#include <RBD_Object.h>

Inheritance diagram for RBD_Object:

Public Member Functions
	RBD_Object (const SIM_Solver solver, SIM_Object obj)

	~RBD_Object () override

SIM_Object *	getObject () const

RBD_State *	getState () const

SIM_Impacts *	getImpacts ()

const SIM_SDF *	getSDF () const

const SIM_Geometry *	getGeometry () const

const RBD_SphereTree *	getSphereTree () const

fpreal	getRadius () const

bool	isInfiniteExtent () const

void	getBBox (UT_BoundingBox &bbox) const

void	accumulatePointVelocity (UT_Vector3Array &pos, UT_Vector3Array &vel) const

void	stashState ()
	Stashes the current state internally. More...

void	reloadImpacts (SIM_Collider::SIM_ImpactApplyType impactaplytype)

void	preserveImpacts (SIM_Engine *engine)

void	restoreStatePos ()
	Restores the position of the state using changePosition. More...

void	restoreStateVel ()
	Restores the velocity of the state using changeVelocity. More...

void	restoreState ()
	Restores the full state. More...

void	getGlueSubObjects (RBD_ObjectArray &objlist) const
	This returns a list of all the objects that are frozen to us. More...

int	getNumGlueSubObjects () const

RBD_Object *	getNthGlueSubObject (int i) const

RBD_Object *	getGlueParent () const
	Returns our parent object, null if not glued. More...

bool	hasGlueSubObjects () const
	This returns true if we have any frozen sub objects. More...

void	addGlueSubObject (RBD_Object *obj)
	Marks that obj is glued to this. More...

void	removeGlueSubObject (RBD_Object *obj)
	Removes that object as being glued to this. More...

bool	hasAsGlueChild (RBD_Object *obj)
	Returns true if the given object is one of our glue children. More...

bool	isGlued () const
	Return if this object is glued to somewhere else. More...

void	buildImpulseModel (UT_DMatrix3 &k, const UT_Vector3 &f, const UT_Vector3 &p) const

void	buildImpulseModelForA (UT_DMatrix3 &k, const UT_Vector3 &f, const UT_Vector3 &p, RBD_Object *A) const

void	buildConstraints (const RBD_Solver *solver, const SIM_Time &time, const SIM_Time &endtime)

void	removeConstraints ()

void	applyImpulse (const UT_Vector3 &pos, fpreal impulse, const UT_Vector3 &normal)

void	applyImpacts (const SIM_Impacts *impacts, const SIM_Time &time, const SIM_Time &timestep)
	Applies impulses from SIM_Impacts data. More...

void	integratePosition (const SIM_Time &time, const SIM_Time &timestep)
	Integrate position. Uses current velocity. More...

void	integrateVelocity (const SIM_Time &time, const SIM_Time &timestep)
	Integrate velocity. Finds & applies all forces. More...

void	initSDF ()

void	initFromGeometry ()
	Updates the state from geometry, unless already calculated. More...

void	initRadius ()
	Calculates the radius, unless already calculated. More...

void	initBBox (bool useSDF)
	Calculates the bounding box. More...

void	gatherBuilderRequests (UT_Array< GU_SDFDelayedBuilder > &buildrequests)
	Gathers all of our builder requests. More...

void	initForCollisions ()
	Initialize for collisions. More...

fpreal	getPropertyAtPosition (const SIM_Property &property, const UT_Vector3 &pos) const
	Calculates the property value at the given world position. More...

void	rebuildAffectorList (const RBD_Solver solver, SIM_Engine &engine, const SIM_Time &time, const SIM_Time &timestep, RBD_SharedAffectorListArray &affectorlists, UT_TokenString::Map< RBD_SharedAffectorList > &affectorhash)

void	getStashedTransform (UT_DMatrix4 &xform) const
	Gets the transform matrix from self to world from stashed state. More...

void	findOverlapIdx (const RBD_Solver *solver, UT_IntArray &overlap)

void	setAffectorTreeDirty ()

int	getNumAffectors () const

RBD_Object *	getAffector (int j) const

const SIM_Collider *	getCollider (int j, const char *defaultlabel) const

SIM_Collider::SIM_ImpactApplyType	getImpactApplyType (int j) const

int	getArrayIndex () const

void	setArrayIndex (int index)

bool	hasNailConstraints () const

UT_ValArray < SIM_ColliderCacheData * > &	getCollideCache ()

void	clearCollideCache ()

void	cachePhysicalValues ()

void	restorePhysicalValues ()

Public Member Functions inherited from SIM_ObjectSolveInfo
	SIM_ObjectSolveInfo (const SIM_Solver createdbysolver, const SIM_Object object)

virtual	~SIM_ObjectSolveInfo ()

const SIM_Solver *	getCreatedBySolver () const

Public Attributes
bool	myPinProcessFlag

RBD_ObjectArray	myPinObjects

UT_Vector3Array	myPinAnchorPos

UT_Vector3Array	myPinAnchorGoalPos

Protected Member Functions
void	accumulateConstraints (const RBD_Solver solver, RBD_Object piece, UT_Vector3Array &hard_objpos, UT_Vector3Array &hard_goalpos, UT_Matrix3 &hard_spatialfilter, UT_Matrix3 &hard_rotationalfilter, const SIM_Time &time, const SIM_Time &endtime)

Additional Inherited Members
Static Public Member Functions inherited from SIM_ObjectSolveInfo
static void	clearAllSolveInfo (const SIM_Engine *engine)

Detailed Description

Definition at line 48 of file RBD_Object.h.

