#include <SIM_ConAnchorRotational.h>

Inheritance diagram for SIM_ConAnchorRotational:

Public Types
enum	SIM_DOFType { DOF_FREE = 0, DOF_PLANEJOINT = 1, DOF_HINGE = 2, DOF_ORIENT = 3 }
	We need better names for these. More...

Public Member Functions
	GETSET_DATA_FUNCS_V3 (SIM_NAME_ROTATION, RotationInput)

	GETSET_DATA_FUNCS_E (SIM_NAME_CONDOF, DOFTypeInput, SIM_DOFType)

	GETSET_DATA_FUNCS_V3 (SIM_NAME_CONDIR, DOFVectorInput)

const UT_Vector3	getRotation () const
	Overridable get/set for Rotation and DOF of constraint. More...

void	setRotation (const UT_Vector3 &rotation)

SIM_DOFType	getDOFType () const

void	setDOFType (const SIM_DOFType type)

const UT_Vector3	getDOFVector () const

void	setDOFVector (const UT_Vector3 &vector)

UT_Vector3	getGuidePosition (const SIM_Time &t) const
	Retrieve the world-space position for the guide geometry. More...

UT_Quaternion	getOrientation (const SIM_Time &time) const
	Retrieve the world-space orientation to constrain to. More...

UT_Vector3	getAngularVelocity (const SIM_Time &time) const

int	getNumConDOFs () const
	Retrieve number of constrained degrees of freedom. More...

void	getConDOFFilter (UT_Matrix3 &result, const SIM_Time &time) const

void	getUnconDOFFilter (UT_Matrix3 &result, const SIM_Time &time) const

Public Member Functions inherited from SIM_ConAnchor
const SIM_Object *	getReferencedObject (const SIM_Time &time) const

bool	getNeedsInit () const

void	initAnchor (const SIM_Object *object)

bool	getObjectSpecification (UT_String &str) const

void	initConstraint (const SIM_Relationship *rel)

void	buildAnchorGuideGeometry (const SIM_Options &options, const GU_DetailHandle &gdh, const SIM_Relationship &rel, const SIM_Time &t) 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

Static Public Member Functions
static GA_Offset	buildAnchorGuideGeometry (GU_Detail *gdp, const UT_Vector3 &anchor_pos, const UT_Quaternion &q, int dofType, UT_Vector3 dofVector, fpreal scale, const GA_RWHandleV3 &colour_attrib, const UT_Vector3 &color, bool show_object_link, bool is_affecting_object, const UT_Vector3 &obj_pos)
	Static method for rendering the guide geometry for this type of anchor. 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)

Protected Member Functions
	SIM_ConAnchorRotational (const SIM_DataFactory *f)

	~SIM_ConAnchorRotational () override

void	buildAnchorGuideGeometrySubclass (const SIM_Options &options, const GU_DetailHandle &gdh, const SIM_Relationship &rel, const SIM_Time &t) const override
	Default implementation does nothing. More...

virtual UT_Vector3	getGuidePositionSubclass (const SIM_Time &time) const

virtual UT_Quaternion	getOrientationSubclass (const SIM_Time &time) const =0

virtual UT_Vector3	getAngularVelocitySubclass (const SIM_Time &time) const =0

virtual const UT_Vector3	getRotationSubclass () const

virtual SIM_DOFType	getDOFTypeSubclass () const

virtual const UT_Vector3	getDOFVectorSubclass () const

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

	~SIM_ConAnchor () override

void	setReferencedObject (const SIM_Object *object)

virtual bool	getNeedsInitSubclass () const

virtual void	initAnchorSubclass (const SIM_Object *object)

virtual bool	getObjectSpecificationSubclass (UT_String &str) const
	Implements the real functionality of getObjectSpecification. More...

virtual void	initConstraintSubclass (const SIM_Relationship *rel)

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 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

Rotational constraints are a bit odd. We categorize constraints by the shape created by sweeping the possible rotation axes through unconstrained space. The numerical representation is thus the number of degrees that have been constrained. "DOF" stands for "degrees of freedom".

Definition at line 21 of file SIM_ConAnchorRotational.h.

Member Enumeration Documentation

enum SIM_ConAnchorRotational::SIM_DOFType

We need better names for these.

Enumerator
DOF_FREE	DOF_FREE is a complete absence of any restrictions on orientation. Any orientation is valid.
DOF_PLANEJOINT	DOF_PLANEJOINT provides the mobility of a thick wire system. The plane's axis can be made to look in any direction, but can't be rotated freely. Only rotations whose axes lie in a given plane are allowed.
DOF_HINGE	DOF_HINGE allows any orientation around a specific axis. A specific axis is locked, rotating around that is allowed.
DOF_ORIENT	DOF_ORIENT provides no free orientation. Orientation completely locked down.

Definition at line 27 of file SIM_ConAnchorRotational.h.

Constructor & Destructor Documentation

SIM_ConAnchorRotational::SIM_ConAnchorRotational ( const SIM_DataFactory * f )

explicitprotected

SIM_ConAnchorRotational::~SIM_ConAnchorRotational ( )

overrideprotected

Member Function Documentation

static GA_Offset SIM_ConAnchorRotational::buildAnchorGuideGeometry	(	GU_Detail *	gdp,
		const UT_Vector3 &	anchor_pos,
		const UT_Quaternion &	q,
		int	dofType,
		UT_Vector3	dofVector,
		fpreal	scale,
		const GA_RWHandleV3 &	colour_attrib,
		const UT_Vector3 &	color,
		bool	show_object_link,
		bool	is_affecting_object,
		const UT_Vector3 &	obj_pos
	)

static

Static method for rendering the guide geometry for this type of anchor.

void SIM_ConAnchorRotational::buildAnchorGuideGeometrySubclass	(	const SIM_Options &	options,
		const GU_DetailHandle &	gdh,
		const SIM_Relationship &	rel,
		const SIM_Time &	t
	)		const

overrideprotectedvirtual

Default implementation does nothing.

Reimplemented from SIM_ConAnchor.

UT_Vector3 SIM_ConAnchorRotational::getAngularVelocity ( const SIM_Time & time ) const

virtual UT_Vector3 SIM_ConAnchorRotational::getAngularVelocitySubclass ( const SIM_Time & time ) const

protectedpure virtual

Implemented in SIM_ConAnchorObjRotational, SIM_ConAnchorObjPointRot, SIM_ConAnchorAlignAxis, and SIM_ConAnchorWorldSpaceRot.

void SIM_ConAnchorRotational::getConDOFFilter	(	UT_Matrix3 &	result,
		const SIM_Time &	time
	)		const

Returns a matrix that, when multiplied by a angular velocity, gives only the components of the angular velocity that are constrained.

SIM_DOFType SIM_ConAnchorRotational::getDOFType ( ) const

virtual SIM_DOFType SIM_ConAnchorRotational::getDOFTypeSubclass ( ) const

protectedvirtual

Reimplemented in SIM_ConAnchorObjPointGroupRot.

const UT_Vector3 SIM_ConAnchorRotational::getDOFVector ( ) const

virtual const UT_Vector3 SIM_ConAnchorRotational::getDOFVectorSubclass ( ) const

protectedvirtual

Reimplemented in SIM_ConAnchorObjPointGroupRot.

UT_Vector3 SIM_ConAnchorRotational::getGuidePosition ( const SIM_Time & t ) const

Retrieve the world-space position for the guide geometry.

virtual UT_Vector3 SIM_ConAnchorRotational::getGuidePositionSubclass ( const SIM_Time & time ) const

protectedvirtual

Reimplemented in SIM_ConAnchorObjSpaceRot, SIM_ConAnchorObjPointRot, and SIM_ConAnchorWorldSpaceRot.

int SIM_ConAnchorRotational::getNumConDOFs ( ) const

Retrieve number of constrained degrees of freedom.

UT_Quaternion SIM_ConAnchorRotational::getOrientation ( const SIM_Time & time ) const

Retrieve the world-space orientation to constrain to.

virtual UT_Quaternion SIM_ConAnchorRotational::getOrientationSubclass ( const SIM_Time & time ) const

protectedpure virtual

Implemented in SIM_ConAnchorObjRotational, SIM_ConAnchorObjSpaceRot, SIM_ConAnchorObjPointRot, SIM_ConAnchorAlignAxis, and SIM_ConAnchorWorldSpaceRot.

const UT_Vector3 SIM_ConAnchorRotational::getRotation ( ) const

Overridable get/set for Rotation and DOF of constraint.

virtual const UT_Vector3 SIM_ConAnchorRotational::getRotationSubclass ( ) const

protectedvirtual

Reimplemented in SIM_ConAnchorObjPointGroupRot.

SIM_ConAnchorRotational::GETSET_DATA_FUNCS_E	(	SIM_NAME_CONDOF	,
		DOFTypeInput	,
		SIM_DOFType
	)

SIM_ConAnchorRotational::GETSET_DATA_FUNCS_V3	(	SIM_NAME_ROTATION	,
		RotationInput
	)

SIM_ConAnchorRotational::GETSET_DATA_FUNCS_V3	(	SIM_NAME_CONDIR	,
		DOFVectorInput
	)

All constraints are represented by a vector which is interpreted differently depending on how many DOF will be constrained.

If O is the orientation to constrain, and Q the rest orientation, and V the vector: Free constraint: O = O No constraint occurs.

Plane constraint: (O / Q) . V = 0 The rotation which maps from Q to O should not have any component of V in it. This allows all orientations which can be reached from Q by rotating around a vector perpendicular to V.

Hinge constraint: (O / Q) = s V, for some s There is one degree of freedom. The set of valid orientations are those that can be reached from Q by rotating around V.

Orient constraint: O = Q The quaternion is fully constrained.

Through further abuse of notation, we can define the UnconDOFFilter which when applied to an angular velocity will cause it to fulfill those conditions. We can then clamp a quaternion O into the desired value Q according to the filter uF with: O' = ((uF) * (O / Q)) * Q

(Note that uF is symmetric and O/Q a vector, so we don't have to worry which side we multiply it on.)

This vector is defined in object space. (Ie, a value of (1, 0, 0) means that the X axis of the object should point in the fashion that the X axis of O does)

void SIM_ConAnchorRotational::getUnconDOFFilter	(	UT_Matrix3 &	result,
		const SIM_Time &	time
	)		const

Opposite of getConDOFFilter(). getUnconDOFFilter() = identity - getConDOFFilter()

void SIM_ConAnchorRotational::setDOFType ( const SIM_DOFType type )

void SIM_ConAnchorRotational::setDOFVector ( const UT_Vector3 & vector )

void SIM_ConAnchorRotational::setRotation ( const UT_Vector3 & rotation )

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

SIM/SIM_ConAnchorRotational.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation