Implements a Wire model with adaptive resolution. More...

Classes
class	AreaDefinition
	AreaDefinition that specifies an area in which an eye node can move in an EyeNodeArea constraint. More...

class	BodyFixedNode
	The body fixed node is attached to a body at a given offset. More...

class	CircularAreaDefinition
	Class for defining a circular area in which the eye node is allowed to exist. More...

class	ConnectingNode
	Connecting nodes contains two nodes, one at center of mass and the other at the user defined position. More...

class	ContactNode
	Contact node class is a node that, currently, is defined to live on an edge on a geometry (agxCollide::Geometry). More...

struct	ContactNodeData

class	ConvexAreaDefinition
	Class for defining a convex area in which the eye node is allowed to exist. More...

class	CylindricalCoordinateRPY

class	EyeNode
	Eye node is a type of node that can slide along a wire with or without friction. More...

class	EyeNodeArea
	Constraint that allows an eye node to move in a 2D area relative a rigid body. More...

class	FreeNode
	Free node class used to route wires. More...

class	HighResolutionRange
	Class to control variable node density along wires through routed nodes. More...

class	ILinkNode
	Interface class for nodes connected to links. More...

class	Link
	Object that defines the relation between different types of wires (agxWire::Wire). More...

class	LinkObjectStabilizingAlgorithm
	(Optional) Link algorithm that tries to stabilize the link when the link is in contact with an object. More...

class	Node
	Class defining a node that is part of a wire. More...

class	NodeFrame
	Node coordinate frame in another frame. More...

class	NodeMaterial
	Material definition for a wire node Specifies the friction of a wire for sliding through an EyeNode. More...

class	RenderIterator
	Proxy class for wire iterators. More...

class	ShapeContactNode

class	StopNode
	Stop node, wire end node used by winches. More...

class	Winch
	Winch object which works like agxWire::WireWinchController but enables the features of having stored, inactive, wire segments inside of the winch which can be pulled out given a link. More...

class	Wire
	Interface and placeholder of controllers/helpers for wires. More...

class	WireController
	Overlaying object handling wires. More...

struct	WireNodeForceResult
	Resulting force data from wire distance and bend calculateNodeForces calls. More...

struct	WireNodeTensionData
	Structure containing relevant tension data for a node. More...

class	WireParameterController
	Class to hold specific parameters for the wire - this makes the wires highly configurable. More...

struct	WireSegmentTensionData
	Structure containing relevant tension data for a wire element/segment. More...

class	WireSimpleDrumController

struct	WireSimpleDrumControlPoint

class	WireTensionController

class	WireWinchController
	Winch class for handling in and out hauling of wires. More...

Typedefs
typedef agx::ref_ptr< AreaDefinition >	AreaDefinitionRef

typedef agx::ref_ptr< BodyFixedNode >	BodyFixedNodeRef

typedef agx::ref_ptr< ConnectingNode >	ConnectingNodeRef

typedef agx::List< ContactNodeData >	ContactNodeDataList

typedef ContactNodeDataList::const_iterator	ContactNodeDataListIterator

typedef agx::List< ContactNodeDataListIterator >	ContactNodeDataListIteratorList

typedef agx::Vector< ContactNodeDataList >	ContactNodeDataListVector

typedef agx::HashSet< ContactNodeData * >	ContactNodeDataSet

typedef agx::ref_ptr< ContactNode >	ContactNodeRef

typedef agx::ref_ptr< EyeNodeArea >	EyeNodeAreaRef

typedef agx::ref_ptr< EyeNode >	EyeNodeRef

typedef agx::ref_ptr< FreeNode >	FreeNodeRef

typedef agx::HashVector< agxCollide::GeometryRef, agx::Vec3 >	GeometryRefDepthTable

typedef agx::observer_ptr< const ILinkNode >	ILinkNodeConstObserver

typedef agx::ref_ptr< const ILinkNode >	ILinkNodeConstRef

typedef agx::observer_ptr< ILinkNode >	ILinkNodeObserver

typedef agx::ref_ptr< ILinkNode >	ILinkNodeRef

typedef agx::observer_ptr< const Link >	LinkConstObserver

typedef agx::ref_ptr< const Link >	LinkConstRef

typedef agx::observer_ptr< const LinkObjectStabilizingAlgorithm >	LinkObjectStabilizingAlgorithmConstObserver

typedef agx::ref_ptr< const LinkObjectStabilizingAlgorithm >	LinkObjectStabilizingAlgorithmConstRef

typedef agx::observer_ptr< LinkObjectStabilizingAlgorithm >	LinkObjectStabilizingAlgorithmObserver

typedef agx::ref_ptr< LinkObjectStabilizingAlgorithm >	LinkObjectStabilizingAlgorithmRef

typedef agx::observer_ptr< Link >	LinkObserver

typedef agx::ref_ptr< Link >	LinkRef

typedef NodeContainer::const_iterator	NodeConstIterator

typedef NodeContainer::const_reverse_iterator	NodeConstReverseIterator

typedef NodeRefListA	NodeContainer

typedef NodeContainer::iterator	NodeIterator

typedef NodePtrContainer::const_iterator	NodePtrConstIterator

typedef NodePtrListA	NodePtrContainer

typedef NodePtrContainer::iterator	NodePtrIterator

typedef agx::List< Node * >	NodePtrListA

using	NodePtrNodeIterHash = agx::LinearProbingHashTable< Node *, NodeIterator >

typedef agx::Vector< Node * >	NodePtrVector

typedef agx::ref_ptr< Node >	NodeRef

typedef agx::List< NodeRef >	NodeRefListA

typedef agx::Vector< NodeRef >	NodeRefVector

typedef NodeContainer::reverse_iterator	NodeReverseIterator

typedef agx::ref_ptr< ShapeContactNode >	ShapeContactNodeRef

typedef agx::ref_ptr< StopNode >	StopNodeRef

typedef agx::SymmetricPair< agxWire::Node * >	SymmetricNodePtrPair

typedef agx::ref_ptr< Winch >	WinchRef

typedef agx::observer_ptr< const Wire >	WireConstObserver

typedef agx::ref_ptr< const Wire >	WireConstRef

typedef agx::VectorPOD< WireNodeForceResult >	WireNodeForceResultVector

typedef agx::observer_ptr< Wire >	WireObserver

typedef agx::Vector< WireObserver >	WireObserverVector

typedef agx::VectorPOD< Wire * >	WirePtrVector

typedef agx::ref_ptr< Wire >	WireRef

typedef agx::Vector< WireRef >	WireRefVector

typedef agx::ref_ptr< WireSimpleDrumController >	WireSimpleDrumControllerRef

typedef agx::List< WireSimpleDrumControlPoint >	WireSimpleDrumControlPointList

typedef agx::ref_ptr< WireTensionController >	WireTensionControllerRef

typedef agx::Vector< agx::observer_ptr< WireWinchController > >	WireWinchControllerObsVector

typedef agx::ref_ptr< WireWinchController >	WireWinchControllerRef

typedef agx::Vector< WireWinchControllerRef >	WireWinchControllerRefVector

Enumerations
enum class	WireGeometryType { SEGMENT , LUMPED_SPHERE , CONTACT_SENSOR }

Functions
AGXPHYSICS_EXPORT void	extractNodes (NodePtrVector &nodes, const Wire *wire)
	Extracts all the nodes given the render list in the wire.

template<typename IteratorCompatibleContainer >
IteratorCompatibleContainer::const_iterator	findBeginIterator (const IteratorCompatibleContainer &container, int nodeMask)
	Primitive function to find begin iterator for utility functions below.

template<typename IteratorCompatibleContainer >
agx::Real	findDistanceFromStartGivenPoint (agx::Real pulledInBegin, const IteratorCompatibleContainer &container, const agx::Vec3 &point)
	Search vector/list container defining a wire for the 3D point -> 1D wire projection.

template<typename IteratorCompatibleContainer >
agx::Real	findDistanceFromStartGivenPoint (agx::Real pulledInBegin, const IteratorCompatibleContainer &container, const agx::Vec3 &point, typename IteratorCompatibleContainer::const_iterator beginIt, typename IteratorCompatibleContainer::const_iterator endIt, agx::Real &shortestDistanceSquared)
	Search vector/list container defining a wire for the 3D point -> 1D wire projection.

template<typename IteratorCompatibleContainer >
IteratorCompatibleContainer::const_iterator	findEndIterator (const IteratorCompatibleContainer &container, int nodeMask)
	Primitive function to find end iterator for utility functions below.

template<typename IteratorCompatibleContainer >
agx::Vec3	findPointOnWire (const IteratorCompatibleContainer &container, const agx::Vec3 &point)
	Projects any 3D point onto wire.

template<typename IteratorCompatibleContainer >
agx::Vec3	findPointOnWire (const IteratorCompatibleContainer &container, const agx::Vec3 &point, const agx::Vec3 n)
	Projects any 3D point onto wire.

template<typename IteratorCompatibleContainer >
agx::Vec3	findPointOnWire (const IteratorCompatibleContainer &container, const agx::Vec3 &point, typename IteratorCompatibleContainer::const_iterator beginIt, typename IteratorCompatibleContainer::const_iterator endIt, agx::Real &shortestDistanceSquared)
	Projects any 3D point onto wire.

template<typename IteratorCompatibleContainer >
agx::Vec3	findPointOnWire (const IteratorCompatibleContainer &container, const agx::Vec3 &point, typename IteratorCompatibleContainer::const_iterator beginIt, typename IteratorCompatibleContainer::const_iterator endIt, const agx::Vec3 n, agx::Real &shortestDistanceSquared)

template<typename IteratorCompatibleContainer >
const Node *	getNode (const IteratorCompatibleContainer &container, agx::Real distanceFromStart)
	Finds the wire node given current distance from the start of the wire (wire defined to be iterator compatible container).

template<typename IteratorCompatibleContainer >
Node *	getNode (IteratorCompatibleContainer &container, agx::Real distanceFromStart)
	Finds the wire node given current distance from the start of the wire (wire defined to be iterator compatible container).

template<typename It >
It	getNodeIterator (agx::Real distanceFromStart, It begin, It end, It containerEnd)
	This function is used by getNode, but can be used of some nodes in the beginning or end of the wire should be excluded.

static agx::Vec3	transformPointToShape (const agx::Vec3 &p, const agxCollide::Geometry *g)
	Transforms a point given in world coordinates to shape coordinates of geometry g.

static agx::Vec3	transformPointToWorld (const agx::Vec3 &p, const agxCollide::Geometry *g)
	Transforms a point given in shape coordinates to world given geometry g.

static agx::Vec3	transformVectorToShape (const agx::Vec3 &v, const agxCollide::Geometry *g)
	Transforms a vector given in world coordinates to shape coordinates of geometry g.

static agx::Vec3	transformVectorToWorld (const agx::Vec3 &v, const agxCollide::Geometry *g)
	Transforms a vector given in shape coordinates to world coordinates given geometry g.

Detailed Description

Implements a Wire model with adaptive resolution.

Typedef Documentation

◆ AreaDefinitionRef

typedef agx::ref_ptr< AreaDefinition > agxWire::AreaDefinitionRef

Definition at line 91 of file EyeNodeArea.h.

◆ BodyFixedNodeRef

typedef agx::ref_ptr< BodyFixedNode > agxWire::BodyFixedNodeRef

Definition at line 1375 of file agxWire/Node.h.

◆ ConnectingNodeRef

typedef agx::ref_ptr< ConnectingNode > agxWire::ConnectingNodeRef

Definition at line 1651 of file agxWire/Node.h.

◆ ContactNodeDataList

typedef agx::List< ContactNodeData > agxWire::ContactNodeDataList

Definition at line 234 of file ShapeContactNode.h.

◆ ContactNodeDataListIterator

typedef ContactNodeDataList::const_iterator agxWire::ContactNodeDataListIterator

Definition at line 237 of file ShapeContactNode.h.

◆ ContactNodeDataListIteratorList

typedef agx::List< ContactNodeDataListIterator > agxWire::ContactNodeDataListIteratorList

Definition at line 238 of file ShapeContactNode.h.

◆ ContactNodeDataListVector

typedef agx::Vector<ContactNodeDataList> agxWire::ContactNodeDataListVector

Definition at line 235 of file ShapeContactNode.h.

◆ ContactNodeDataSet

typedef agx::HashSet< ContactNodeData* > agxWire::ContactNodeDataSet

Definition at line 233 of file ShapeContactNode.h.

◆ ContactNodeRef

typedef agx::ref_ptr< ContactNode > agxWire::ContactNodeRef

Definition at line 2199 of file agxWire/Node.h.

◆ EyeNodeAreaRef

typedef agx::ref_ptr< EyeNodeArea > agxWire::EyeNodeAreaRef

Definition at line 159 of file EyeNodeArea.h.

◆ EyeNodeRef

typedef agx::ref_ptr< EyeNode > agxWire::EyeNodeRef

Definition at line 1549 of file agxWire/Node.h.

◆ FreeNodeRef

typedef agx::ref_ptr< FreeNode > agxWire::FreeNodeRef

Definition at line 1214 of file agxWire/Node.h.

◆ GeometryRefDepthTable

typedef agx::HashVector< agxCollide::GeometryRef, agx::Vec3 > agxWire::GeometryRefDepthTable

Definition at line 49 of file agxWire/Node.h.

◆ ILinkNodeConstObserver

typedef agx::observer_ptr< const ILinkNode > agxWire::ILinkNodeConstObserver

Definition at line 23 of file ILinkNode.h.

◆ ILinkNodeConstRef

typedef agx::ref_ptr< const ILinkNode > agxWire::ILinkNodeConstRef

Definition at line 23 of file ILinkNode.h.

◆ ILinkNodeObserver

typedef agx::observer_ptr< ILinkNode > agxWire::ILinkNodeObserver

Definition at line 23 of file ILinkNode.h.

◆ ILinkNodeRef

typedef agx::ref_ptr< ILinkNode > agxWire::ILinkNodeRef

Definition at line 23 of file ILinkNode.h.

◆ LinkConstObserver

typedef agx::observer_ptr< const Link > agxWire::LinkConstObserver

Definition at line 33 of file Link.h.

◆ LinkConstRef

typedef agx::ref_ptr< const Link > agxWire::LinkConstRef

Definition at line 33 of file Link.h.

◆ LinkObjectStabilizingAlgorithmConstObserver

typedef agx::observer_ptr< const LinkObjectStabilizingAlgorithm > agxWire::LinkObjectStabilizingAlgorithmConstObserver

Definition at line 27 of file LinkAlgorithms.h.

◆ LinkObjectStabilizingAlgorithmConstRef

typedef agx::ref_ptr< const LinkObjectStabilizingAlgorithm > agxWire::LinkObjectStabilizingAlgorithmConstRef

Definition at line 27 of file LinkAlgorithms.h.

◆ LinkObjectStabilizingAlgorithmObserver

typedef agx::observer_ptr< LinkObjectStabilizingAlgorithm > agxWire::LinkObjectStabilizingAlgorithmObserver

Definition at line 27 of file LinkAlgorithms.h.

◆ LinkObjectStabilizingAlgorithmRef

typedef agx::ref_ptr< LinkObjectStabilizingAlgorithm > agxWire::LinkObjectStabilizingAlgorithmRef

Definition at line 27 of file LinkAlgorithms.h.

◆ LinkObserver

typedef agx::observer_ptr< Link > agxWire::LinkObserver

Definition at line 33 of file Link.h.

◆ LinkRef

typedef agx::ref_ptr< Link > agxWire::LinkRef

Definition at line 33 of file Link.h.

◆ NodeConstIterator

typedef NodeContainer::const_iterator agxWire::NodeConstIterator

Definition at line 57 of file agxWire/Node.h.

◆ NodeConstReverseIterator

typedef NodeContainer::const_reverse_iterator agxWire::NodeConstReverseIterator

Definition at line 56 of file agxWire/Node.h.

◆ NodeContainer

typedef NodeRefListA agxWire::NodeContainer

Definition at line 53 of file agxWire/Node.h.

◆ NodeIterator

typedef NodeContainer::iterator agxWire::NodeIterator

Definition at line 54 of file agxWire/Node.h.

◆ NodePtrConstIterator

typedef NodePtrContainer::const_iterator agxWire::NodePtrConstIterator

Definition at line 72 of file agxWire/Node.h.

◆ NodePtrContainer

typedef NodePtrListA agxWire::NodePtrContainer

Definition at line 70 of file agxWire/Node.h.

◆ NodePtrIterator

typedef NodePtrContainer::iterator agxWire::NodePtrIterator

Definition at line 71 of file agxWire/Node.h.

◆ NodePtrListA

typedef agx::List< Node* > agxWire::NodePtrListA

Definition at line 69 of file agxWire/Node.h.

