agxWire::Node Class Reference

Class defining a node that is part of a wire. More...

#include <Node.h>

Inheritance diagram for agxWire::Node:

Public Types
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
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 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
	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
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 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

Class defining a node that is part of a wire.

Definition at line 511 of file agxWire/Node.h.

Member Enumeration Documentation

StateInfo

enum agxWire::Node::StateInfo

Internal state a node may have.

Enumerator
STANDARD	Default state.
WAS_CONTACT	If this node was a contact, it may live independent of the resolution.
IS_HIGH_RES	States if this node is a high resolution node.
IGNORE_BEND	States if the bend constraint should be forced to be disable over this node.
NO_LUMP_NEAR	If set, lumped/mass elements may not be closer than a predefined distance.
NO_CIRCLE_CONTACT	States if this node can live on a circle (e.g., disc area on a cylinder).
GYPSY_CONTACT	Internal state.
NO_MOVEMENT_RANGE	States if this node can move along a contact edge or not.
NO_FRICTION	No friction constraints may be created from this node.
SPLIT_ENABLED	Internal state. If set, this node splits the wire.
INSIDE_OBJECT	Internal state.
WAS_CONTACT_LAST_TIMESTEP	If this node was contact last time step, it may not be removed for stability reasons.
PERMANENT_LUMP	This node has a permanent position in the wire and can not be removed by the wire it self.
REPLACE_SUPERBEND_WITH_BEND	Internal state.
LUMPED_NODE	Set if this node is an internal mass node of a wire.
LUMP_CONTACT	Internal state.
WW_STABILIZED	Internal state.

Definition at line 535 of file agxWire/Node.h.

Type

enum agxWire::Node::Type

The supported node types.

Enumerator
NOT_DEFINED	Default type is undefined.
EYE	Eye nodes are nodes that slides along the wire.
MISSING	Node not used.
CONNECTING	Connecting nodes contains two nodes, one at center of mass and the other at the user defined position. Used to handle heavy loads and carries special constraints for stability.
FREE	Free nodes are used to route the wire.
CONTACT	Contact nodes may appear during contact with other objects.
BODY_FIXED	Body fixed node has a fixed position relative a parent (body or world).
STOP	Stop nodes are an internal node used round winches.
SHAPE_CONTACT	Stop nodes are an internal node used round winches.

Definition at line 517 of file agxWire/Node.h.

Constructor & Destructor Documentation

Node() [1/2]

agxWire::Node::Node ( Type  type )

protected

Constructor given general node type.

Node() [2/2]

agxWire::Node::Node ( )

protected

Default constructor.

~Node()

virtual agxWire::Node::~Node ( )

protectedvirtual

Destructor.

Member Function Documentation

addState()

void agxWire::Node::addState

(

int

state

)

Add state mask to the current state.

Parameters

state

- state to add

findNodeState()

static int agxWire::Node::findNodeState ( const agxCollide::Geometry *  geometry )

static

Class used to track nodes when CCD is used.

Finds initial node state given geometry.

Parameters

geometry

- the geometry

Returns

the node state

getAsBodyFixed() [1/2]

BodyFixedNode * agxWire::Node::getAsBodyFixed

(

)

Returns

this node as a body fixed node (0 if this isn't a body fixed node)

Definition at line 2129 of file agxWire/Node.h.

getAsBodyFixed() [2/2]

const BodyFixedNode * agxWire::Node::getAsBodyFixed

(

)

const

Returns

this node as a body fixed node (0 if this isn't a body fixed node)

Definition at line 2134 of file agxWire/Node.h.

getAsConnecting() [1/2]

ConnectingNode * agxWire::Node::getAsConnecting

(

)

Returns

this node as connecting node (0 if this isn't a connecting node)

Definition at line 2149 of file agxWire/Node.h.

getAsConnecting() [2/2]

const ConnectingNode * agxWire::Node::getAsConnecting

(

)

const

Returns

this node as connecting node (0 if this isn't a connecting node)

Definition at line 2154 of file agxWire/Node.h.

getAsContact() [1/2]

ContactNode * agxWire::Node::getAsContact

(

)

Returns

this node as a contact node (0 if this isn't a contact node)

Definition at line 2169 of file agxWire/Node.h.

getAsContact() [2/2]

const ContactNode * agxWire::Node::getAsContact

(

)

const

Returns

this node as a contact node (0 if this isn't a contact node)

Definition at line 2174 of file agxWire/Node.h.

getAsEye() [1/2]

EyeNode * agxWire::Node::getAsEye

(

)

Returns

this node as eye node (0 if this isn't an eye node)

Definition at line 2139 of file agxWire/Node.h.

getAsEye() [2/2]

const EyeNode * agxWire::Node::getAsEye

(

)

const

Returns

this node as eye node (0 if this isn't an eye node)

Definition at line 2144 of file agxWire/Node.h.

getAsEyeLineNode() [1/2]

EyeNode * agxWire::Node::getAsEyeLineNode

(

)

Deprecated:

Deprecated interface.

Returns

node as eye node (0 if this isn't an eye node)

getAsEyeLineNode() [2/2]

const EyeNode * agxWire::Node::getAsEyeLineNode

(

)

const

Deprecated:

Deprecated interface.

Returns

node as eye node (0 if this isn't an eye node)

getAsFree() [1/2]

FreeNode * agxWire::Node::getAsFree

(

)

Returns

this node as free node (0 if this isn't an free node)

getAsFree() [2/2]

const FreeNode * agxWire::Node::getAsFree

(

)

const

Returns

this node as free node (0 if this isn't an free node)

getAsShapeContact() [1/2]

ShapeContactNode * agxWire::Node::getAsShapeContact

(

)

Returns

this node as a shape contact node (0 if this isn't a contact node)

Definition at line 2184 of file agxWire/Node.h.

getAsShapeContact() [2/2]

const ShapeContactNode * agxWire::Node::getAsShapeContact

(

)

const

Returns

this node as a shape contact node (0 if this isn't a contact node)

Definition at line 2179 of file agxWire/Node.h.

getAsStop() [1/2]

StopNode * agxWire::Node::getAsStop

(

)

Returns

this node as a stop node (0 if this isn't a stop node)

Definition at line 2159 of file agxWire/Node.h.

getAsStop() [2/2]

const StopNode * agxWire::Node::getAsStop

(

)

const

Returns

this node as a stop node (0 if this isn't a stop node)

Definition at line 2164 of file agxWire/Node.h.

getCustomData()

agx::Referenced * agxWire::Node::getCustomData

(

)

const

Returns

custom data

getFrame() [1/2]

NodeFrame * agxWire::Node::getFrame

(

)

Returns

this nodes frame

Definition at line 2109 of file agxWire/Node.h.

Referenced by agxWire::findPointOnWire().

getFrame() [2/2]

const NodeFrame * agxWire::Node::getFrame

(

)

const

Returns

this nodes frame

Definition at line 2114 of file agxWire/Node.h.

getHighResolutionRange() [1/2]

HighResolutionRange * agxWire::Node::getHighResolutionRange

(

)

Returns

the high resolution range to control dynamic, or variable, node density in a wire

getHighResolutionRange() [2/2]

const HighResolutionRange * agxWire::Node::getHighResolutionRange

(

)

const

Returns

the high resolution range to control dynamic, or variable, node density in a wire

getIgnoreBend()

bool agxWire::Node::getIgnoreBend

(

)

const

Returns

true if bend should be ignored over this node

getIntegratedPosition()

agx::Vec3 agxWire::Node::getIntegratedPosition	(	agx::Real	t,
		bool	onlyTranslational = true
	)		const

Calculates the position of this node at time t from now.

Parameters

t	- delta time from now
onlyTranslational	- if true (default) the angular velocity of the body will not be taken into account

Returns

the world position of this node at current time + t

Note

The position gets less and less accurate for delta times larger than the time step.

getMaterial() [1/2]

NodeMaterial * agxWire::Node::getMaterial

(

)

Returns

the material

getMaterial() [2/2]

const NodeMaterial * agxWire::Node::getMaterial

(

)

const

Returns

the material

getNodeFrame()

NodeFrame & agxWire::Node::getNodeFrame

(

)

Deprecated:

Deprecated interface.

See also

getFrame

Returns

this nodes frame

getNodeType()

Type agxWire::Node::getNodeType

(

)

const

Deprecated:

Deprecated interface.

See also

getType

Returns

the type of this node

getPosition()

const agx::Vec3 & agxWire::Node::getPosition

(

)

const

Deprecated:

Deprecated interface.

getRigidBody()

agx::RigidBody * agxWire::Node::getRigidBody

(

)

const

Returns

rigid body (0 if none) of this node

Definition at line 2124 of file agxWire/Node.h.

getState()

int agxWire::Node::getState

(

)

const

Returns

the current state mask

getTranslate()

const agx::Vec3 & agxWire::Node::getTranslate

(

)

const

Returns

the original relative translate in the parent frame (if no body, world frame otherwise body frame)

getType()

Node::Type agxWire::Node::getType

(

)

const

Returns

the type of this node

Definition at line 2099 of file agxWire/Node.h.

getVelocity()

virtual agx::Vec3 agxWire::Node::getVelocity ( ) const

virtual

Returns

the velocity of this node

Reimplemented in agxWire::ShapeContactNode.

getWorldPosition()

const agx::Vec3 & agxWire::Node::getWorldPosition

(

)

const

Returns

the world position of this node

Definition at line 2119 of file agxWire/Node.h.

isContactType() [1/2]

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

static

isContactType() [2/2]

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

static

isType()

agx::Bool agxWire::Node::isType

(

agx::Int

typeMask

)

const

Test several types, e.g., node->isType( agxWire::Node::EYE | agxWire::Node::CONNECTING ).

Returns

true if the type mask matches this nodes type

Definition at line 2104 of file agxWire/Node.h.

removeState()

void agxWire::Node::removeState

(

int

state

)

Remove state mask from the current state.

Parameters

state

- state to remove

reverse()

virtual void agxWire::Node::reverse ( )

virtual

Only for internal use! Reverses all, internal, direction dependent structures.

Reimplemented in agxWire::EyeNode.

setCustomData()

void agxWire::Node::setCustomData

(

agx::Referenced *

customData

)

Set custom data to this node.

Parameters

customData

- custom data

setIgnoreBend()

void agxWire::Node::setIgnoreBend

(

bool

ignoreBend

)

Flag if bend constraints should be ignored over this node.

setTranslate() [1/2]

void agxWire::Node::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)

setTranslate() [2/2]

virtual void agxWire::Node::setTranslate ( const agx::Vec3 &  translate )

virtual

Set the relative translate of this node in parent frame (body frame if body is set, otherwise world frame)

Reimplemented in agxWire::ContactNode.

transform()

void agxWire::Node::transform

(

)

Transforms the frame.

Member Data Documentation

m_bodyFixed

BodyFixedNode* agxWire::Node::m_bodyFixed

protected

Definition at line 1141 of file agxWire/Node.h.

m_connecting

ConnectingNode* agxWire::Node::m_connecting

protected

Definition at line 1143 of file agxWire/Node.h.

m_contact

ContactNode* agxWire::Node::m_contact

protected

Definition at line 1145 of file agxWire/Node.h.

m_contactForce

ContactForce agxWire::Node::m_contactForce

protected

Definition at line 1136 of file agxWire/Node.h.

m_customData

agx::ref_ptr< agx::Referenced > agxWire::Node::m_customData

protected

Definition at line 1138 of file agxWire/Node.h.

m_eye

EyeNode* agxWire::Node::m_eye

protected

Definition at line 1142 of file agxWire/Node.h.

m_free

FreeNode* agxWire::Node::m_free

protected

Definition at line 1140 of file agxWire/Node.h.

m_highResolutionRange

HighResolutionRange agxWire::Node::m_highResolutionRange

protected

Definition at line 1132 of file agxWire/Node.h.

m_material

NodeMaterial agxWire::Node::m_material

protected

Definition at line 1133 of file agxWire/Node.h.

m_nf

NodeFrame agxWire::Node::m_nf

protected

Definition at line 1130 of file agxWire/Node.h.

m_nodeState

int agxWire::Node::m_nodeState

protected

Definition at line 1134 of file agxWire/Node.h.

m_parent

agx::observer_ptr< Node > agxWire::Node::m_parent

protected

Definition at line 1151 of file agxWire/Node.h.

m_shapeContact

ShapeContactNode* agxWire::Node::m_shapeContact

protected

Definition at line 1146 of file agxWire/Node.h.

m_spatialState

SpatialState agxWire::Node::m_spatialState

protected

Definition at line 1149 of file agxWire/Node.h.

m_stop

StopNode* agxWire::Node::m_stop

protected

Definition at line 1144 of file agxWire/Node.h.

m_storeRestoreData

StoreRestoreData agxWire::Node::m_storeRestoreData

protected

Definition at line 1148 of file agxWire/Node.h.

m_tension

Tension agxWire::Node::m_tension

protected

Definition at line 1135 of file agxWire/Node.h.

m_type

Type agxWire::Node::m_type

protected

Definition at line 1131 of file agxWire/Node.h.

---

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

• agxWire/Node.h