#include <RBD_Solver.h>

Inheritance diagram for RBD_Solver:

Public Types
enum	rbdContactGroupMethod { CONTACTGROUP_NONE = 0, CONTACTGROUP_CLOSESTPOINT, CONTACTGROUP_AVERAGE }

Public Types inherited from SIM_Solver
enum	SIM_Result { SIM_SOLVER_SUCCESS, SIM_SOLVER_REPEAT, SIM_SOLVER_SUBSTEP, SIM_SOLVER_FAIL }

Public Member Functions
	GETSET_DATA_FUNCS_B (RBD_NAME_FLAGPENETRATION, FlagPenetration)

	GETSET_DATA_FUNCS_B (RBD_NAME_GLUEIGNORESRESTING, GlueIgnoresRestingObjects)

	GETSET_DATA_FUNCS_B (RBD_NAME_USEPOINTVELOCITY, UsePointVelocity)

	GETSET_DATA_FUNCS_B (RBD_NAME_USESDFVELOCITY, UseSDFVelocity)

	GETSET_DATA_FUNCS_I (RBD_NAME_CULLMODE, CullMode)

	GETSET_DATA_FUNCS_B (RBD_NAME_ADDIMPACTS, AddImpacts)

	GETSET_DATA_FUNCS_I (RBD_NAME_CONTACTGROUPMETHOD, ContactGroupMethod)

	GETSET_DATA_FUNCS_F (RBD_NAME_CONTACTGROUPTOL, ContactGroupTol)

	GET_DATA_FUNC_I (RBD_NAME_MINIMUMSUBSTEPS, MinimumSubSteps)

	GET_DATA_FUNC_I (RBD_NAME_MAXIMUMSUBSTEPS, MaximumSubSteps)

	GET_DATA_FUNC_F (RBD_NAME_CFLCOND, CFLCond)

bool	doObjectsCollide (RBD_Object obja, RBD_Object objb, const SIM_Time &time, const SIM_Time &timestep) const
	This is public as we need it in our contact graph builder. More...

RBD_ObjectTree *	createObjectTree () const

RBD_Object *	convertToRBDObject (const SIM_Object *obj) const

Public Member Functions inherited from SIM_Solver
SIM_Result	solveObjects (SIM_Engine &engine, SIM_ObjectArray &objects, SIM_ObjectArray &newobjects, SIM_ObjectArray &feedbacktoobjects, const SIM_Time &timestep)

SIM_Result	postSolveObjects (SIM_Engine &engine, SIM_ObjectArray &objects, SIM_ObjectArray &newobjects, SIM_ObjectArray &feedbacktoobjects, const SIM_Time &timestep)

SIM_Result	solveRelationship (SIM_Engine &engine, SIM_Relationship &relationship, const SIM_Time &timestep)

int	getRequestedCache () const

void	getImpulseMassMatrix (const SIM_Object &object, const UT_Vector3 &impulseworldpos, UT_DMatrix3 &immatrix) const

void	getPointImpulseMassMatrix (const SIM_Object &object, GA_Index ptnum, UT_DMatrix3 &immatrix) const

SIM_PointImpulseMassMatrixResolver *	getPointImpulseMassMatrixResolver (const SIM_Object &object) const
	Builds a resolver to efficiently compute mass matrices. More...

fpreal	getPropertyAtPosition (const SIM_Object &object, const UT_Vector3 &worldpos, const SIM_Property &property) const

fpreal	getPropertyAtPoint (const SIM_Object &object, GA_Index ptnum, const SIM_Property &property) const

SIM_PropertyResolver *	getPropertyResolver (const SIM_Object &object, const SIM_Property &property) const
	Builds a resolver to efficiently compute property values. More...

void	getDefaultColliderLabel (const SIM_Object &object, UT_String &label) const
	Gets the default collider label for an object using this solver. More...

