Eye node is a type of node that can slide along a wire with or without friction. More...

#include <Node.h>

Inheritance diagram for agxWire::EyeNode:

Public Member Functions
	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::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
	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
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

Eye node is a type of node that can slide along a wire with or without friction.

Definition at line 1380 of file agxWire/Node.h.

Constructor & Destructor Documentation

◆ EyeNode() [1/6]

agxWire::EyeNode::EyeNode	(	agx::RigidBody *	rb,
		agx::Real	radius = `agx::Real(0)`
	)

Construct a sliding node given a body and a radius.

This node will be located at model center of the body.

Parameters

rb	- the body this node should be attached to
radius	- radius of this eye node (default: 0)

◆ EyeNode() [2/6]

agxWire::EyeNode::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.

Parameters

rb	- the body this node should be attached to
relativeTranslate	- body model center offset
radius	- radius of this node (default: 0)

◆ EyeNode() [3/6]

agxWire::EyeNode::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.

An approach to get the correct geometry of something sliding along the wire, pass the vector from relativeTranslate pointing out where an extra eye node will be created.

Parameters

rb	- the body this node should be attached to
relativeTranslate	- body model center offset
extraEyeVector	- vector pointing out where to put an extra node to achieve plausible geometry of an eye node
radius	- radius of this node (default: 0)

◆ EyeNode() [4/6]

agxWire::EyeNode::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.

Optional; to get the correct geometry of something sliding along the wire, pass the vector from relativeTranslate pointing out where an extra eye node will be created.

Parameters

rb	- the body this node should be attached to
relTranslate_x	- x body model center offset
relTranslate_y	- y body model center offset
relTranslate_z	- z body model center offset
extraEyeVector	- vector pointing out where to put an extra node to achieve plausible geometry of an eye node
radius	- radius of this node (default: 0)

◆ EyeNode() [5/6]

agxWire::EyeNode::EyeNode ( )

protected

Protected default constructor.

◆ EyeNode() [6/6]

agxWire::EyeNode::EyeNode	(	Type	type,
		agx::Real	radius = `agx::Real(0)`
	)

protected

Protected constructor used by other nodes.

Parameters

type	- node type
radius	- radius

◆ ~EyeNode()

virtual agxWire::EyeNode::~EyeNode ( )

protectedvirtual

Destructor.

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

agxWire::EyeNode::AGXSTREAM_DECLARE_SERIALIZABLE_BASE ( agxWire::EyeNode )

◆ create() [1/2]

void agxWire::EyeNode::create	(	agx::RigidBody *	rb,
		const agx::Vec3 &	relativeTranslate,
		const agx::Vec3 &	extraEyeVector,
		agx::Real	radius
	)

protected

Create method used by all public constructors.

Parameters

rb	- the body
relativeTranslate	- model frame offset
extraEyeVector	- if \|v\| > 0 an extra eye will be created
radius	- radius

◆ create() [2/2]

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

inlinestatic

Definition at line 1513 of file agxWire/Node.h.

◆ findSpeedAlongWire()

agx::Real agxWire::EyeNode::findSpeedAlongWire ( const agxWire::Wire * wire ) const

Calculates the speed in which this eye node travels along a wire.

Parameters

wire	- the wire containing this eye node

Returns: speed of this node along wire (0 if not on wire or wire not initialized)

◆ getChildNode() [1/2]

EyeNode * agxWire::EyeNode::getChildNode ( )

Returns: child node if this node carries one

◆ getChildNode() [2/2]

const EyeNode * agxWire::EyeNode::getChildNode ( ) const

Returns: child node if this node carries one

◆ getDistanceToChild()

agx::Real agxWire::EyeNode::getDistanceToChild ( ) const

Returns: the distance from this node to its child node (if child present)

◆ getFixFrictionDirection()

bool agxWire::EyeNode::getFixFrictionDirection ( ) const

Returns: true if this eye has fixed friction direction enabled

◆ getParentNode()

EyeNode * agxWire::EyeNode::getParentNode ( ) const

Returns: the parent node if this is a child

◆ getRadius()

agx::Real agxWire::EyeNode::getRadius ( ) const

Returns: the radius of this eye node (default 0)

◆ getReverseAdd()

bool agxWire::EyeNode::getReverseAdd ( ) const

Returns: true if reverse add is enabled

◆ getVectorToChild()

agx::Vec3 agxWire::EyeNode::getVectorToChild ( ) const

Returns: the relative translation from this node to its child node (if child present)

◆ reverse()

virtual void agxWire::EyeNode::reverse ( )

overridevirtual

Only for internal use! Reverse all direction dependent internal structures.

Reimplemented from agxWire::Node.

◆ setFixFrictionDirection()

void agxWire::EyeNode::setFixFrictionDirection	(	bool	fixFrictionDirection,
		bool	goForward
	)

Assign fixed friction direction for this eye node.

This is usually used for eye nodes with infinite friction.

Parameters

fixFrictionDirection	- true to enable fixed friction direction
goForward	- true if the friction constraints should be attached before this node, false means after

◆ setRadius()

void agxWire::EyeNode::setRadius ( agx::Real radius )

Set the radius of this eye node.

Parameters

radius - new radius (default 0)

◆ setReverseAdd()

void agxWire::EyeNode::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.

Default is that the parent node gets added before the child node.

Parameters

reverseAdd - if true, this child node will be added/inserted before the parent node

◆ setVectorToChild()

void agxWire::EyeNode::setVectorToChild ( const agx::Vec3 & vec )

set the relative translation from this node to its child node (if child present)

Member Data Documentation

◆ m_childNode

agx::ref_ptr< EyeNode > agxWire::EyeNode::m_childNode

protected

Definition at line 1543 of file agxWire/Node.h.

◆ m_normal

agx::Vec3 agxWire::EyeNode::m_normal

protected

Definition at line 1546 of file agxWire/Node.h.

◆ m_radius

agx::Real agxWire::EyeNode::m_radius

protected

Definition at line 1545 of file agxWire/Node.h.

◆ m_reverseAdd

bool agxWire::EyeNode::m_reverseAdd

protected

Definition at line 1544 of file agxWire/Node.h.

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

agxWire/Node.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ EyeNode() [1/6]

◆ EyeNode() [2/6]

◆ EyeNode() [3/6]

◆ EyeNode() [4/6]

◆ EyeNode() [5/6]

◆ EyeNode() [6/6]

◆ ~EyeNode()

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

◆ create() [1/2]

◆ create() [2/2]

◆ findSpeedAlongWire()

◆ getChildNode() [1/2]

◆ getChildNode() [2/2]

◆ getDistanceToChild()

◆ getFixFrictionDirection()

◆ getParentNode()

◆ getRadius()

◆ getReverseAdd()

◆ getVectorToChild()

◆ reverse()

◆ setFixFrictionDirection()

◆ setRadius()

◆ setReverseAdd()

◆ setVectorToChild()

Member Data Documentation

◆ m_childNode

◆ m_normal

◆ m_radius

◆ m_reverseAdd