#include <SIM_Impacts.h>

Inheritance diagram for SIM_Impacts:

Public Member Functions
int	getNumImpacts () const
	Get the number of contacts. More...

const UT_Vector3 &	getPosition (int index) const

const UT_Vector3 &	getNormal (int index) const

fpreal	getImpulse (int index) const
	Get the collision impulse. More...

void	setImpulse (int index, fpreal impulse)
	Set the collision impulse. More...

void	removeLastImpact ()
	Remove the last impact. More...

int	getFlags (int index) const
	Get flags associated with the impact. More...

GA_Index	getPointNumber (int index) const

int	getPrimitiveNumber (int index) const

fpreal	getPrimitiveU (int index) const
	Get the u coordinate of the primitive where the impact occurred. More...

fpreal	getPrimitiveV (int index) const
	Get the v coordinate of the primitive where the impact occurred. More...

fpreal	getPrimitiveW (int index) const
	Get the w coordinate of the primitive where the impact occurred. More...

int	getOtherObjId (int index) const
	Get the unique id of the other object involved in a contact. More...

int	getOtherObjPointNumber (int index) const

int	getOtherObjPrimitiveNumber (int index) const

fpreal	getOtherObjPrimitiveU (int index) const

fpreal	getOtherObjPrimitiveV (int index) const

fpreal	getOtherObjPrimitiveW (int index) const

SIM_Time	getTime (int index) const
	Get the estimated time of the collision. More...

void	addPositionImpact (const UT_Vector3 &pos, const UT_Vector3 &normal, fpreal impulse, int otherobjid, int otherobjptnum, int otherobjprimnum, fpreal otherobjprimu, fpreal otherobjprimv, fpreal otherobjprimw, const SIM_Time &time, int flags)
	This function adds a new impact at a position in space. More...

void	addPointImpact (const UT_Vector3 &pos, const UT_Vector3 &normal, fpreal impulse, int ptnum, int otherobjid, int otherobjptnum, int otherobjprimnum, fpreal otherobjprimu, fpreal otherobjprimv, fpreal otherobjprimw, const SIM_Time &time, int flags)

void	addPrimitiveImpact (const UT_Vector3 &pos, const UT_Vector3 &normal, fpreal impulse, int primnum, fpreal primu, fpreal primv, fpreal primw, int otherobjid, int otherobjptnum, int otherobjprimnum, fpreal otherobjprimu, fpreal otherobjprimv, fpreal otherobjprimw, const SIM_Time &time, int flags)

void	mergeImpacts (const SIM_Impacts &src)
	Merge the impacts from another SIM_Impacts data into this one. More...

void	mergeImpactsInTimeRange (const SIM_Impacts &src, const SIM_Time &startTime, const SIM_Time &endTime)

void	keepOnlyImpactsForAffectors (const SIM_ObjectArray &affectors, int thisobjectid, int startindex)

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 ()

Static Public Member Functions
static UT_Vector3	getRequiredImpulse (const UT_Vector3 &worldspacepos, const UT_Vector3 &nml, const SIM_Object obja, GA_Index ptnuma, bool objainfinitemass, const SIM_Object objb, GA_Index ptnumb, bool objbinfinitemass, fpreal bounce, fpreal friction, fpreal dynamicfrictionmultiplier, fpreal bounceforward, bool usesdfvelocitya=false, bool usepointvelocitya=true, bool usesdfvelocityb=false, bool usepointvelocityb=true)

static UT_Vector3	getRequiredImpulse (const UT_DMatrix3 &Ka, const UT_Vector3 &vela, const UT_Vector3 &worldspacepos, const UT_Vector3 &nml, const SIM_Object *objb, GA_Index ptnumb, bool objbinfinitemass, fpreal bounce, fpreal friction, fpreal dynamicfrictionmultiplier, fpreal bounceforward, bool usesdfvelocityb=false, bool usepointvelocityb=true)

static UT_Vector3	getRequiredImpulse (const UT_Vector3 &desiredrelvel, const UT_DMatrix3 &Ka, const UT_Vector3 &vela, const UT_DMatrix3 &Kb, const UT_Vector3 &velb, const UT_Vector3 &worldspacepos, const UT_Vector3 &nml, fpreal friction, fpreal dynamicfrictionmultiplier, fpreal bounceforward)

static void	splitImpulse (const UT_Vector3 &impulse, const UT_Vector3 &normal, fpreal &normalImpulseLength, UT_Vector3 &tangentImpulse)
	Split an impulse into normal and tangential (friction) components. 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_Impacts (const SIM_DataFactory *factory)
	The SIM_Impacts constructor. More...

	~SIM_Impacts () override
	The SIM_Impacts destructor. More...

void	initializeSubclass () override
	Clears out all contact information. More...

void	makeEqualSubclass (const SIM_Data *source) override
	Copies the contact information from another SIM_Impacts. More...

void	saveSubclass (std::ostream &os) const override
	Saves the contact information to a stream. More...

bool	loadSubclass (UT_IStream &is) override
	Loads contact information from a stream. More...

int64	getMemorySizeSubclass () const override
	Returns the total memory used by this object. More...

SIM_Query *	createQueryObjectSubclass () const override
	Creates a SIM_QueryArrays object to treat impact as a record. More...

void	resizeArrays (int numimpacts)

void	removeImpact (int index)

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

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

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 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

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

This class defines a SIM_Data subclass for holding collision information. Each contact is represented by a position in simulation space, a normal to the collision surface, the ids of the objects involved in the contact, and the strength of the impact impulse. Optionally, a friction impulse can also be included with the impact.

