clamp definition.

Enumerator
MOVEMENT_RANGE_START	Clamped at edge start.
MOVEMENT_RANGE_END	Clamped at edge end.

Definition at line 1731 of file agxWire/Node.h.

Constructor & Destructor Documentation

◆ ContactNode() [1/4]

agxWire::ContactNode::ContactNode	(	agxCollide::Geometry *	geometry,
		const agx::Vec3 &	shapeRelativeTranslate,
		const agx::Vec3 &	shapeEdgeStart,
		const agx::Vec3 &	shapeEdgeEnd,
		const agx::Vec3 &	shapeEdge
	)

Construct a contact node given geometry, translate, edge start and end and the edge direction (all points/vectors must be given in shape coordinate system).

Parameters

geometry	- geometry with one shape
shapeRelativeTranslate	- translate relative the shape
shapeEdgeStart	- edge start given in shape coordinates
shapeEdgeEnd	- edge end given in shape coordinates
shapeEdge	- edge direction given in shape coordinates

◆ ContactNode() [2/4]

agxWire::ContactNode::ContactNode ( ContactNode * cn )

Like a copy constructor.

This node will be a copy of cn.

Parameters

cn	- contact node to copy

◆ ContactNode() [3/4]

agxWire::ContactNode::ContactNode	(	agxCollide::Geometry *	geometry,
		const agx::Vec3 &	shapeRelativeTranslate = `agx::Vec3()`
	)

Construct a contact node given geometry and relative translate in shape coordinates.

Note that the translate will be corrected to fit the shape. A movement range and edge will be calculated when this node is added to a wire.

Parameters

geometry	- a geometry with one supported shape (supported shapes: box and cylinder)
shapeRelativeTranslate	- translate in shape coordinates

◆ ContactNode() [4/4]

agxWire::ContactNode::ContactNode ( )

protected

Protected default constructor.

◆ ~ContactNode()

virtual agxWire::ContactNode::~ContactNode ( )

protectedvirtual

Destructor.

Member Function Documentation

◆ create()

void agxWire::ContactNode::create	(	agxCollide::Geometry *	geometry,
		const agx::Vec3 &	shapeRelativeTranslate,
		const agx::Vec3 &	shapeEdgeStart,
		const agx::Vec3 &	shapeEdgeEnd,
		const agx::Vec3 &	shapeEdge
	)

protected

Create method all public constructors should use.

Parameters

geometry	- geometry this node is relative to
shapeRelativeTranslate	- shape offset (shape coordinate system)
shapeEdgeStart	- start of edge in shape coordinates
shapeEdgeEnd	- end of edge in shape coordinates
shapeEdge	- direction of the edge in shape coordinates

◆ getGeometry()

agxCollide::Geometry * agxWire::ContactNode::getGeometry ( ) const

Returns: this the geometry this code is in contact with

◆ getMeshIndex() [1/2]

ContactNode::MeshIndex * agxWire::ContactNode::getMeshIndex ( )

Returns: the mesh index class

Definition at line 2189 of file agxWire/Node.h.

◆ getMeshIndex() [2/2]

const ContactNode::MeshIndex * agxWire::ContactNode::getMeshIndex ( ) const

Returns: the mesh index class

Definition at line 2194 of file agxWire/Node.h.

◆ getNoStickContact()

bool agxWire::ContactNode::getNoStickContact ( ) const

Returns: true if no stick contact is enabled

◆ setGeometry()

void agxWire::ContactNode::setGeometry ( agxCollide::Geometry * geometry )

Assign new geometry to this node.

The node state will be updated but not the relative offset.

Parameters

geometry - new geometry

◆ setNoStickContact()

void agxWire::ContactNode::setNoStickContact ( bool noStickyContact )

Enable this and the normal force vs gravity force test is ignored.

◆ setTranslate()

virtual void agxWire::ContactNode::setTranslate ( const agx::Vec3 & shapeTranslate )

overridevirtual

Set translate of this contact wire node in shape coordinates.

Internal method

Parameters

shapeTranslate - translate given in shape coordinate system

Reimplemented from agxWire::Node.

Member Data Documentation

◆ m_clamped

size_t agxWire::ContactNode::m_clamped

protected

Definition at line 2050 of file agxWire/Node.h.

◆ m_collidedGeometries

GeometryRefDepthTable agxWire::ContactNode::m_collidedGeometries

protected

Definition at line 2049 of file agxWire/Node.h.

◆ m_edgeOffsetFromSurface

agx::Vec3 agxWire::ContactNode::m_edgeOffsetFromSurface

protected

Definition at line 2048 of file agxWire/Node.h.

◆ m_edgeVelocity

agx::Real agxWire::ContactNode::m_edgeVelocity

protected

Definition at line 2052 of file agxWire/Node.h.

◆ m_geometry

agx::observer_ptr< agxCollide::Geometry > agxWire::ContactNode::m_geometry

protected

Definition at line 2039 of file agxWire/Node.h.

◆ m_meshIndex

MeshIndex agxWire::ContactNode::m_meshIndex

protected

Definition at line 2053 of file agxWire/Node.h.

◆ m_nextGeometry

agx::observer_ptr< agxCollide::Geometry > agxWire::ContactNode::m_nextGeometry

protected

Definition at line 2040 of file agxWire/Node.h.

◆ m_openAngle

bool agxWire::ContactNode::m_openAngle

protected

Definition at line 2051 of file agxWire/Node.h.

◆ m_shapeEdge

agx::Vec3 agxWire::ContactNode::m_shapeEdge

protected

Definition at line 2044 of file agxWire/Node.h.

◆ m_shapeEdgeEnd

agx::Vec3 agxWire::ContactNode::m_shapeEdgeEnd

protected

Definition at line 2043 of file agxWire/Node.h.

◆ m_shapeEdgeStart

agx::Vec3 agxWire::ContactNode::m_shapeEdgeStart

protected

Definition at line 2042 of file agxWire/Node.h.

◆ m_shapeFullRangeEnd

agx::Vec3 agxWire::ContactNode::m_shapeFullRangeEnd

protected

Definition at line 2046 of file agxWire/Node.h.

◆ m_shapeFullRangeStart

agx::Vec3 agxWire::ContactNode::m_shapeFullRangeStart

protected

Definition at line 2045 of file agxWire/Node.h.

◆ m_shapePreviousPosition

agx::Vec3 agxWire::ContactNode::m_shapePreviousPosition

protected

Definition at line 2047 of file agxWire/Node.h.

◆ m_shapeTranslate

agx::Vec3 agxWire::ContactNode::m_shapeTranslate

protected

Definition at line 2041 of file agxWire/Node.h.

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

agxWire/Node.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ MovementRange

Constructor & Destructor Documentation

◆ ContactNode() [1/4]

◆ ContactNode() [2/4]

◆ ContactNode() [3/4]

◆ ContactNode() [4/4]

◆ ~ContactNode()

Member Function Documentation

◆ create()

◆ getGeometry()

◆ getMeshIndex() [1/2]

◆ getMeshIndex() [2/2]

◆ getNoStickContact()

◆ setGeometry()

◆ setNoStickContact()

◆ setTranslate()

Member Data Documentation

◆ m_clamped

◆ m_collidedGeometries

◆ m_edgeOffsetFromSurface

◆ m_edgeVelocity

◆ m_geometry

◆ m_meshIndex

◆ m_nextGeometry

◆ m_openAngle

◆ m_shapeEdge

◆ m_shapeEdgeEnd

◆ m_shapeEdgeStart

◆ m_shapeFullRangeEnd

◆ m_shapeFullRangeStart

◆ m_shapePreviousPosition

◆ m_shapeTranslate