void	getDefaultCollider (const SIM_Object &object, const UT_String &colliderlabel, UT_String &collidertype, bool &colliderreverseobjectroles) const

void	setStartTime (const SIM_Time &starttime)

bool	isStatic (const SIM_Object *obj) const

Public Member Functions inherited from SIM_Data
const UT_StringHolder &	getDataType () const

void	initialize (const SIM_SubdataBehavior &subdatabehavior)

void	makeEqual (const SIM_Data *source, const SIM_SubdataBehavior &subdatabehavior)

void	setParameters (const SIM_Options &parms)

void	interpolate (const SIM_Data source1, const SIM_Data source2, fpreal interp)

int64	getMemorySize () const

bool	getIsAlternateRepresentation () const

bool	saveToFile (const char *filename, UT_CompressionType compressionType) const

bool	saveToStream (std::ostream &os, UT_CompressionType compressionType) const

void	appendFullDataPath (const SIM_Data *subdata, bool useobjectid, UT_String &datapath) const

bool	loadFromFile (const char *filename)

bool	loadFromStream (UT_IStream &is, bool skiptype=false)

bool	getIsOfType (const UT_StringRef &datatype) const

const void *	getConstPointerToType (const UT_StringRef &datatype) const

void *	getPointerToType (const UT_StringRef &datatype)

int	getNumSubData () const
	Get the number of sub-data items attached to this data. More...

const UT_StringHolder &	getSubDataName (int index) const
	Get the name of the sub-data at a particular index location. More...

int	getSubDataIndex (const SIM_Data *subdata) const

bool	buildSubDataPath (const SIM_Data *subdata, UT_String &pathto) const

const SIM_Query &	getQueryObject () const

SIM_Options *	getUserOptions ()

const SIM_Options *	getConstUserOptions () const

long	getGuideParmVersion () const

void	addGuideDep (DEP_MicroNode &src) const

virtual bool	getGuideGeometryList (const SIM_RootData &root, const char *datapath, const SIM_Time &t, UT_Array< GU_ConstDetailHandle > &detailArray, UT_Array< UT_DMatrix4 > &xformArray) const

GU_ConstDetailHandle	getGuideGeometry (const SIM_RootData &root, const char *datapath, UT_DMatrix4 &xform, const SIM_Time &t) const

void	buildGuideOptions (SIM_Options &options, const SIM_Time &time) const

SIM_Data *	getSubData (int index)

const SIM_Data *	getConstSubData (int index) const

SIM_Data *	getNamedSubData (const char *dataname)

const SIM_Data *	getConstNamedSubData (const char *dataname) const

void	filterSubData (SIM_DataArray &ncdp, UT_StringArray names, const SIM_DataFilter &ncfilter, const char startfrom, const SIM_DataFilter &recursefilter)

void	filterConstSubData (SIM_ConstDataArray &dp, UT_StringArray names, const SIM_DataFilter &filter, const char startfrom, const SIM_DataFilter &recurseFilter) const

SIM_Data *	getNthSubData (UT_String name, const SIM_DataFilter &filter, int n, const char startfrom, const SIM_DataFilter &recurseFilter)

const SIM_Data *	getNthConstSubData (UT_String name, const SIM_DataFilter &filter, int n, const char startfrom, const SIM_DataFilter &recurseFilter) const

void	forEachSubData (SIM_EachDataCallback &cb, const SIM_DataFilter &filter, const char *startfrom, const SIM_DataFilter &recurseFilter)

void	forEachConstSubData (SIM_EachDataCallback &cb, const SIM_DataFilter &filter, const char *startfrom, const SIM_DataFilter &recurseFilter) const

SIM_Data *	createNamedSubData (const char dataname, const char datatype, int creationflags, UT_String *newdatanameptr=NULL)

SIM_Data *	getOrCreateAlternateRepresentation (const char dataname, const char datatype) const

void	interpolateSubData (const SIM_Data &source1, const SIM_Data &source2, fpreal interp, const SIM_DataFilter &interpdata, const SIM_DataFilter &recurse)

void	setNamedSubData (const char dataname, const SIM_Data data, int setflags)

void	createUniqueSubDataName (const SIM_Data *subdata, UT_String &dataname) const

void	removeNamedSubData (const char *dataname)
	Remove some existing sub-data by name. More...

void	removeSubData (int index)
	Remove some existing sub-data by index. More...

void	moveNamedSubData (const char oldname, const char newname)

const UT_Guid &	getUniqueId () const

long	getReferenceCount () const

int	getCreatorId () const
	Get the ID of the node that created this data. More...

OP_Node *	getCreatorNode () const
	Use the creator ID to look up the OP_Node that created this data. More...

OP_Node *	getOwnerNetwork () const
	Look up the owner node of our engine to get the DOP Network pointer. More...

const SIM_Engine &	getEngine () const
	Get the engine that created us (from our data factory). More...

int	getCreatorIndex () const
	Get the output index of the creator node that generated this data. More...

const SIM_Time &	getCreationTime () const
	Get the creation time for this data. More...

bool	getIsSelected () const
	Get the selected flag for this data. More...

void	setIsSelected (bool selected) const

bool	getSelectionRepresentsObject () const

void	copyCreationInfoFrom (const SIM_Data *source)

OP_Node &	getNodePathsRelativeTo () const

OP_Node *	getOPNode (const char *path, bool addinterest) const
	Given a path relative to our creator node, return an OBJ_Node. More...

OBJ_Node *	getOBJNode (const char *path, bool addinterest) const
	Given a path relative to our creator node, return an OBJ_Node. More...

SOP_Node *	getSOPNode (const char *path, bool addinterest) const
	Given a path relative to our creator node, return a SOP_Node. More...

DOP_Node *	getDOPNode (const char *path, bool addinterest) const
	Given a path relative to our creator node, return a DOP_Node. More...

COP2_Node *	getCOP2Node (const char *path, bool addinterest) const
	Given a path relative to our creator node, return a COP2_Node. More...

CHOP_Node *	getCHOPNode (const char *path, bool addinterest) const
	Given a path relative to our creator node, return a CHOP_Node. More...

void	addOPInterest (OP_Node *node) const
	Adds an interest in the specified node to our engine's owner node. More...

void	addError (const SIM_RootData root, int errorcode, const char errorparm, UT_ErrorSeverity severity) const
	Adds an error to our SIM_Engine. More...

void	makeMemberDataUnique ()

virtual void	makeMemberDataUniqueSubclass ()

Public Member Functions inherited from SIM_OptionsUser
	SIM_OptionsUser (SIM_Data *owner)

virtual	~SIM_OptionsUser ()

void	optionChanged (const char *name)

const SIM_Options &	getOptions () const

Protected Member Functions
	RBD_Solver (const SIM_DataFactory *factory)

	~RBD_Solver () override

SIM_Result	solveObjectsSubclass (SIM_Engine &engine, SIM_ObjectArray &objects, SIM_ObjectArray &newobjects, SIM_ObjectArray &feedbacktoobjects, const SIM_Time &timestep) override

void	getImpulseMassMatrixSubclass (const SIM_Object &object, const UT_Vector3 &impulseworldpos, UT_DMatrix3 &immatrix) const override

void	getPointImpulseMassMatrixSubclass (const SIM_Object &object, int ptnum, UT_DMatrix3 &immatrix) const override

fpreal	getPropertyAtPositionSubclass (const SIM_Object &object, const UT_Vector3 &worldspacepos, const SIM_Property &property) const override

fpreal	getPropertyAtPointSubclass (const SIM_Object &object, int ptnum, const SIM_Property &property) const override

void	getDefaultColliderLabelSubclass (const SIM_Object &object, UT_String &label) const override
	Gets the default collider label for an object using this solver. More...

void	getDefaultColliderSubclass (const SIM_Object &object, const UT_String &colliderlabel, UT_String &collidertype, bool &colliderreverseobjectroles) const override

Protected Member Functions inherited from SIM_Solver
	SIM_Solver (const SIM_DataFactory *factory)
	Basic SIM_Solver constructor. More...

