Constraint attachment base class for any type of frame. More...

#include <Attachment.h>

Inheritance diagram for agx::Attachment:

Public Types
enum	Transformed { U , V , N , ANCHOR_POS , CM_TO_ANCHOR_POS , NUM_ELEMENTS }
	Data access enum. More...

Public Member Functions
	Attachment (agx::Frame *relFrame)
	Construct given frame.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agx::Attachment)

template<typename T >
T *	as ()
	Unsafe version, static cast of this to `T`.

template<typename T >
const T *	as () const
	Unsafe version, static cast of this to `T`.

virtual agx::Real	calculateAngularSpeed (const agx::Attachment *other) const

virtual agx::Real	calculateDistance (const agx::Attachment *other) const

virtual agx::Real	calculateLinearDistance (const agx::Attachment *other) const

virtual agx::Real	calculateLinearSpeed (const agx::Attachment *other) const

const agx::Vec3 &	get (agx::Attachment::Transformed entry) const

virtual agx::Vec3	getAngularVelocity () const

agx::Frame *	getFrame () const

virtual agx::Vec3	getLinearVelocity () const

agx::Vec3	getLocal (agx::Attachment::Transformed entry) const

template<typename T >
agx::Bool	is () const

template<typename T >
Bool	is () const

template<>
Bool	is () const

virtual agx::Bool	objectDeleted () const

template<typename T >
T *	safeAs ()
	Dynamic cast of this to `T`.

template<typename T >
const T *	safeAs () const
	Dynamic cast of this to `T`.

void	setFrame (agx::Frame *frame)
	Assign a new frame - transformed data will be updated.

virtual void	transform ()
	Subclass - implement this method!

virtual agx::Bool	valid () const

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 void	createAttachmentBase (const agx::Vec3d &N, agx::Vec3d &U, agx::Vec3d &V)
	Given vector `N`, create orthonormal base.

static void	createAttachmentBase (const agx::Vec3f &N, agx::Vec3f &U, agx::Vec3f &V)

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
	Attachment ()
	Constructor to use during restore.

virtual	~Attachment ()
	Reference counted object, protected destructor.

void	transform (const agx::AffineMatrix4x4 &cmTransform, const agx::Vec3 &cmToModel, const agx::AffineMatrix4x4 &localConstraintTransform)
	Fill `Transformed` data given center of mass transform and offset from model frame to center of mass frame (assumes not rotated relative each other).

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::FrameRef	m_relFrame

agx::Vec3	m_transformed [NUM_ELEMENTS]

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

Constraint attachment base class for any type of frame.

Subclass for moving frames (e.g., rigid bodies).

Definition at line 37 of file agx/Attachment.h.

Member Enumeration Documentation

◆ Transformed

enum agx::Attachment::Transformed

Data access enum.

Enumerator
U	Constraint attachment x-axis.
V	Constraint attachment y-axis.
N	Constraint attachment z-axis.
ANCHOR_POS	Constraint attachment world position.
CM_TO_ANCHOR_POS	Vector from center of mass (if moving) to anchor point given in world frame.
NUM_ELEMENTS	Number of data elements.

Definition at line 43 of file agx/Attachment.h.

Constructor & Destructor Documentation

◆ Attachment() [1/2]

agx::Attachment::Attachment ( agx::Frame * relFrame )

Construct given frame.

Parameters

relFrame - that transforms from center to anchor point.

◆ Attachment() [2/2]

agx::Attachment::Attachment ( )

protected

Constructor to use during restore.

◆ ~Attachment()

virtual agx::Attachment::~Attachment ( )

protectedvirtual

Reference counted object, protected destructor.

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

agx::Attachment::AGXSTREAM_DECLARE_SERIALIZABLE_BASE ( agx::Attachment )

◆ as() [1/2]

template<typename T >

T * agx::Attachment::as

Unsafe version, static cast of this to T.

See also: safeAs

Returns: this attachment as subclass using static cast

Definition at line 540 of file agx/Attachment.h.

References agxAssert.

◆ as() [2/2]

template<typename T >

const T * agx::Attachment::as

Unsafe version, static cast of this to T.

See also: safeAs

Returns: this attachment as subclass using static cast

Definition at line 559 of file agx/Attachment.h.

References agxAssert.

◆ calculateAngularSpeed()

virtual agx::Real agx::Attachment::calculateAngularSpeed ( const agx::Attachment * other ) const

virtual

Returns: relative speed about world z-axis of this attachment

Reimplemented in agx::RigidBodyAttachment.

◆ calculateDistance()

virtual agx::Real agx::Attachment::calculateDistance ( const agx::Attachment * other ) const

virtual

Parameters

other - The other attachment

Returns: the distance between this and the other attachment

Reimplemented in agx::RigidBodyAttachment.

◆ calculateLinearDistance()

virtual agx::Real agx::Attachment::calculateLinearDistance ( const agx::Attachment * other ) const

virtual

Returns: the projected (along this attachments world z-axis) distance between this and the other attachment

Reimplemented in agx::RigidBodyAttachment.

◆ calculateLinearSpeed()

virtual agx::Real agx::Attachment::calculateLinearSpeed ( const agx::Attachment * other ) const

virtual

Returns: relative speed along world z-axis of this attachment

Reimplemented in agx::RigidBodyAttachment.

◆ create()

static agxStream::Serializable * agx::Attachment::create ( agxStream::InputArchive & )

inlinestatic

Definition at line 176 of file agx/Attachment.h.

◆ createAttachmentBase() [1/2]

static void agx::Attachment::createAttachmentBase	(	const agx::Vec3d &	N,
		agx::Vec3d &	U,
		agx::Vec3d &	V
	)

static

Given vector N, create orthonormal base.

Parameters

N	- in vector (a.k.a. z axis)
U	- out vector (a.k.a. x axis)
V	- out vector (a.k.a. y axis)

Referenced by agx::OrientedFrictionModelImpl< T >::calculateTangentPlane().

◆ createAttachmentBase() [2/2]

static void agx::Attachment::createAttachmentBase	(	const agx::Vec3f &	N,
		agx::Vec3f &	U,
		agx::Vec3f &	V
	)

static

◆ get()

const Vec3 & agx::Attachment::get ( agx::Attachment::Transformed entry ) const

Returns: the transformed data

Definition at line 517 of file agx/Attachment.h.

References m_transformed.

◆ getAngularVelocity()

virtual agx::Vec3 agx::Attachment::getAngularVelocity ( ) const

virtual

Returns: linear velocity of this attachment given in world frame

Reimplemented in agx::RigidBodyAttachment.

◆ getFrame()

Frame * agx::Attachment::getFrame ( ) const

Returns: the frame

Definition at line 522 of file agx/Attachment.h.

References m_relFrame.

◆ getLinearVelocity()

virtual agx::Vec3 agx::Attachment::getLinearVelocity ( ) const

virtual

Returns: linear velocity of this attachment given in world frame

Reimplemented in agx::RigidBodyAttachment.

◆ getLocal()

agx::Vec3 agx::Attachment::getLocal ( agx::Attachment::Transformed entry ) const

Returns: the local data

◆ is() [1/3]

template<typename T >

agx::Bool agx::Attachment::is ( ) const

Returns: true if this object is of type T

◆ is() [2/3]

template<typename T >

Bool agx::Attachment::is ( ) const

Definition at line 528 of file agx/Attachment.h.

◆ is() [3/3]

template<>

Bool agx::Attachment::is ( ) const

Definition at line 534 of file agx/Attachment.h.

◆ objectDeleted()

virtual agx::Bool agx::Attachment::objectDeleted ( ) const

virtual

Returns: true if the parent object has been deleted

Reimplemented in agx::RigidBodyAttachment.

◆ safeAs() [1/2]

template<typename T >

T * agx::Attachment::safeAs

Dynamic cast of this to T.

Returns: this attachment as subclass using dynamic cast

Definition at line 553 of file agx/Attachment.h.

◆ safeAs() [2/2]

template<typename T >

const T * agx::Attachment::safeAs

Dynamic cast of this to T.

Returns: this attachment as subclass using dynamic cast

Definition at line 571 of file agx/Attachment.h.

◆ setFrame()

void agx::Attachment::setFrame ( agx::Frame * frame )

Assign a new frame - transformed data will be updated.

Parameters

frame - new frame

◆ transform() [1/2]

virtual void agx::Attachment::transform ( )

virtual

Subclass - implement this method!

Default this method will copy data from relative frame to transformed data.

Reimplemented in agx::RigidBodyAttachment.

◆ transform() [2/2]

void agx::Attachment::transform	(	const agx::AffineMatrix4x4 &	cmTransform,
		const agx::Vec3 &	cmToModel,
		const agx::AffineMatrix4x4 &	localConstraintTransform
	)

protected

Fill Transformed data given center of mass transform and offset from model frame to center of mass frame (assumes not rotated relative each other).

Parameters

cmTransform	- world transform of the center of mass frame
cmToModel	- in local coordinates, vector from center of mass frame to model frame
localConstraintTransform	- transform of the local constraint frame

◆ valid()

virtual agx::Bool agx::Attachment::valid ( ) const

virtual

Returns: true if valid

Reimplemented in agx::RigidBodyAttachment.

Member Data Documentation

◆ m_relFrame

agx::FrameRef agx::Attachment::m_relFrame

protected

Definition at line 200 of file agx/Attachment.h.

Referenced by getFrame().

◆ m_transformed

agx::Vec3 agx::Attachment::m_transformed[NUM_ELEMENTS]

protected

Definition at line 199 of file agx/Attachment.h.

Referenced by get().

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

agx/Attachment.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ Transformed

Constructor & Destructor Documentation

◆ Attachment() [1/2]

◆ Attachment() [2/2]

◆ ~Attachment()

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

◆ as() [1/2]

◆ as() [2/2]

◆ calculateAngularSpeed()

◆ calculateDistance()

◆ calculateLinearDistance()

◆ calculateLinearSpeed()

◆ create()

◆ createAttachmentBase() [1/2]

◆ createAttachmentBase() [2/2]

◆ get()

◆ getAngularVelocity()

◆ getFrame()

◆ getLinearVelocity()

◆ getLocal()

◆ is() [1/3]

◆ is() [2/3]

◆ is() [3/3]

◆ objectDeleted()

◆ safeAs() [1/2]

◆ safeAs() [2/2]

◆ setFrame()

◆ transform() [1/2]

◆ transform() [2/2]

◆ valid()

Member Data Documentation

◆ m_relFrame

◆ m_transformed