◆ NodePtrNodeIterHash

using agxWire::NodePtrNodeIterHash = typedef agx::LinearProbingHashTable<Node*, NodeIterator>

Definition at line 62 of file agxWire/Node.h.

◆ NodePtrVector

typedef agx::Vector< Node* > agxWire::NodePtrVector

Definition at line 74 of file agxWire/Node.h.

◆ NodeRef

typedef agx::ref_ptr< Node > agxWire::NodeRef

Definition at line 51 of file agxWire/Node.h.

◆ NodeRefListA

typedef agx::List< NodeRef > agxWire::NodeRefListA

Definition at line 52 of file agxWire/Node.h.

◆ NodeRefVector

typedef agx::Vector<NodeRef> agxWire::NodeRefVector

Definition at line 58 of file agxWire/Node.h.

◆ NodeReverseIterator

typedef NodeContainer::reverse_iterator agxWire::NodeReverseIterator

Definition at line 55 of file agxWire/Node.h.

◆ ShapeContactNodeRef

typedef agx::ref_ptr< ShapeContactNode > agxWire::ShapeContactNodeRef

Definition at line 25 of file ShapeContactNode.h.

◆ StopNodeRef

typedef agx::ref_ptr< StopNode > agxWire::StopNodeRef

Definition at line 1719 of file agxWire/Node.h.

◆ SymmetricNodePtrPair

typedef agx::SymmetricPair< agxWire::Node* > agxWire::SymmetricNodePtrPair

Definition at line 42 of file WireContactUtils.h.

◆ WinchRef

typedef agx::ref_ptr< Winch > agxWire::WinchRef

Definition at line 198 of file Winch.h.

◆ WireConstObserver

typedef agx::observer_ptr< const Wire > agxWire::WireConstObserver

Definition at line 55 of file Wire.h.

◆ WireConstRef

typedef agx::ref_ptr< const Wire > agxWire::WireConstRef

Definition at line 55 of file Wire.h.

◆ WireNodeForceResultVector

typedef agx::VectorPOD<WireNodeForceResult> agxWire::WireNodeForceResultVector

Definition at line 45 of file WireNodeForceResult.h.

◆ WireObserver

typedef agx::observer_ptr< Wire > agxWire::WireObserver

Definition at line 55 of file Wire.h.

◆ WireObserverVector

typedef agx::Vector< WireObserver> agxWire::WireObserverVector

Definition at line 56 of file Wire.h.

◆ WirePtrVector

typedef agx::VectorPOD< Wire *> agxWire::WirePtrVector

Definition at line 56 of file Wire.h.

◆ WireRef

typedef agx::ref_ptr< Wire > agxWire::WireRef

Definition at line 55 of file Wire.h.

◆ WireRefVector

typedef agx::Vector< WireRef> agxWire::WireRefVector

Definition at line 56 of file Wire.h.

◆ WireSimpleDrumControllerRef

typedef agx::ref_ptr< WireSimpleDrumController > agxWire::WireSimpleDrumControllerRef

Definition at line 588 of file WireWinchController.h.

◆ WireSimpleDrumControlPointList

typedef agx::List< WireSimpleDrumControlPoint > agxWire::WireSimpleDrumControlPointList

Definition at line 528 of file WireWinchController.h.

◆ WireTensionControllerRef

typedef agx::ref_ptr< WireTensionController > agxWire::WireTensionControllerRef

Definition at line 89 of file WireTensionController.h.

◆ WireWinchControllerObsVector

typedef agx::Vector< agx::observer_ptr< WireWinchController > > agxWire::WireWinchControllerObsVector

Definition at line 394 of file WireWinchController.h.

◆ WireWinchControllerRef

typedef agx::ref_ptr< WireWinchController > agxWire::WireWinchControllerRef

Definition at line 392 of file WireWinchController.h.

◆ WireWinchControllerRefVector

typedef agx::Vector< WireWinchControllerRef > agxWire::WireWinchControllerRefVector

Definition at line 393 of file WireWinchController.h.

Enumeration Type Documentation

◆ WireGeometryType

enum class agxWire::WireGeometryType

strong

Enumerator
SEGMENT
LUMPED_SPHERE
CONTACT_SENSOR

Definition at line 76 of file agxWire/Node.h.

Function Documentation

◆ extractNodes()

AGXPHYSICS_EXPORT void agxWire::extractNodes	(	NodePtrVector &	nodes,
		const Wire *	wire
	)

Extracts all the nodes given the render list in the wire.

I.e., only "visible" nodes will be added.

Parameters

nodes	- container to fill with nodes
wire	- a wire

References extractNodes().

Referenced by extractNodes().

◆ findBeginIterator()

template<typename IteratorCompatibleContainer >

IteratorCompatibleContainer::const_iterator agxWire::findBeginIterator	(	const IteratorCompatibleContainer &	container,
		int	nodeMask
	)

Primitive function to find begin iterator for utility functions below.

Optimal solution is to use geometry iterators.

Parameters

container	- container defining the wire
nodeMask	- nodes to look for

Returns: iterator to the first hit on nodeMask from begin - container.end() if nothing was found

Definition at line 107 of file WireUtils.h.

◆ findDistanceFromStartGivenPoint() [1/2]

template<typename IteratorCompatibleContainer >

agx::Real agxWire::findDistanceFromStartGivenPoint	(	agx::Real	pulledInBegin,
		const IteratorCompatibleContainer &	container,
		const agx::Vec3 &	point
	)

Search vector/list container defining a wire for the 3D point -> 1D wire projection.

I.e., given any 3D point, this function will find the distance along the wire closest to point.

Parameters

pulledInBegin	- amount of wire hauled in, in for example a winch at the beginning of the wire
container	- iterator compatible container (like std::list/vector, agx::Vector etc) with wire node pointers of reference pointers defining a wire
point	- any 3D point

Returns: distance along wire closest to the 3D point

Definition at line 204 of file WireUtils.h.

References findDistanceFromStartGivenPoint().

◆ findDistanceFromStartGivenPoint() [2/2]

template<typename IteratorCompatibleContainer >

agx::Real agxWire::findDistanceFromStartGivenPoint	(	agx::Real	pulledInBegin,
		const IteratorCompatibleContainer &	container,
		const agx::Vec3 &	point,
		typename IteratorCompatibleContainer::const_iterator	beginIt,
		typename IteratorCompatibleContainer::const_iterator	endIt,
		agx::Real &	shortestDistanceSquared
	)

Search vector/list container defining a wire for the 3D point -> 1D wire projection.

I.e., given any 3D point, this function will find the distance along the wire closest to point.

Parameters

pulledInBegin	- amount of wire hauled in, in for example a winch at the beginning of the wire
container	- iterator compatible container (like std::list/vector, agx::Vector etc) with wire node pointers of reference pointers defining a wire
point	- any 3D point
beginIt	- where to begin in `container`
endIt	- where to end in `container` (like while (it != endIt) ...)
shortestDistanceSquared	- Returns the squared shortest distance.

Returns: distance along wire closest to the 3D point

Definition at line 150 of file WireUtils.h.

References agxAssert, agx::clamp(), agx::equalsZero(), agx::Infinity, agx::Vec3T< T >::length(), and agx::Vec3T< T >::length2().

Referenced by findDistanceFromStartGivenPoint(), and findPointOnWire().

◆ findEndIterator()

template<typename IteratorCompatibleContainer >

IteratorCompatibleContainer::const_iterator agxWire::findEndIterator	(	const IteratorCompatibleContainer &	container,
		int	nodeMask
	)

Primitive function to find end iterator for utility functions below.

Optimal solution is to use geometry iterators.

Parameters

container	- container defining the wire
nodeMask	- nodes to look for

Returns: iterator to the first hit on nodeMask from end - container.begin() if nothing was found

Definition at line 125 of file WireUtils.h.

◆ findPointOnWire() [1/4]

template<typename IteratorCompatibleContainer >

agx::Vec3 agxWire::findPointOnWire	(	const IteratorCompatibleContainer &	container,
		const agx::Vec3 &	point
	)

Projects any 3D point onto wire.

Finds point on wire (defined by vector/list container) given any point in 3D.

Parameters

container	- iterator compatible container (like std::list/vector, agx::Vector etc) with wire node pointers of reference pointers defining a wire
point	- any 3D point

Returns: a point on the wire closest to point

Definition at line 331 of file WireUtils.h.

References findPointOnWire().

◆ findPointOnWire() [2/4]

template<typename IteratorCompatibleContainer >

agx::Vec3 agxWire::findPointOnWire	(	const IteratorCompatibleContainer &	container,
		const agx::Vec3 &	point,
		const agx::Vec3	n
	)

Projects any 3D point onto wire.

Finds point on wire (defined by vector/list container) given any point in 3D.

Parameters

container	- iterator compatible container (like std::list/vector, agx::Vector etc) with wire node pointers of reference pointers defining a wire
point	- any 3D point
n	- Normal

Returns: a point on the wire closest to point

Definition at line 345 of file WireUtils.h.

References findPointOnWire().

◆ findPointOnWire() [3/4]

template<typename IteratorCompatibleContainer >

agx::Vec3 agxWire::findPointOnWire	(	const IteratorCompatibleContainer &	container,
		const agx::Vec3 &	point,
		typename IteratorCompatibleContainer::const_iterator	beginIt,
		typename IteratorCompatibleContainer::const_iterator	endIt,
		agx::Real &	shortestDistanceSquared
	)

Projects any 3D point onto wire.

Finds point on wire (defined by vector/list container) given any point in 3D.

Parameters

container	- iterator compatible container (like std::list/vector, agx::Vector etc) with wire node pointers of reference pointers defining a wire
point	- any 3D point
beginIt	- where to begin in `container`
endIt	- where to end in `container` (like while (it != endIt) ...)
shortestDistanceSquared	- The shortest distance squared returned.

Returns: a point on the wire closest to point

Definition at line 220 of file WireUtils.h.

References agxAssert, agx::equalsZero(), agx::equivalent(), findDistanceFromStartGivenPoint(), agx::Vec3T< T >::normalize(), and agx::RealEpsilon.

Referenced by findPointOnWire().

◆ findPointOnWire() [4/4]

template<typename IteratorCompatibleContainer >

agx::Vec3 agxWire::findPointOnWire	(	const IteratorCompatibleContainer &	container,
		const agx::Vec3 &	point,
		typename IteratorCompatibleContainer::const_iterator	beginIt,
		typename IteratorCompatibleContainer::const_iterator	endIt,
		const agx::Vec3	n,
		agx::Real &	shortestDistanceSquared
	)

Definition at line 258 of file WireUtils.h.

References agx::clamp(), agxWire::Node::getFrame(), agxWire::NodeFrame::getWorldPosition(), agx::Vec3T< T >::length2(), agx::Vec3T< T >::normalize(), planeProject, and agx::RealMax.

◆ getNode() [1/2]

template<typename IteratorCompatibleContainer >

const Node * agxWire::getNode	(	const IteratorCompatibleContainer &	container,
		agx::Real	distanceFromStart
	)

Finds the wire node given current distance from the start of the wire (wire defined to be iterator compatible container).

Parameters

container	- iterator compatible container
distanceFromStart	- current distance from start

Returns: wire node in container before current_length_along_line > distance_from_start

Definition at line 392 of file WireUtils.h.

References getNodeIterator().

◆ getNode() [2/2]

template<typename IteratorCompatibleContainer >

Node * agxWire::getNode	(	IteratorCompatibleContainer &	container,
		agx::Real	distanceFromStart
	)

Finds the wire node given current distance from the start of the wire (wire defined to be iterator compatible container).

Parameters

container	- iterator compatible container
distanceFromStart	- current distance from start

Returns: wire node in container before current_length_along_line > distance_from_start

Definition at line 410 of file WireUtils.h.

References getNodeIterator().

◆ getNodeIterator()

template<typename It >

It agxWire::getNodeIterator	(	agx::Real	distanceFromStart,
		It	begin,
		It	end,
		It	containerEnd
	)

This function is used by getNode, but can be used of some nodes in the beginning or end of the wire should be excluded.

Parameters

distanceFromStart	- current distance from start
begin	- begin iterator
end	- end iterator
containerEnd	- iterator to end of the current container

Definition at line 359 of file WireUtils.h.

References agx::leq().

Referenced by getNode().

◆ transformPointToShape()

static agx::Vec3 agxWire::transformPointToShape	(	const agx::Vec3 &	p,
		const agxCollide::Geometry *	g
	)

inlinestatic

Transforms a point given in world coordinates to shape coordinates of geometry g.

Parameters

p	- point in world
g	- geometry with one shape

Returns: point in shape coordinates

Definition at line 69 of file WireUtils.h.

References agxAssert, agxCollide::Geometry::getShapes(), agx::Vec3T< T >::isValid(), agx::Container::size(), and world_to_shape_transform.

◆ transformPointToWorld()

static agx::Vec3 agxWire::transformPointToWorld	(	const agx::Vec3 &	p,
		const agxCollide::Geometry *	g
	)

inlinestatic

Transforms a point given in shape coordinates to world given geometry g.

Parameters

p	- point in shape coordinate system
g	- geometry with one shape

Returns: point in world coordinates

Definition at line 81 of file WireUtils.h.

References agxAssert, agxCollide::Geometry::getShapes(), agx::Vec3T< T >::isValid(), shape_to_world_transform, and agx::Container::size().

◆ transformVectorToShape()

static agx::Vec3 agxWire::transformVectorToShape	(	const agx::Vec3 &	v,
		const agxCollide::Geometry *	g
	)

inlinestatic

Transforms a vector given in world coordinates to shape coordinates of geometry g.

Parameters

v	- vector in world coordinates
g	- geometry with one shape

Returns: vector in shape coordinates

Definition at line 45 of file WireUtils.h.

References agxAssert, agxCollide::Geometry::getShapes(), agx::Vec3T< T >::isValid(), agx::Container::size(), and world_to_shape_transform.

◆ transformVectorToWorld()

static agx::Vec3 agxWire::transformVectorToWorld	(	const agx::Vec3 &	v,
		const agxCollide::Geometry *	g
	)

inlinestatic

Transforms a vector given in shape coordinates to world coordinates given geometry g.

Parameters

v	- vector in shape coordinates
g	- geometry with one shape

Returns: vector in world coordinates

Definition at line 57 of file WireUtils.h.

References agxAssert, agxCollide::Geometry::getShapes(), agx::Vec3T< T >::isValid(), shape_to_world_transform, and agx::Container::size().

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ AreaDefinitionRef

◆ BodyFixedNodeRef

◆ ConnectingNodeRef

◆ ContactNodeDataList

◆ ContactNodeDataListIterator

◆ ContactNodeDataListIteratorList

◆ ContactNodeDataListVector

◆ ContactNodeDataSet

◆ ContactNodeRef

◆ EyeNodeAreaRef

◆ EyeNodeRef

◆ FreeNodeRef

◆ GeometryRefDepthTable

◆ ILinkNodeConstObserver

◆ ILinkNodeConstRef

◆ ILinkNodeObserver

◆ ILinkNodeRef

◆ LinkConstObserver

◆ LinkConstRef

◆ LinkObjectStabilizingAlgorithmConstObserver

◆ LinkObjectStabilizingAlgorithmConstRef

◆ LinkObjectStabilizingAlgorithmObserver

◆ LinkObjectStabilizingAlgorithmRef

◆ LinkObserver

◆ LinkRef

◆ NodeConstIterator

◆ NodeConstReverseIterator

◆ NodeContainer

◆ NodeIterator

◆ NodePtrConstIterator

◆ NodePtrContainer

◆ NodePtrIterator

◆ NodePtrListA

◆ NodePtrNodeIterHash

◆ NodePtrVector

◆ NodeRef

◆ NodeRefListA

◆ NodeRefVector

◆ NodeReverseIterator

◆ ShapeContactNodeRef

◆ StopNodeRef

◆ SymmetricNodePtrPair

◆ WinchRef

◆ WireConstObserver

◆ WireConstRef

◆ WireNodeForceResultVector

◆ WireObserver

◆ WireObserverVector

◆ WirePtrVector

◆ WireRef

◆ WireRefVector

◆ WireSimpleDrumControllerRef

◆ WireSimpleDrumControlPointList

◆ WireTensionControllerRef

◆ WireWinchControllerObsVector

◆ WireWinchControllerRef

◆ WireWinchControllerRefVector

Enumeration Type Documentation

◆ WireGeometryType

Function Documentation

◆ extractNodes()

◆ findBeginIterator()

◆ findDistanceFromStartGivenPoint() [1/2]

◆ findDistanceFromStartGivenPoint() [2/2]

◆ findEndIterator()

◆ findPointOnWire() [1/4]

◆ findPointOnWire() [2/4]

◆ findPointOnWire() [3/4]

◆ findPointOnWire() [4/4]

◆ getNode() [1/2]

◆ getNode() [2/2]

◆ getNodeIterator()

◆ transformPointToShape()

◆ transformPointToWorld()