	~SIM_Solver () override
	Basic SIM_Solver destructor. More...

bool	getStartTime (SIM_Time &time)

void	clearStartTime ()

void	getSolverSubdata (SIM_SolverArray &subsolvers, UT_StringArray *subsolvernames)

void	getConstSolverSubdata (SIM_ConstSolverArray &subsolvers, UT_StringArray *subsolvernames) const

virtual bool	isStaticSubclass (const SIM_Object *obj) const
	Determines if this solver does nothing on the object. More...

virtual SIM_Result	postSolveObjectsSubclass (SIM_Engine &engine, SIM_ObjectArray &objects, SIM_ObjectArray &newobjects, SIM_ObjectArray &feedbacktoobjects, const SIM_Time &timestep)

virtual SIM_Result	solveRelationshipSubclass (SIM_Engine &engine, SIM_Relationship &relationship, const SIM_Time &timestep)

virtual int	getRequestedCacheSubclass () const

virtual SIM_PointImpulseMassMatrixResolver *	getPointImpulseMassMatrixResolverSubclass (const SIM_Object &object) const
	Builds a resolver for evaluating mass matrices swiftly. More...

virtual SIM_PropertyResolver *	getPropertyResolverSubclass (const SIM_Object &object, const SIM_Property &property) const
	Builds a resolver for evaluating properties swiftly. More...

Protected Member Functions inherited from SIM_Data
	SIM_Data (const SIM_DataFactory *factory)

virtual	~SIM_Data ()

void	handleModification (int code=-1)

void	setNeedsToRecalculateMemorySize () const

void	deleteQueryObjectIfNotBuilding () const
	Deletes the query object for this data, if there is one. More...

void	deleteGuideObjectIfNotBuilding () const
	Delete the guide geometry for this data, if it exists. More...

void	initAlternateRepresentation () const

void	setNeedsInitialization (bool needsinit) const
	Flags an alternate representation subdata as requiring initialization. More...

bool	getNeedsInitialization () const
	Tests whether an alternate representation requires initialization. More...

bool	saveOptionPacket (std::ostream &os, const char name, const SIM_Options opts) const

bool	loadOptionPacket (UT_IStream &is, const char name, SIM_Options opts) const

bool	getIsDoingSimplifiedSaveLoad () const

void	initializeFromParmDefaults ()

void	setSelectionRepresentsObject (bool representsobject)

virtual void	setNeedsInitializationSubclass (bool needsinit) const

virtual void	initializeSubclass ()

virtual void	makeEqualSubclass (const SIM_Data *source)

virtual void	saveSubclass (std::ostream &os) const

virtual void	saveIOSubclass (std::ostream &os, SIM_DataThreadedIO *io) const

virtual bool	loadSubclass (UT_IStream &is)

virtual bool	loadIOSubclass (UT_IStream &is, SIM_DataThreadedIO *io)

virtual SIM_Query *	createQueryObjectSubclass () const

virtual long	getGuideParmVersionSubclass () const

virtual SIM_Guide *	createGuideObjectSubclass () const

virtual void	buildGuideGeometrySubclass (const SIM_RootData &root, const SIM_Options &options, const GU_DetailHandle &gdh, UT_DMatrix4 *xform, const SIM_Time &t) const

virtual void	setParametersSubclass (const SIM_Options &parms)

virtual void	setNamedSubDataSubclass (const char dataname, const SIM_Data data)

virtual void	removeNamedSubDataSubclass (const char *dataname)

virtual void	interpolateSubclass (const SIM_Data source1, const SIM_Data source2, fpreal interp)

virtual int64	getMemorySizeSubclass () const

virtual void	handleModificationSubclass (int code)

virtual bool	getIsAlternateRepresentationSubclass () const

virtual void	initAlternateRepresentationSubclass (const SIM_Data &)

virtual void *	getCastToType (const UT_StringRef &datatype) const

virtual const UT_StringHolder &	getDataTypeSubclass () const

const SIM_Data *	getAlternateRepresentationOf () const

Protected Member Functions inherited from SIM_OptionsUser
SIM_Options &	getOptions ()

virtual void	optionChangedSubclass (const char *name)

Additional Inherited Members
Static Public Member Functions inherited from SIM_Solver
static const char *	getPropertyAttribName (const SIM_Property &property)

static fpreal	getPropertyAtPositionStatic (const SIM_Object &object, const UT_Vector3 &worldpos, const SIM_Property &property)

static fpreal	getPropertyAtPointStatic (const SIM_Object &object, GA_Index ptnum, const SIM_Property &property)

static SIM_PropertyResolver *	getPropertyResolverStatic (const SIM_Object &object, const SIM_Property &property)
	Static resolver for getting property values. More...

Static Public Member Functions inherited from SIM_Data
static bool	getDataTypeFromFile (const char *filename, UT_String &datatype)

static bool	getDataTypeFromStream (UT_IStream &is, UT_String &datatype)

static const void *	castConstPointerToType (const SIM_Data *data, const UT_StringRef &datatype)

static void *	castPointerToType (SIM_Data *data, const UT_StringRef &datatype)

Static Protected Member Functions inherited from SIM_Data
static const PRM_Template *	getEmptyTemplateList ()

static const SIM_DopDescription *	getEmptyDopDescription ()
	A DOP description that says not to create an automatic DOP. More...

static void	getDataTypeSuperclasses (UT_StringArray &)

Detailed Description

This is a RBD-RBD meta solver. It handles the cases where RBD objects have a Mutual affect relationship with each other.

Definition at line 44 of file RBD_Solver.h.

Member Enumeration Documentation

enum RBD_Solver::rbdContactGroupMethod

This should be kept in sync with the contact group method menu.

Enumerator
CONTACTGROUP_NONE
CONTACTGROUP_CLOSESTPOINT
CONTACTGROUP_AVERAGE

Definition at line 85 of file RBD_Solver.h.

Constructor & Destructor Documentation

RBD_Solver::RBD_Solver ( const SIM_DataFactory * factory )

explicitprotected

RBD_Solver::~RBD_Solver ( )

overrideprotected

Member Function Documentation

RBD_Object* RBD_Solver::convertToRBDObject ( const SIM_Object * obj ) const

Takes the solve info attached to the object, checks to see if it was created by us, if so, casts to RBD_Object and returns. Can return null if the object wasn't initialized or was done with another solver.

RBD_ObjectTree* RBD_Solver::createObjectTree ( ) const

This method creates an RBD_ObjectTree of the type requested by our cull mode.

bool RBD_Solver::doObjectsCollide	(	RBD_Object *	obja,
		RBD_Object *	objb,
		const SIM_Time &	time,
		const SIM_Time &	timestep
	)		const

This is public as we need it in our contact graph builder.

RBD_Solver::GET_DATA_FUNC_F	(	RBD_NAME_CFLCOND	,
		CFLCond
	)

RBD_Solver::GET_DATA_FUNC_I	(	RBD_NAME_MINIMUMSUBSTEPS	,
		MinimumSubSteps
	)

RBD_Solver::GET_DATA_FUNC_I	(	RBD_NAME_MAXIMUMSUBSTEPS	,
		MaximumSubSteps
	)

void RBD_Solver::getDefaultColliderLabelSubclass	(	const SIM_Object &	object,
		UT_String &	label
	)		const

overrideprotectedvirtual

Gets the default collider label for an object using this solver.