Constructor & Destructor Documentation

RBD_Object::RBD_Object	(	const SIM_Solver *	solver,
		SIM_Object *	obj
	)

RBD_Object::~RBD_Object ( )

override

Member Function Documentation

void RBD_Object::accumulateConstraints	(	const RBD_Solver *	solver,
		RBD_Object *	piece,
		UT_Vector3Array &	hard_objpos,
		UT_Vector3Array &	hard_goalpos,
		UT_Matrix3 &	hard_spatialfilter,
		UT_Matrix3 &	hard_rotationalfilter,
		const SIM_Time &	time,
		const SIM_Time &	endtime
	)

protected

void RBD_Object::accumulatePointVelocity	(	UT_Vector3Array &	pos,
		UT_Vector3Array &	vel
	)		const

Accumulates into the given arrays all of our point's positions and velocities. Both are given in world space.

void RBD_Object::addGlueSubObject ( RBD_Object * obj )

Marks that obj is glued to this.

void RBD_Object::applyImpacts	(	const SIM_Impacts *	impacts,
		const SIM_Time &	time,
		const SIM_Time &	timestep
	)

Applies impulses from SIM_Impacts data.

void RBD_Object::applyImpulse	(	const UT_Vector3 &	pos,
		fpreal	impulse,
		const UT_Vector3 &	normal
	)

Applies an impulse to this object. This results in an instantaneous change in velocity and angular velocity.

void RBD_Object::buildConstraints	(	const RBD_Solver *	solver,
		const SIM_Time &	time,
		const SIM_Time &	endtime
	)

Determines what hard constraints are present at this time step and updates its internal model to reflect theses. We need the end time to be able to acquire non-interpolated objects to handle live pin constraints.

void RBD_Object::buildImpulseModel	(	UT_DMatrix3 &	k,
		const UT_Vector3 &	f,
		const UT_Vector3 &	p
	)		const

Builds the impulse model matrix for the given world space coordinate. This matrix when multiplied by an impulse will give the change in velocity at that point caused by the impulse.

This takes hard constraints into consideration. Builds the impulse model matrix describing the velocity change at point p given a force at point f. This is Mfp-1 in my naming scheme.

void RBD_Object::buildImpulseModelForA	(	UT_DMatrix3 &	k,
		const UT_Vector3 &	f,
		const UT_Vector3 &	p,
		RBD_Object *	A
	)		const

Builds the impulse model matrix describing motion of P on *this given an a force at f on *this. This is Mzfp-1(A) in my naming scheme, where this is Z.

void RBD_Object::cachePhysicalValues ( )

void RBD_Object::clearCollideCache ( )

void RBD_Object::findOverlapIdx	(	const RBD_Solver *	solver,
		UT_IntArray &	overlap
	)

inline

Definition at line 216 of file RBD_Object.h.

void RBD_Object::gatherBuilderRequests ( UT_Array< GU_SDFDelayedBuilder > & buildrequests )

Gathers all of our builder requests.

RBD_Object* RBD_Object::getAffector ( int j ) const

inline

Definition at line 232 of file RBD_Object.h.

int RBD_Object::getArrayIndex ( ) const

inline

Definition at line 243 of file RBD_Object.h.

void RBD_Object::getBBox ( UT_BoundingBox & bbox ) const

This returns the bounding box of the object inside it's own frame. This must be transformed by the orientation to get the world bounding box.

UT_ValArray<SIM_ColliderCacheData *>& RBD_Object::getCollideCache ( )

inline

Definition at line 251 of file RBD_Object.h.

const SIM_Collider* RBD_Object::getCollider	(	int	j,
		const char *	defaultlabel
	)		const

inline

Definition at line 234 of file RBD_Object.h.

const SIM_Geometry* RBD_Object::getGeometry ( ) const

inline

Definition at line 60 of file RBD_Object.h.

RBD_Object* RBD_Object::getGlueParent ( ) const

inline

Returns our parent object, null if not glued.

Definition at line 111 of file RBD_Object.h.

void RBD_Object::getGlueSubObjects ( RBD_ObjectArray & objlist ) const

This returns a list of all the objects that are frozen to us.

SIM_Collider::SIM_ImpactApplyType RBD_Object::getImpactApplyType ( int j ) const

inline

Definition at line 237 of file RBD_Object.h.

