agxWire::ShapeContactNode Class Reference

#include <ShapeContactNode.h>

Inheritance diagram for agxWire::ShapeContactNode:

Public Types
enum	ContactState {   NO_ISSUES = 0 , PREV_IS_CLOSE = 1 << 0 , NEXT_IS_CLOSE = 1 << 1 , PREV_HAS_SAME_NORMAL = 1 << 2 ,   NEXT_HAS_SAME_NORMAL = 1 << 3 , ANGLE_NOT_VALID = 1 << 4 , NEAR_CLAMP_POSITION = 1 << 5 , WORTHLESS_MIDDLE_CONTACT = 1 << 6 ,   REMOVE_IMEDIATELY = 1 << 7 , LEAVING_GYPSY = 1 << 8 }
enum class	NodeExistancePolicy { KEEP = 0 , REMOVE , REPLACE , REMOVED }
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
	ShapeContactNode ()
	ShapeContactNode (agxCollide::Shape *shape)
	ShapeContactNode (agxCollide::Shape *shape, const agx::Real &wireRadius, const agx::Vec3 &shapeLocalPoint)
	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agxWire::ShapeContactNode)
agx::Real	getEdgeEnd () const
agx::Real	getEdgeStart () const
agx::Real	getEdgeVelocity () const
agx::Real	getExtraLength () const
agxCollide::Shape *	getShape ()
const agxCollide::Shape *	getShape () const
ShapeContactEdge &	getShapeContactEdge ()
const ShapeContactEdge &	getShapeContactEdge () const
agx::Vec3	getShapeEdgeNormal () const
agx::Vec3	getShapeSurfaceNormal () const
	Get data in shape coordinates.
agx::Vec3	getShapeTranslate () const
virtual agx::Vec3	getVelocity () const override
void	getWorldEdgeEnds (agx::Vec3 &edgeStart, agx::Vec3 &edgeEnd)
	Returns the edge start and end position in world coordinates.
agx::Vec3	getWorldEdgeNormal () const
agx::Vec3	getWorldSurfaceNormal () const
agx::Bool	handleCylinderContact ()
	Treat special cases where the node shape is a cylinder and hasCylinderContactState() return true.
agx::Bool	hasCylinderContactState () const
	Find out if the node is a cylinder contact.
agx::Bool	initialize (const Wire *wire, const Node *prevNode, const Node *nextNode, const agx::Vec3 &surfacePoint)
	Initialize the node:
agx::Bool	isNearClampPosition (const agx::Real &edgeDefaultLength) const
void	resetEdgeLength (agx::Real edgeHalfLength)
	Undo all clamping.
void	setEdgeVelocity (const agx::Real &vel)
	set the velocity of the node along it's edge.
void	setExtraLength (const agx::Real extraLength)
	Set the extra lenght of this node this timestep.
void	setShapeContactEdge (ShapeContactEdge &shapeContactEdge)
	Set an edge to the node, containing shape etc.
void	setShapeTranslate (const agx::Vec3 &localPos)
	Update position using a local translate.
void	setVelocity (const agx::Vec3 &velocity)
	Set the velocity of the node in world coordinates.
void	setWorldPosition (const agx::Vec3 &worldPosition)
	Position the node in world coordinates.
agx::Vec3 &	velocity ()
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 ShapeContactNode *	createFromWorld (agxCollide::Shape *shape, const agx::Real &wireRadius, const agx::Vec3 &surfacePosition, const ShapeCurvature &worldCurvature)
static ShapeContactNode *	getAsShapeContact (agxWire::Node *node)
static const ShapeContactNode *	getAsShapeContact (const agxWire::Node *node)
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
virtual	~ShapeContactNode ()
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 ()

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.
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

Detailed Description

Definition at line 28 of file ShapeContactNode.h.

Member Enumeration Documentation

ContactState

enum agxWire::ShapeContactNode::ContactState

Enumerator
NO_ISSUES
PREV_IS_CLOSE
NEXT_IS_CLOSE
PREV_HAS_SAME_NORMAL
NEXT_HAS_SAME_NORMAL
ANGLE_NOT_VALID
NEAR_CLAMP_POSITION
WORTHLESS_MIDDLE_CONTACT
REMOVE_IMEDIATELY
LEAVING_GYPSY

Definition at line 37 of file ShapeContactNode.h.

NodeExistancePolicy

enum class agxWire::ShapeContactNode::NodeExistancePolicy

strong

Enumerator
KEEP
REMOVE
REPLACE
REMOVED

Definition at line 32 of file ShapeContactNode.h.

Constructor & Destructor Documentation

ShapeContactNode() [1/3]

agxWire::ShapeContactNode::ShapeContactNode

(

)

ShapeContactNode() [2/3]

agxWire::ShapeContactNode::ShapeContactNode

(

agxCollide::Shape *

shape

)

ShapeContactNode() [3/3]

agxWire::ShapeContactNode::ShapeContactNode	(	agxCollide::Shape *	shape,
		const agx::Real &	wireRadius,
		const agx::Vec3 &	shapeLocalPoint
	)

~ShapeContactNode()

virtual agxWire::ShapeContactNode::~ShapeContactNode ( )

protectedvirtual

Member Function Documentation

AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

agxWire::ShapeContactNode::AGXSTREAM_DECLARE_SERIALIZABLE_BASE

(

agxWire::ShapeContactNode

)

create()

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

inlinestatic

Definition at line 203 of file ShapeContactNode.h.

createFromWorld()

static ShapeContactNode * agxWire::ShapeContactNode::createFromWorld ( agxCollide::Shape *  shape, const agx::Real &  wireRadius, const agx::Vec3 &  surfacePosition, const ShapeCurvature &  worldCurvature  )

static

getAsShapeContact() [1/2]

static ShapeContactNode * agxWire::ShapeContactNode::getAsShapeContact ( agxWire::Node *  node )

static

getAsShapeContact() [2/2]

static const ShapeContactNode * agxWire::ShapeContactNode::getAsShapeContact ( const agxWire::Node *  node )

static

getEdgeEnd()

agx::Real agxWire::ShapeContactNode::getEdgeEnd

(

)

const

Returns

the edge end position, in edge coordinates. Should be >= 0.

getEdgeStart()

agx::Real agxWire::ShapeContactNode::getEdgeStart

(

)

const

Returns

the edge start position, in edge coordinates. Should be <= 0.

getEdgeVelocity()

agx::Real agxWire::ShapeContactNode::getEdgeVelocity

(

)

const

Returns

the veolcity of the node along it's edge.

getExtraLength()

agx::Real agxWire::ShapeContactNode::getExtraLength

(

)

const

Returns

extra length found from a solve of the WireContactDirectSolver.

getShape() [1/2]

agxCollide::Shape * agxWire::ShapeContactNode::getShape

(

)

Returns

the current shape of the node

getShape() [2/2]

const agxCollide::Shape * agxWire::ShapeContactNode::getShape

(

)

const

Returns

the current shape of the node

getShapeContactEdge() [1/2]

ShapeContactEdge & agxWire::ShapeContactNode::getShapeContactEdge

(

)

Returns

the shape edge object of this node

getShapeContactEdge() [2/2]

const ShapeContactEdge & agxWire::ShapeContactNode::getShapeContactEdge

(

)

const

getShapeEdgeNormal()

agx::Vec3 agxWire::ShapeContactNode::getShapeEdgeNormal

(

)

const

getShapeSurfaceNormal()

agx::Vec3 agxWire::ShapeContactNode::getShapeSurfaceNormal

(

)

const

Get data in shape coordinates.

getShapeTranslate()

agx::Vec3 agxWire::ShapeContactNode::getShapeTranslate

(

)

const

getVelocity()

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

overridevirtual

Returns

the velocity of the node in world coordinates.

Reimplemented from agxWire::Node.

getWorldEdgeEnds()

void agxWire::ShapeContactNode::getWorldEdgeEnds	(	agx::Vec3 &	edgeStart,
		agx::Vec3 &	edgeEnd
	)

Returns the edge start and end position in world coordinates.

getWorldEdgeNormal()

agx::Vec3 agxWire::ShapeContactNode::getWorldEdgeNormal

(

)

const

Returns

the normalized node edge direction in world coordinates

getWorldSurfaceNormal()

agx::Vec3 agxWire::ShapeContactNode::getWorldSurfaceNormal

(

)

const

Returns

the normal of the shape where the node is positioned in world coordinates.

handleCylinderContact()

agx::Bool agxWire::ShapeContactNode::handleCylinderContact

(

)

Treat special cases where the node shape is a cylinder and hasCylinderContactState() return true.

This will force the node edge to either be of zero length, aline with the cylinder axis and/or exist only on the center plane of the cylinder.

hasCylinderContactState()

agx::Bool agxWire::ShapeContactNode::hasCylinderContactState

(

)

const

Find out if the node is a cylinder contact.

Returns

true if the node has one or more of the following states set: GYPSY_CONTACT, NO_MOVEMENT_RANGE or NO_CIRCLE_CONTACT.

initialize()

agx::Bool agxWire::ShapeContactNode::initialize	(	const Wire *	wire,
		const Node *	prevNode,
		const Node *	nextNode,
		const agx::Vec3 &	surfacePoint
	)

Initialize the node:

1. finding the local curvature given the surrounding nodes and a point in world that is supposed to be on the shape surface.
2. Give its node material the correct friction coefficients.
3. Find a position relative the surface, given the local curvature.

Parameters

wire	- the wire of which it is inserted
prevNode	- the preceding node
nextNode	- the succeeding node
surfacePoint	- the world position of the nodes projection to a shape surface (usually found from collision detection)

isNearClampPosition()

agx::Bool agxWire::ShapeContactNode::isNearClampPosition

(

const agx::Real &

edgeDefaultLength

)

const

Returns

true - if the node is near the end of its edge

resetEdgeLength()

void agxWire::ShapeContactNode::resetEdgeLength

(

agx::Real

edgeHalfLength

)

Undo all clamping.

setEdgeVelocity()

void agxWire::ShapeContactNode::setEdgeVelocity

(

const agx::Real &

vel

)

set the velocity of the node along it's edge.

setExtraLength()

void agxWire::ShapeContactNode::setExtraLength

(

const agx::Real

extraLength

)

Set the extra lenght of this node this timestep.

• an estimate of how much room there is for the wire to be extended in length due to contact node movement.

setShapeContactEdge()

void agxWire::ShapeContactNode::setShapeContactEdge

(

ShapeContactEdge &

shapeContactEdge

)

Set an edge to the node, containing shape etc.

setShapeTranslate()

void agxWire::ShapeContactNode::setShapeTranslate

(

const agx::Vec3 &

localPos

)

Update position using a local translate.

setVelocity()

void agxWire::ShapeContactNode::setVelocity

(

const agx::Vec3 &

velocity

)

Set the velocity of the node in world coordinates.

setWorldPosition()

void agxWire::ShapeContactNode::setWorldPosition

(

const agx::Vec3 &

worldPosition

)

Position the node in world coordinates.

The node will get an updated shape translate

Parameters

worldPosition

- wanted world position of the node.

velocity()

agx::Vec3 & agxWire::ShapeContactNode::velocity

(

)

Returns

reference to the velocity defined in world coordinates.

---

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

• ShapeContactNode.h