Reimplemented from SIM_Solver.

void RBD_Solver::getDefaultColliderSubclass	(	const SIM_Object &	object,
		const UT_String &	colliderlabel,
		UT_String &	collidertype,
		bool &	colliderreverseobjectroles
	)		const

overrideprotectedvirtual

Gets the default collider type for use on an object with a particular collider label.

Reimplemented from SIM_Solver.

void RBD_Solver::getImpulseMassMatrixSubclass	(	const SIM_Object &	object,
		const UT_Vector3 &	impulseworldpos,
		UT_DMatrix3 &	immatrix
	)		const

overrideprotectedvirtual

Gets the impulse mass matrix of an object for an impulse at the provided world space position. The default implementation gets the closest point in the geometry and calls getPointImpulseMassMatrix().

Reimplemented from SIM_Solver.

void RBD_Solver::getPointImpulseMassMatrixSubclass	(	const SIM_Object &	object,
		int	ptnum,
		UT_DMatrix3 &	immatrix
	)		const

overrideprotectedvirtual

Gets the impulse mass matrix of an object for an impulse at the provided point on the geometry of the object. The default implementation finds the world space position of the point and calls getImpulseMassMatrix().

Reimplemented from SIM_Solver.

fpreal RBD_Solver::getPropertyAtPointSubclass	(	const SIM_Object &	object,
		int	ptnum,
		const SIM_Property &	property
	)		const

overrideprotectedvirtual

Gets the value of some physical property for the supplied object at a given point on the object's geometry.

Reimplemented from SIM_Solver.

fpreal RBD_Solver::getPropertyAtPositionSubclass	(	const SIM_Object &	object,
		const UT_Vector3 &	worldpos,
		const SIM_Property &	property
	)		const

overrideprotectedvirtual

Gets the value of some physical property for the supplied object at a given position in world space.

Reimplemented from SIM_Solver.

RBD_Solver::GETSET_DATA_FUNCS_B	(	RBD_NAME_FLAGPENETRATION	,
		FlagPenetration
	)

RBD_Solver::GETSET_DATA_FUNCS_B	(	RBD_NAME_GLUEIGNORESRESTING	,
		GlueIgnoresRestingObjects
	)

RBD_Solver::GETSET_DATA_FUNCS_B	(	RBD_NAME_USEPOINTVELOCITY	,
		UsePointVelocity
	)

RBD_Solver::GETSET_DATA_FUNCS_B	(	RBD_NAME_USESDFVELOCITY	,
		UseSDFVelocity
	)

RBD_Solver::GETSET_DATA_FUNCS_B	(	RBD_NAME_ADDIMPACTS	,
		AddImpacts
	)

RBD_Solver::GETSET_DATA_FUNCS_F	(	RBD_NAME_CONTACTGROUPTOL	,
		ContactGroupTol
	)

RBD_Solver::GETSET_DATA_FUNCS_I	(	RBD_NAME_CULLMODE	,
		CullMode
	)

RBD_Solver::GETSET_DATA_FUNCS_I	(	RBD_NAME_CONTACTGROUPMETHOD	,
		ContactGroupMethod
	)

SIM_Result RBD_Solver::solveObjectsSubclass	(	SIM_Engine &	engine,
		SIM_ObjectArray &	objects,
		SIM_ObjectArray &	newobjects,
		SIM_ObjectArray &	feedbacktoobjects,
		const SIM_Time &	timestep
	)

overrideprotectedvirtual

This method solves for some objects. It performs whatever processing is necessary to take objects from their state at one time to another. The default implementation does nothing. The objects parameter holds all the objects that should be solved for this timestep. The newobjects parameter is a set of objects that were just created in this timestep, and so should in most cases not be solved on this timestep so that they maintain correct initial conditions.

Implements SIM_Solver.

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

RBD/RBD_Solver.h

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation