This class will add a virtual inertia along or around the constraint axis (N-axis), which will affect the resulting rotational or translational acceleration on the affected rigid bodies. More...

#include <VirtualConstraintInertia.h>

Inheritance diagram for agx::VirtualConstraintInertia:

Classes
struct	Transformed

Public Member Functions
	VirtualConstraintInertia (agx::Constraint *constraint, agx::Real rigidBody1TranslationInertia, agx::Real rigidBody1RotationalInertia, agx::Real rigidBody2TranslationInertia, agx::Real rigidBody2RotationalInertia)
	Basic constructor that takes a constraint and the virtual inertias that should be applied in the central axis of the constraint.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agx::VirtualConstraintInertia)

virtual agx::RigidBody *	getRigidBody1 () const override

agx::Real	getRigidBody1RotationalInertia () const
	Gets the virtual rotational inertia that will be applied in the constraint interaction upon rigid body 1 in the constraint.

agx::Real	getRigidBody1TranslationalInertia () const
	Gets the virtual translational inertia that will be applied in the constraint interaction applied on rigid body 1.

virtual agx::RigidBody *	getRigidBody2 () const override

agx::Real	getRigidBody2RotationalInertia () const
	Gets the virtual rotational inertia that will be applied in the constraint interaction upon rigid body 1 in the constraint.

agx::Real	getRigidBody2TranslationalInertia () const
	Gets the virtual translational inertia that will be applied in the constraint interaction applied on rigid body 2.

void	setRigidBody1RotationalInertia (agx::Real rotationalInertia)
	Sets the virtual rotational inertia that will be applied in the constraint interaction upon rigid body 1 in the constraint.

void	setRigidBody1TranslationalInertia (agx::Real translationalInertia)
	Sets the virtual translational inertia that will be applied in the constraint interaction applied on rigid body 1.

void	setRigidBody2RotationalInertia (agx::Real rotationalInertia)
	Sets the virtual rotational inertia that will be applied in the constraint interaction upon rigid body 2 in the constraint.

void	setRigidBody2TranslationalInertia (agx::Real translationalInertia)
	Sets the virtual translational inertia that will be applied in the constraint interaction applied on rigid body 2.

Public Member Functions inherited from agx::StrongInteraction
virtual void	addNlCallbacks (agx::SparseRangeReal &sparseRangeReal) const
	Interface for non-linear callback from solver.

virtual void	addNotification () override
	Called when added to a simulation.

	AGXSTREAM_DECLARE_ABSTRACT_SERIALIZABLE (agx::StrongInteraction)

agx::Bool	getEnable () const

virtual agx::RigidBody *	getRigidBody1 () const =0

virtual agx::RigidBody *	getRigidBody2 () const =0

agx::Bool	getValid () const

virtual void	postSystemCallback (agx::DynamicsSystem *dynamicsSystem) override
	Called after the solver is done.

virtual void	prepare ()
	Prepares for solve.

virtual void	preSystemCallback (agx::DynamicsSystem *dynamicsSystem) override
	Called before solver executes.

virtual void	removeNotification () override
	Called when removed from a simulation.

virtual void	render (agxRender::RenderManager *mgr, float scale)
	Render the interaction.

void	setEnable (agx::Bool enable)
	Enable or disable this interaction.

virtual void	writeMatrixData (agx::StrongInteraction::MatrixData rb1DiagonalBlock, agx::StrongInteraction::MatrixData rb2DiagonalBlock, agx::StrongInteraction::MatrixData offDiagonalBlock)=0
	Write data for dynamic bodies.

virtual void	writeRhs (agx::Physics::RigidBodyPtr rb1, agx::Real rb1Rhs, agx::Physics::RigidBodyPtr rb2, agx::Real rb2Rhs, agx::Bool isRestingSolve)=0
	Write data to the right hand side, for dynamic bodies.

Public Member Functions inherited from agx::Interaction
	Interaction ()
	Default constructor.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agx::Interaction)

const agx::Name &	getName () const

agx::PropertyContainer *	getPropertyContainer ()

const agx::PropertyContainer *	getPropertyContainer () const

agxSDK::SimulationProxy *	getSimulationProxy () const

agx::Bool	hasPropertyContainer () const

virtual void	postSystemCallback (agx::DynamicsSystem *)
	Called after all post step events, after solve.

virtual void	preSystemCallback (agx::DynamicsSystem *)
	Called after all pre step events, before solve.

void	setName (const agx::Name &name)
	Name this interaction.

void	setPropertyContainer (agx::PropertyContainer *propertyContainer)
	Assign a new property container.

virtual void	updateForce (agx::DynamicsSystem *dynamicsSystem)
	This virtual method is implemented so that it computes the interaction forces on all the physical bodies implicated.

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::Interaction
static agxStream::Serializable *	create (agxStream::InputArchive &)

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
	VirtualConstraintInertia ()
	Default constructor used by serialization.

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

virtual void	prepare () override
	Prepares for solve.

virtual void	writeMatrixData (agx::StrongInteraction::MatrixData rb1DiagonalBlock, agx::StrongInteraction::MatrixData rb2DiagonalBlock, agx::StrongInteraction::MatrixData offDiagonalBlock) override
	Write data for dynamic bodies.

virtual void	writeRhs (agx::Physics::RigidBodyPtr rb1, agx::Real rb1Rhs, agx::Physics::RigidBodyPtr rb2, agx::Real rb2Rhs, agx::Bool isRestingSolve) override
	Write data to the right hand side, for dynamic bodies.

Protected Member Functions inherited from agx::StrongInteraction
	StrongInteraction ()
	Construct given one or two rigid bodies.

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

virtual void	restore (agxStream::InputArchive &in) override
	Restore local content.

void	setValid (agx::Bool valid)
	Valid if enable and configuration is ok for solver.

virtual void	store (agxStream::OutputArchive &out) const override
	Store local content.

Protected Member Functions inherited from agx::Interaction
virtual	~Interaction ()
	Reference counted object, protected destructor.

virtual void	addNotification ()
	Called when added to a simulation.

virtual void	removeNotification ()
	Called when removed from a simulation.

virtual void	setSimulation (agxSDK::Simulation *simulation)
	Assign simulation.

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::ConstraintRef	m_constraint

agx::Real	m_rigidBody1RotationalInertia

agx::Real	m_rigidBody1TranslationalInertia

agx::Real	m_rigidBody2RotationalInertia

agx::Real	m_rigidBody2TranslationalInertia

Transformed	m_transformed

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

This class will add a virtual inertia along or around the constraint axis (N-axis), which will affect the resulting rotational or translational acceleration on the affected rigid bodies.

This virtual inertia is added as a strong interaction that modifies the mass and inertia matrix of the coupled bodies right before the solver to achieve this effect. Virtual inertias are applied on the rigid bodies in the constraint separately which will affect their movement around and/or along the constraint axis.

This class can be used to add virtual inertia to a rotational constraint, such as a hinge or add a translational inertia along the central axis of a prismatic constraint.

Definition at line 35 of file VirtualConstraintInertia.h.

Constructor & Destructor Documentation

◆ VirtualConstraintInertia() [1/2]

agx::VirtualConstraintInertia::VirtualConstraintInertia	(	agx::Constraint *	constraint,
		agx::Real	rigidBody1TranslationInertia,
		agx::Real	rigidBody1RotationalInertia,
		agx::Real	rigidBody2TranslationInertia,
		agx::Real	rigidBody2RotationalInertia
	)

Basic constructor that takes a constraint and the virtual inertias that should be applied in the central axis of the constraint.

Parameters

constraint	The constraint that the virtual inertia will be added to.
rigidBody1TranslationInertia	The translational inertia/mass that will be for movements along the the constraint axis on on Rigid Body 1.
rigidBody1RotationalInertia	The virtual inertia that will be added to movements around the constraint axis on Rigid Body 1.
rigidBody2TranslationInertia	The translational inertia/mass that will be for movements along the the constraint axis on Rigid Body 2.
rigidBody2RotationalInertia	The virtual inertia that will be added to movements around the constraint axis on Rigid Body 2.

◆ VirtualConstraintInertia() [2/2]

agx::VirtualConstraintInertia::VirtualConstraintInertia ( )

protected

Default constructor used by serialization.

◆ ~VirtualConstraintInertia()

virtual agx::VirtualConstraintInertia::~VirtualConstraintInertia ( )

protectedvirtual

Reference counted object, protected destructor.

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

agx::VirtualConstraintInertia::AGXSTREAM_DECLARE_SERIALIZABLE_BASE ( agx::VirtualConstraintInertia )

◆ create()

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

inlinestatic

Definition at line 116 of file VirtualConstraintInertia.h.

◆ getRigidBody1()

virtual agx::RigidBody * agx::VirtualConstraintInertia::getRigidBody1 ( ) const

overridevirtual

Returns: first rigid body

Implements agx::StrongInteraction.

◆ getRigidBody1RotationalInertia()

agx::Real agx::VirtualConstraintInertia::getRigidBody1RotationalInertia ( ) const

Gets the virtual rotational inertia that will be applied in the constraint interaction upon rigid body 1 in the constraint.

Returns: The virtual rotational inertia to set in the constraint applied on rigid body 1.

◆ getRigidBody1TranslationalInertia()

agx::Real agx::VirtualConstraintInertia::getRigidBody1TranslationalInertia ( ) const

Gets the virtual translational inertia that will be applied in the constraint interaction applied on rigid body 1.

Returns: The virtual translational inertia to set in the constraint.

◆ getRigidBody2()

virtual agx::RigidBody * agx::VirtualConstraintInertia::getRigidBody2 ( ) const

overridevirtual

Returns: second rigid body

Implements agx::StrongInteraction.

◆ getRigidBody2RotationalInertia()

agx::Real agx::VirtualConstraintInertia::getRigidBody2RotationalInertia ( ) const

Gets the virtual rotational inertia that will be applied in the constraint interaction upon rigid body 1 in the constraint.

Returns: The virtual rotational inertia to set in the constraint applied on rigid body 2.

◆ getRigidBody2TranslationalInertia()

agx::Real agx::VirtualConstraintInertia::getRigidBody2TranslationalInertia ( ) const

Gets the virtual translational inertia that will be applied in the constraint interaction applied on rigid body 2.

Returns: The virtual translational inertia to set in the constraint applied on rigid body 2.

◆ prepare()

virtual void agx::VirtualConstraintInertia::prepare ( )

overrideprotectedvirtual

Prepares for solve.

Reimplemented from agx::StrongInteraction.

◆ setRigidBody1RotationalInertia()

void agx::VirtualConstraintInertia::setRigidBody1RotationalInertia ( agx::Real rotationalInertia )

Sets the virtual rotational inertia that will be applied in the constraint interaction upon rigid body 1 in the constraint.

Parameters

rotationalInertia - The virtual rotational inertia to set in the constraint applied on rigid body 1.

◆ setRigidBody1TranslationalInertia()

void agx::VirtualConstraintInertia::setRigidBody1TranslationalInertia ( agx::Real translationalInertia )

Sets the virtual translational inertia that will be applied in the constraint interaction applied on rigid body 1.

Parameters

translationalInertia - The virtual translational inertia to set in the constraint.

◆ setRigidBody2RotationalInertia()

void agx::VirtualConstraintInertia::setRigidBody2RotationalInertia ( agx::Real rotationalInertia )

Sets the virtual rotational inertia that will be applied in the constraint interaction upon rigid body 2 in the constraint.

Parameters

rotationalInertia - The virtual rotational inertia to set in the constraint applied on rigid body 2.

◆ setRigidBody2TranslationalInertia()

void agx::VirtualConstraintInertia::setRigidBody2TranslationalInertia ( agx::Real translationalInertia )

Sets the virtual translational inertia that will be applied in the constraint interaction applied on rigid body 2.

Parameters

translationalInertia - The virtual translational inertia to set in the constraint.

◆ writeMatrixData()

virtual void agx::VirtualConstraintInertia::writeMatrixData	(	agx::StrongInteraction::MatrixData	rb1DiagonalBlock,
		agx::StrongInteraction::MatrixData	rb2DiagonalBlock,
		agx::StrongInteraction::MatrixData	offDiagonalBlock
	)

overrideprotectedvirtual

Write data for dynamic bodies.

Implements agx::StrongInteraction.

◆ writeRhs()

virtual void agx::VirtualConstraintInertia::writeRhs	(	agx::Physics::RigidBodyPtr	rb1,
		agx::Real *	rb1Rhs,
		agx::Physics::RigidBodyPtr	rb2,
		agx::Real *	rb2Rhs,
		agx::Bool	isRestingSolve
	)

overrideprotectedvirtual

Write data to the right hand side, for dynamic bodies.

Implements agx::StrongInteraction.

Member Data Documentation

◆ m_constraint

agx::ConstraintRef agx::VirtualConstraintInertia::m_constraint

protected

Definition at line 168 of file VirtualConstraintInertia.h.

◆ m_rigidBody1RotationalInertia

agx::Real agx::VirtualConstraintInertia::m_rigidBody1RotationalInertia

protected

Definition at line 170 of file VirtualConstraintInertia.h.

◆ m_rigidBody1TranslationalInertia

agx::Real agx::VirtualConstraintInertia::m_rigidBody1TranslationalInertia

protected

Definition at line 169 of file VirtualConstraintInertia.h.

◆ m_rigidBody2RotationalInertia

agx::Real agx::VirtualConstraintInertia::m_rigidBody2RotationalInertia

protected

Definition at line 172 of file VirtualConstraintInertia.h.

◆ m_rigidBody2TranslationalInertia

agx::Real agx::VirtualConstraintInertia::m_rigidBody2TranslationalInertia

protected

Definition at line 171 of file VirtualConstraintInertia.h.

◆ m_transformed

Transformed agx::VirtualConstraintInertia::m_transformed

protected

Definition at line 173 of file VirtualConstraintInertia.h.

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

VirtualConstraintInertia.h

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VirtualConstraintInertia() [1/2]

◆ VirtualConstraintInertia() [2/2]

◆ ~VirtualConstraintInertia()

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

◆ create()

◆ getRigidBody1()

◆ getRigidBody1RotationalInertia()

◆ getRigidBody1TranslationalInertia()

◆ getRigidBody2()

◆ getRigidBody2RotationalInertia()

◆ getRigidBody2TranslationalInertia()

◆ prepare()

◆ setRigidBody1RotationalInertia()

◆ setRigidBody1TranslationalInertia()

◆ setRigidBody2RotationalInertia()

◆ setRigidBody2TranslationalInertia()

◆ writeMatrixData()

◆ writeRhs()

Member Data Documentation

◆ m_constraint

◆ m_rigidBody1RotationalInertia

◆ m_rigidBody1TranslationalInertia

◆ m_rigidBody2RotationalInertia

◆ m_rigidBody2TranslationalInertia

◆ m_transformed