Constraint attachment pair class. More...

#include <Attachment.h>

Classes
class	CustomData
	Custom data for separation pair. More...

struct	InternalState

Public Types
typedef agx::ref_ptr< CustomData >	CustomDataRef

enum	Transformed { SEPARATION , NUM_ELEMENTS }
	Data access enum. More...

Public Member Functions
	AttachmentPair ()
	Default constructor, attachment frame 1 = attachment frame 2 = 0.

virtual	~AttachmentPair ()
	Destructor.

void	add (agx::Angle *angle)
	Add constraint angle.

agx::Real	calculateAngularSpeed () const
	Calculates the rotational/angular speed between the two attachments, about the constraint axis.

agx::Real	calculateLinearSpeed () const
	Calculates the linear speed between the two attachments, along the constraint axis.

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

agx::Angle *	getAngle (agx::UInt index) const
	Access constraint angle given index.

const agx::AngleContainer &	getAngles () const

agx::Attachment *	getAttachment1 () const

agx::Attachment *	getAttachment2 () const

agx::AttachmentPair::CustomData *	getCustomData () const

agx::Bool	hasAngle (const agx::Angle *angle) const

virtual void	onPostSolve (agx::Real dt, const agx::ConstraintImplementation &context)
	Post solvers, velocity dependent variables should be updated.

virtual void	onPreSolve (agx::Real dt, const agx::ConstraintImplementation &context)
	Pre solvers, position/orientation dependent variables (used in Jacobians) should be updated.

agx::Attachment *	operator[] (agx::UInt i) const

virtual agx::Bool	rebind ()
	Rebind given first frame.

virtual void	restore (agxStream::InputArchive &in)
	Restore given stream.

virtual void	restoreLightData (agxStream::StorageStream &str)
	Restore structural independent data from stream.

void	set (agx::Attachment a1, agx::Attachment a2)
	Assign constraint attachment frames.

void	setCustomData (agx::AttachmentPair::CustomData *customData)
	Assign custom data to receive transform calls.

virtual void	store (agxStream::OutputArchive &out) const
	Store given stream.

virtual void	storeLightData (agxStream::StorageStream &str) const
	Store structural independent data to stream.

virtual void	transform ()
	Transform attachment frames and updates data.

agx::Bool	valid () const

Protected Attributes
AngleContainer	m_angles

AttachmentRef	m_attachments [2]

CustomDataRef	m_customData

InternalState	m_state

agx::Vec3	m_transformed [NUM_ELEMENTS]

Detailed Description

Constraint attachment pair class.

Data holder for a pair of constraint attachments (i.e., what defines the difference between the frames that is used in constraints).

Definition at line 301 of file agx/Attachment.h.

Member Typedef Documentation

◆ CustomDataRef

typedef agx::ref_ptr<CustomData> agx::AttachmentPair::CustomDataRef

Definition at line 334 of file agx/Attachment.h.

Member Enumeration Documentation

◆ Transformed

enum agx::AttachmentPair::Transformed

Data access enum.

Enumerator
SEPARATION	Separation vector, i.e., the vector from frame 2 to frame 1.
NUM_ELEMENTS	Number of data elements.

Definition at line 307 of file agx/Attachment.h.

Constructor & Destructor Documentation

◆ AttachmentPair()

agx::AttachmentPair::AttachmentPair ( )

Default constructor, attachment frame 1 = attachment frame 2 = 0.

◆ ~AttachmentPair()

virtual agx::AttachmentPair::~AttachmentPair ( )

virtual

Destructor.

Member Function Documentation

◆ add()

void agx::AttachmentPair::add ( agx::Angle * angle )

Add constraint angle.

Parameters

angle - constraint angle to add

◆ calculateAngularSpeed()

agx::Real agx::AttachmentPair::calculateAngularSpeed ( ) const

Calculates the rotational/angular speed between the two attachments, about the constraint axis.

Returns: rotational speed about the constraint axis

◆ calculateLinearSpeed()

agx::Real agx::AttachmentPair::calculateLinearSpeed ( ) const

Calculates the linear speed between the two attachments, along the constraint axis.

Returns: linear speed along the constraint axis

◆ get()

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

Returns: transformed data

Definition at line 597 of file agx/Attachment.h.

References m_transformed.

◆ getAngle()

agx::Angle * agx::AttachmentPair::getAngle ( agx::UInt index ) const

Access constraint angle given index.

Parameters

index - index of angle

Returns: constraint angle at index (0 if index is out of bounds)

◆ getAngles()

const agx::AngleContainer & agx::AttachmentPair::getAngles ( ) const

Returns: constraint angle container

◆ getAttachment1()

Attachment * agx::AttachmentPair::getAttachment1 ( ) const

inline

Returns: first attachment in this attachment pair

Definition at line 587 of file agx/Attachment.h.