SIM_Impacts* RBD_Object::getImpacts ( )

RBD_Object* RBD_Object::getNthGlueSubObject ( int i ) const

int RBD_Object::getNumAffectors ( ) const

inline

Definition at line 228 of file RBD_Object.h.

int RBD_Object::getNumGlueSubObjects ( ) const

Discover the number of glued subobjects and retrieve a specific one

SIM_Object* RBD_Object::getObject ( ) const

inline

These cache the common RBD structures so we don't have to look them up every time we fetch them.

Definition at line 56 of file RBD_Object.h.

fpreal RBD_Object::getPropertyAtPosition	(	const SIM_Property &	property,
		const UT_Vector3 &	pos
	)		const

Calculates the property value at the given world position.

fpreal RBD_Object::getRadius ( ) const

inline

This is the radius of this object from the pivot position. It is thus orientation independent.

Definition at line 66 of file RBD_Object.h.

const SIM_SDF* RBD_Object::getSDF ( ) const

inline

Definition at line 59 of file RBD_Object.h.

const RBD_SphereTree* RBD_Object::getSphereTree ( ) const

void RBD_Object::getStashedTransform ( UT_DMatrix4 & xform ) const

Gets the transform matrix from self to world from stashed state.

RBD_State* RBD_Object::getState ( ) const

inline

Definition at line 57 of file RBD_Object.h.

bool RBD_Object::hasAsGlueChild ( RBD_Object * obj )

Returns true if the given object is one of our glue children.

bool RBD_Object::hasGlueSubObjects ( ) const

This returns true if we have any frozen sub objects.

bool RBD_Object::hasNailConstraints ( ) const

inline

Definition at line 248 of file RBD_Object.h.

void RBD_Object::initBBox ( bool useSDF )

Calculates the bounding box.

void RBD_Object::initForCollisions ( )

Initialize for collisions.

void RBD_Object::initFromGeometry ( )

Updates the state from geometry, unless already calculated.

void RBD_Object::initRadius ( )

Calculates the radius, unless already calculated.

void RBD_Object::initSDF ( )

Builds the SDF and updates the state from the sdf, unless sdf is already built.

void RBD_Object::integratePosition	(	const SIM_Time &	time,
		const SIM_Time &	timestep
	)

Integrate position. Uses current velocity.

void RBD_Object::integrateVelocity	(	const SIM_Time &	time,
		const SIM_Time &	timestep
	)

Integrate velocity. Finds & applies all forces.

bool RBD_Object::isGlued ( ) const

inline

Return if this object is glued to somewhere else.

Definition at line 126 of file RBD_Object.h.

bool RBD_Object::isInfiniteExtent ( ) const

Returns true if this object can intersect anywhere in space Used for things like implicit planes.

void RBD_Object::preserveImpacts ( SIM_Engine * engine )

Copies our NewImpact data into Impacts. This is a pass through to SIM_Object, but ensures our cached impact structure is cleared.

void RBD_Object::rebuildAffectorList	(	const RBD_Solver *	solver,
		SIM_Engine &	engine,
		const SIM_Time &	time,
		const SIM_Time &	timestep,
		RBD_SharedAffectorListArray &	affectorlists,
		UT_TokenString::Map< RBD_SharedAffectorList * > &	affectorhash
	)

Rebuilds the list of affectors for this object. Interpolates the affectors for the given time.

void RBD_Object::reloadImpacts ( SIM_Collider::SIM_ImpactApplyType impactaplytype )

Reloads our impact data structure from the SIM_Object. This must be done whenever preserveImpacts is called.

void RBD_Object::removeConstraints ( )

Removes the constraints added. This restores stuff like the pivot to its original value.

void RBD_Object::removeGlueSubObject ( RBD_Object * obj )

Removes that object as being glued to this.

void RBD_Object::restorePhysicalValues ( )

void RBD_Object::restoreState ( )

Restores the full state.

void RBD_Object::restoreStatePos ( )

Restores the position of the state using changePosition.

void RBD_Object::restoreStateVel ( )

Restores the velocity of the state using changeVelocity.

void RBD_Object::setAffectorTreeDirty ( )

inline

Definition at line 224 of file RBD_Object.h.

void RBD_Object::setArrayIndex ( int index )

inline

Definition at line 245 of file RBD_Object.h.

void RBD_Object::stashState ( )

Stashes the current state internally.

Member Data Documentation

UT_Vector3Array RBD_Object::myPinAnchorGoalPos

Definition at line 265 of file RBD_Object.h.

UT_Vector3Array RBD_Object::myPinAnchorPos

Definition at line 264 of file RBD_Object.h.

RBD_ObjectArray RBD_Object::myPinObjects

Definition at line 259 of file RBD_Object.h.

bool RBD_Object::myPinProcessFlag

mutable

Definition at line 258 of file RBD_Object.h.

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

RBD/RBD_Object.h

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation