agxSDK::MergeSplitUtils Namespace Reference

Classes
struct	ExternalForceSplitResult
class	WireSegmentMergedState
	Wire merged state segment along a wire. More...

Typedefs
template<typename T >
using	CollectConnectingEdgesPtrContainer = agx::Vector< T * >
using	WireSegmentMergedStateContainer = agx::VectorPOD< WireSegmentMergedState >

Functions
AGXPHYSICS_EXPORT agxSDK::MergedBodySolverData::ForceFrame	calculateContactForceFrame (const agx::RigidBody *refRb, const agx::MergedBody::GeometryContactEdgeInteraction *contactEdge, const MergeSplitHandler *handler=nullptr)
	Calculates force frame (edge strength) given reference rigid body, contact edge and optionally an merge split handler (to use contact thresholds).
agx::Real	calculateImpactSpeed (const agx::Vec3 &point, const agx::Vec3f &normal, const agx::Vec3 &cmPos, const agx::Vec3 &linVel, const agx::Vec3 &angVel)
	Calculates impact speed of one body given contact point and normal.
agx::Real	calculateImpactSpeed (const agx::Vec3 &point, const agx::Vec3f &normal, const agx::Vec3 &relVel, const agx::Vec3 &cmPos1, const agx::Vec3 &angVel1, const agx::Vec3 &cmPos2, const agx::Vec3 &angVel2)
	Calculates impact speed of two rigid bodies given contact point and normal.
agx::Vec3	calculateRelativePointVelocity (const agx::Vec3 &point, const agx::Vec3 &cmPos, const agx::Vec3 &linVel, const agx::Vec3 &angVel)
	Calculates velocity at a given point given center of mass position, linear- and angular velocity.
agx::Vec3	calculateRelativePointVelocity (const agx::Vec3 &point, const agx::Vec3 &relVel, const agx::Vec3 &cmPos1, const agx::Vec3 &angVel1, const agx::Vec3 &cmPos2, const agx::Vec3 &angVel2)
	Calculates relative velocity at a point relative to two bodies.
template<typename T >
void	collectConnectingEdges (const T &referenceEdge, agx::MergedBody::EdgeInteraction::InteractionTag edgeTag, agx::Bool bounceAtNonSplittableBodies, const agx::MergedBody &mergedBody, const MergeSplitHandler &handler, CollectConnectingEdgesPtrContainer< T > &result)
	Collects edges of given type/tag that are connected within a merged body.
AGXPHYSICS_EXPORT ExternalForceSplitResult	shouldSplitGivenExternalForce (agxSDK::MergedBodySolverData::ForceFrame edgeStrength, const agx::RigidBody *rb, const agx::RigidBody *otherRb, const agx::Vec3 &externalForces, const agx::Vec3 &externalTorques, const agx::Vec3 &gravity, const agxSDK::MergeSplitHandler &handler)
	Checks if two bodies should split given edge strength force frame and external forces.

Typedef Documentation

CollectConnectingEdgesPtrContainer

template<typename T >

using agxSDK::MergeSplitUtils::CollectConnectingEdgesPtrContainer = typedef agx::Vector<T*>

Definition at line 181 of file MergeSplitUtils.h.

WireSegmentMergedStateContainer

using agxSDK::MergeSplitUtils::WireSegmentMergedStateContainer = typedef agx::VectorPOD<WireSegmentMergedState>

Definition at line 276 of file MergeSplitUtils.h.

Function Documentation

calculateContactForceFrame()

AGXPHYSICS_EXPORT agxSDK::MergedBodySolverData::ForceFrame agxSDK::MergeSplitUtils::calculateContactForceFrame	(	const agx::RigidBody *	refRb,
		const agx::MergedBody::GeometryContactEdgeInteraction *	contactEdge,
		const MergeSplitHandler *	handler = nullptr
	)

Calculates force frame (edge strength) given reference rigid body, contact edge and optionally an merge split handler (to use contact thresholds).

Parameters

refRb	- reference rigid body
contactEdge	- geometry contact edge
handler	- if given, any suitable contact threshold will be used, otherwise default

Returns

edge strength force frame

calculateImpactSpeed() [1/2]

agx::Real agxSDK::MergeSplitUtils::calculateImpactSpeed	(	const agx::Vec3 &	point,
		const agx::Vec3f &	normal,
		const agx::Vec3 &	cmPos,
		const agx::Vec3 &	linVel,
		const agx::Vec3 &	angVel
	)

Calculates impact speed of one body given contact point and normal.

Parameters

point	- contact point in world
normal	- contact normal in world
cmPos	- center of mass position of the body
linVel	- linear velocity of the body
angVel	- angular velocity of the body

Returns

impact speed, > 0 if approaching

Definition at line 89 of file MergeSplitUtils.h.

References calculateRelativePointVelocity().

calculateImpactSpeed() [2/2]

agx::Real agxSDK::MergeSplitUtils::calculateImpactSpeed	(	const agx::Vec3 &	point,
		const agx::Vec3f &	normal,
		const agx::Vec3 &	relVel,
		const agx::Vec3 &	cmPos1,
		const agx::Vec3 &	angVel1,
		const agx::Vec3 &	cmPos2,
		const agx::Vec3 &	angVel2
	)

Calculates impact speed of two rigid bodies given contact point and normal.

Parameters

point	- contact point in world
normal	- contact normal in world
relVel	- relative velocity, rb1.velocity - rb2.velocity
cmPos1	- center of mass position of the body 1
angVel1	- angular velocity of the body 1
cmPos2	- center of mass position of the body 2
angVel2	- angular velocity of the body 2

Returns

impact speed, > 0 if approaching

Definition at line 129 of file MergeSplitUtils.h.

References calculateRelativePointVelocity().

calculateRelativePointVelocity() [1/2]

agx::Vec3 agxSDK::MergeSplitUtils::calculateRelativePointVelocity	(	const agx::Vec3 &	point,
		const agx::Vec3 &	cmPos,
		const agx::Vec3 &	linVel,
		const agx::Vec3 &	angVel
	)

Calculates velocity at a given point given center of mass position, linear- and angular velocity.

Parameters

point	- point in world
cmPos	- center of mass position
linVel	- linear velocity
angVel	- angular velocity

Returns

velocity at given point

Definition at line 71 of file MergeSplitUtils.h.

Referenced by calculateImpactSpeed().

calculateRelativePointVelocity() [2/2]

agx::Vec3 agxSDK::MergeSplitUtils::calculateRelativePointVelocity	(	const agx::Vec3 &	point,
		const agx::Vec3 &	relVel,
		const agx::Vec3 &	cmPos1,
		const agx::Vec3 &	angVel1,
		const agx::Vec3 &	cmPos2,
		const agx::Vec3 &	angVel2
	)

Calculates relative velocity at a point relative to two bodies.

Parameters

point	- point in world
relVel	- relative velocity, rb1.velocity - rb2.velocity
cmPos1	- center of mass position of the body 1
angVel1	- angular velocity of the body 1
cmPos2	- center of mass position of the body 2
angVel2	- angular velocity of the body 2

Returns

the relative velcoty at the given point

Definition at line 108 of file MergeSplitUtils.h.

collectConnectingEdges()

template<typename T >

void agxSDK::MergeSplitUtils::collectConnectingEdges	(	const T &	referenceEdge,
		agx::MergedBody::EdgeInteraction::InteractionTag	edgeTag,
		agx::Bool	bounceAtNonSplittableBodies,
		const agx::MergedBody &	mergedBody,
		const MergeSplitHandler &	handler,
		CollectConnectingEdgesPtrContainer< T > &	result
	)

Collects edges of given type/tag that are connected within a merged body.

Parameters

	referenceEdge	- reference edge (starting point is referenceEdge.getRigidBody1())
	edgeTag	- edge tag matching T
	bounceAtNonSplittableBodies	- stop search at bodies that can't split? Example: 10 cranes on a non-splittable ship parent where referenceEdge is a prismatic in one of the cranes. With bounceAtNonSplittableBodies = true, the result will only contain edges from the crane with the prismatic, but with bounceAtNonSplittableBodies = false all 10 cranes will be included.
	mergedBody	- merged body with the referenceEdge
	handler	- the merge split handler
[out]	result	- result with connected edges of the given type/tag

Definition at line 198 of file MergeSplitUtils.h.

References agxAssert, agx::Vector< T, Allocator >::contains(), agx::MergedBody::getEdges(), agx::MergedBody::getNeighbors(), agxSDK::MergeSplitHandler::maySplit(), and agx::Vector< T, Allocator >::push_back().

shouldSplitGivenExternalForce()

AGXPHYSICS_EXPORT ExternalForceSplitResult agxSDK::MergeSplitUtils::shouldSplitGivenExternalForce	(	agxSDK::MergedBodySolverData::ForceFrame	edgeStrength,
		const agx::RigidBody *	rb,
		const agx::RigidBody *	otherRb,
		const agx::Vec3 &	externalForces,
		const agx::Vec3 &	externalTorques,
		const agx::Vec3 &	gravity,
		const agxSDK::MergeSplitHandler &	handler
	)

Checks if two bodies should split given edge strength force frame and external forces.

Parameters

edgeStrength	- force frame describing the strength of the connection between rb and otherRb
rb	- first rigid body
otherRb	- other rigid body
externalForces	- external forces (which could result in the split) - any gravity force should be included here
externalTorques	- external torques (not used)
gravity	- gravity acceleration used to estimate rbTop and rbBottom
handler	- merge split handler with thresholds

Returns

split result