◆ getAttachment2()

Attachment * agx::AttachmentPair::getAttachment2 ( ) const

inline

Returns: second attachment in this attachment pair

Definition at line 592 of file agx/Attachment.h.

◆ getCustomData()

agx::AttachmentPair::CustomData * agx::AttachmentPair::getCustomData ( ) const

Returns: custom data if assigned

◆ hasAngle()

agx::Bool agx::AttachmentPair::hasAngle ( const agx::Angle * angle ) const

Returns: true if angle exist in this attachment pair

◆ onPostSolve()

virtual void agx::AttachmentPair::onPostSolve	(	agx::Real	dt,
		const agx::ConstraintImplementation &	context
	)

virtual

Post solvers, velocity dependent variables should be updated.

Parameters

dt	- time step size
context	- constraint this attachment pair belongs to

◆ onPreSolve()

virtual void agx::AttachmentPair::onPreSolve	(	agx::Real	dt,
		const agx::ConstraintImplementation &	context
	)

virtual

Pre solvers, position/orientation dependent variables (used in Jacobians) should be updated.

Parameters

dt	- time step size
context	- constraint this attachment pair belongs to

◆ operator[]()

Attachment * agx::AttachmentPair::operator[] ( agx::UInt i ) const

Returns: the attachment of index i (0 or 1!)

Definition at line 581 of file agx/Attachment.h.

References agxAssert, agx::ref_ptr< T >::get(), and m_attachments.

◆ rebind()

virtual agx::Bool agx::AttachmentPair::rebind ( )

virtual

Rebind given first frame.

◆ restore()

virtual void agx::AttachmentPair::restore ( agxStream::InputArchive & in )

virtual

Restore given stream.

◆ restoreLightData()

virtual void agx::AttachmentPair::restoreLightData ( agxStream::StorageStream & str )

virtual

Restore structural independent data from stream.

◆ set()

void agx::AttachmentPair::set	(	agx::Attachment *	a1,
		agx::Attachment *	a2
	)

Assign constraint attachment frames.

Parameters

a1	- first attachment frame
a2	- second attachment frame

◆ setCustomData()

void agx::AttachmentPair::setCustomData ( agx::AttachmentPair::CustomData * customData )

Assign custom data to receive transform calls.

Parameters

customData - user defined custom data

◆ store()

virtual void agx::AttachmentPair::store ( agxStream::OutputArchive & out ) const

virtual

Store given stream.

◆ storeLightData()

virtual void agx::AttachmentPair::storeLightData ( agxStream::StorageStream & str ) const

virtual

Store structural independent data to stream.

◆ transform()

virtual void agx::AttachmentPair::transform ( )

virtual

Transform attachment frames and updates data.

◆ valid()

agx::Bool agx::AttachmentPair::valid ( ) const

Returns: true if the current state is valid

Member Data Documentation

◆ m_angles

AngleContainer agx::AttachmentPair::m_angles

protected

Definition at line 513 of file agx/Attachment.h.

◆ m_attachments

AttachmentRef agx::AttachmentPair::m_attachments[2]

protected

Definition at line 510 of file agx/Attachment.h.

Referenced by operator[]().

◆ m_customData

CustomDataRef agx::AttachmentPair::m_customData

protected

Definition at line 512 of file agx/Attachment.h.

◆ m_state

InternalState agx::AttachmentPair::m_state

protected

Definition at line 514 of file agx/Attachment.h.

◆ m_transformed

agx::Vec3 agx::AttachmentPair::m_transformed[NUM_ELEMENTS]

protected

Definition at line 511 of file agx/Attachment.h.

Referenced by get().

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

agx/Attachment.h

Classes

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ CustomDataRef

Member Enumeration Documentation

◆ Transformed

Constructor & Destructor Documentation

◆ AttachmentPair()

◆ ~AttachmentPair()

Member Function Documentation

◆ add()

◆ calculateAngularSpeed()

◆ calculateLinearSpeed()

◆ get()

◆ getAngle()

◆ getAngles()

◆ getAttachment1()

◆ getAttachment2()

◆ getCustomData()

◆ hasAngle()

◆ onPostSolve()

◆ onPreSolve()

◆ operator[]()

◆ rebind()

◆ restore()

◆ restoreLightData()

◆ set()

◆ setCustomData()

◆ store()

◆ storeLightData()

◆ transform()

◆ valid()

Member Data Documentation

◆ m_angles

◆ m_attachments

◆ m_customData

◆ m_state

◆ m_transformed