Constraint attachment class for agx::RigidBody. More...

#include <Attachment.h>

Inheritance diagram for agx::RigidBodyAttachment:

Public Member Functions
	RigidBodyAttachment (agx::RigidBody rb, agx::Frame relFrame)
	Construct given rigid body and relative frame.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agx::RigidBodyAttachment)

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

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

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

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

virtual agx::Vec3	getAngularVelocity () const override

virtual agx::Vec3	getLinearVelocity () const override

agx::RigidBody *	getRigidBody () const

virtual agx::Bool	objectDeleted () const override

void	setRigidBody (agx::RigidBody *rb)
	Assign rigid body to this constraint frame.

virtual void	transform () override
	Transform given rigid body and frame.

virtual agx::Bool	valid () const override

Public Member Functions inherited from agx::Attachment
	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 Public Member Functions inherited from agx::Attachment
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
	RigidBodyAttachment ()
	Protected default constructor used by restore.

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

Protected Member Functions inherited from agx::Attachment
	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::Bool	m_hadValidRb

agx::RigidBodyObserver	m_rb

Protected Attributes inherited from agx::Attachment
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
Public Types inherited from agx::Attachment
enum	Transformed { U , V , N , ANCHOR_POS , CM_TO_ANCHOR_POS , NUM_ELEMENTS }
	Data access enum. 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

Constraint attachment class for agx::RigidBody.

Definition at line 208 of file agx/Attachment.h.

Constructor & Destructor Documentation

◆ RigidBodyAttachment() [1/2]

agx::RigidBodyAttachment::RigidBodyAttachment	(	agx::RigidBody *	rb,
		agx::Frame *	relFrame
	)

Construct given rigid body and relative frame.

Parameters

rb	- rigid body (0 if e.g., world frame or other type of static frame)
relFrame	- constraint attachment frame relative `rb` model frame

◆ RigidBodyAttachment() [2/2]

agx::RigidBodyAttachment::RigidBodyAttachment ( )

protected

Protected default constructor used by restore.

◆ ~RigidBodyAttachment()

virtual agx::RigidBodyAttachment::~RigidBodyAttachment ( )

protectedvirtual

Reference counted object, protected destructor.

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

agx::RigidBodyAttachment::AGXSTREAM_DECLARE_SERIALIZABLE_BASE ( agx::RigidBodyAttachment )

◆ calculateAngularSpeed()

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

overridevirtual

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

Reimplemented from agx::Attachment.

◆ calculateDistance()

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

overridevirtual

Returns: the distance between this and the other attachment

See also: calculateLinearDistance

Reimplemented from agx::Attachment.

◆ calculateLinearDistance()

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

overridevirtual

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

Reimplemented from agx::Attachment.

◆ calculateLinearSpeed()

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

overridevirtual

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

Reimplemented from agx::Attachment.

◆ create()

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

inlinestatic

Definition at line 276 of file agx/Attachment.h.

◆ getAngularVelocity()

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

overridevirtual

Returns: linear velocity of this attachment given in world frame

Reimplemented from agx::Attachment.

◆ getLinearVelocity()

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

overridevirtual

Returns: linear velocity of this attachment given in world frame

Reimplemented from agx::Attachment.

◆ getRigidBody()

RigidBody * agx::RigidBodyAttachment::getRigidBody ( ) const

Returns: the rigid body

Definition at line 576 of file agx/Attachment.h.

References m_rb.

◆ objectDeleted()

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

overridevirtual

Returns: true if the rigid body or the frame has been deleted

Reimplemented from agx::Attachment.

◆ setRigidBody()

void agx::RigidBodyAttachment::setRigidBody ( agx::RigidBody * rb )

Assign rigid body to this constraint frame.

Note: The actual constraint will not know about this change unless it's handled explicitly.

Parameters

rb	- new rigid body

◆ transform()

virtual void agx::RigidBodyAttachment::transform ( )

overridevirtual

Transform given rigid body and frame.

Reimplemented from agx::Attachment.

◆ valid()

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

overridevirtual

Returns: true if the current configuration is valid

Reimplemented from agx::Attachment.

Member Data Documentation

◆ m_hadValidRb

agx::Bool agx::RigidBodyAttachment::m_hadValidRb

protected

Definition at line 291 of file agx/Attachment.h.

◆ m_rb

agx::RigidBodyObserver agx::RigidBodyAttachment::m_rb

protected

Definition at line 290 of file agx/Attachment.h.

Referenced by getRigidBody().

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

agx/Attachment.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RigidBodyAttachment() [1/2]

◆ RigidBodyAttachment() [2/2]

◆ ~RigidBodyAttachment()

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

◆ calculateAngularSpeed()

◆ calculateDistance()

◆ calculateLinearDistance()

◆ calculateLinearSpeed()

◆ create()

◆ getAngularVelocity()

◆ getLinearVelocity()

◆ getRigidBody()

◆ objectDeleted()

◆ setRigidBody()

◆ transform()

◆ valid()

Member Data Documentation

◆ m_hadValidRb

◆ m_rb