Remember your basic physics and the definition of "impulse": I = F * dt = m * dv

Definition at line 85 of file SIM_Impacts.h.

Constructor & Destructor Documentation

SIM_Impacts::SIM_Impacts ( const SIM_DataFactory * factory )

explicitprotected

The SIM_Impacts constructor.

SIM_Impacts::~SIM_Impacts ( )

overrideprotected

The SIM_Impacts destructor.

Member Function Documentation

void SIM_Impacts::addPointImpact	(	const UT_Vector3 &	pos,
		const UT_Vector3 &	normal,
		fpreal	impulse,
		int	ptnum,
		int	otherobjid,
		int	otherobjptnum,
		int	otherobjprimnum,
		fpreal	otherobjprimu,
		fpreal	otherobjprimv,
		fpreal	otherobjprimw,
		const SIM_Time &	time,
		int	flags
	)

This function adds a new impact at a position in space and associates it with a particular point.

void SIM_Impacts::addPositionImpact	(	const UT_Vector3 &	pos,
		const UT_Vector3 &	normal,
		fpreal	impulse,
		int	otherobjid,
		int	otherobjptnum,
		int	otherobjprimnum,
		fpreal	otherobjprimu,
		fpreal	otherobjprimv,
		fpreal	otherobjprimw,
		const SIM_Time &	time,
		int	flags
	)

This function adds a new impact at a position in space.

void SIM_Impacts::addPrimitiveImpact	(	const UT_Vector3 &	pos,
		const UT_Vector3 &	normal,
		fpreal	impulse,
		int	primnum,
		fpreal	primu,
		fpreal	primv,
		fpreal	primw,
		int	otherobjid,
		int	otherobjptnum,
		int	otherobjprimnum,
		fpreal	otherobjprimu,
		fpreal	otherobjprimv,
		fpreal	otherobjprimw,
		const SIM_Time &	time,
		int	flags
	)

This function adds a new impact at a position in space and associates it with a particular primitive and UV coordinate.

SIM_Query* SIM_Impacts::createQueryObjectSubclass ( ) const

overrideprotectedvirtual

Creates a SIM_QueryArrays object to treat impact as a record.

Reimplemented from SIM_Data.

int SIM_Impacts::getFlags ( int index ) const

Get flags associated with the impact.

fpreal SIM_Impacts::getImpulse ( int index ) const

Get the collision impulse.

int64 SIM_Impacts::getMemorySizeSubclass ( ) const

overrideprotectedvirtual

Returns the total memory used by this object.

Reimplemented from SIM_Data.

const UT_Vector3& SIM_Impacts::getNormal ( int index ) const

Get the normal for a particular contact, pointing away from the first object. This value generally represents the normal of the surface at the point of contact. This value is used to determine the direction of the impact force at this contact point.

int SIM_Impacts::getNumImpacts ( ) const

Get the number of contacts.

int SIM_Impacts::getOtherObjId ( int index ) const

Get the unique id of the other object involved in a contact.

int SIM_Impacts::getOtherObjPointNumber ( int index ) const

Get the point number on the other object involved in the collision. This function may return -1 if the point number is unknown.

int SIM_Impacts::getOtherObjPrimitiveNumber ( int index ) const

Get the primitive number on the other object involved in the collision. This function may return -1 if the primitive number is unknown.

fpreal SIM_Impacts::getOtherObjPrimitiveU ( int index ) const

Get the u coordinate of the primitive where the impact occurred on the other object.

fpreal SIM_Impacts::getOtherObjPrimitiveV ( int index ) const

Get the v coordinate of the primitive where the impact occurred on the other object.

fpreal SIM_Impacts::getOtherObjPrimitiveW ( int index ) const

Get the w coordinate of the primitive where the impact occurred on the other object.

GA_Index SIM_Impacts::getPointNumber ( int index ) const

Get the point number involved in the collision. This function may return -1 if the point number is unknown.

const UT_Vector3& SIM_Impacts::getPosition ( int index ) const

Get the position for a particular contact. The position is stored in simulation space.

int SIM_Impacts::getPrimitiveNumber ( int index ) const

Get the primitive number involved in the collision. This function may return -1 if the primitive number is unknown.

fpreal SIM_Impacts::getPrimitiveU ( int index ) const

Get the u coordinate of the primitive where the impact occurred.

fpreal SIM_Impacts::getPrimitiveV ( int index ) const

Get the v coordinate of the primitive where the impact occurred.

fpreal SIM_Impacts::getPrimitiveW ( int index ) const

Get the w coordinate of the primitive where the impact occurred.

static UT_Vector3 SIM_Impacts::getRequiredImpulse	(	const UT_Vector3 &	worldspacepos,
		const UT_Vector3 &	nml,
		const SIM_Object *	obja,
		GA_Index	ptnuma,
		bool	objainfinitemass,
		const SIM_Object *	objb,
		GA_Index	ptnumb,
		bool	objbinfinitemass,
		fpreal	bounce,
		fpreal	friction,
		fpreal	dynamicfrictionmultiplier,
		fpreal	bounceforward,
		bool	usesdfvelocitya = `false`,
		bool	usepointvelocitya = `true`,
		bool	usesdfvelocityb = `false`,
		bool	usepointvelocityb = `true`
	)

static

Calculates the impulses that should be applied on objects a and b. The resulting velocity of the specified points on the two objects after applying the impulse should be (-relvel * bounce). Either or both of obja and objb can be null in which case the mass of those objects is considered to be infinite. The ptnum values can be -1 if the world space position should be used to fetch the impulse mass matrix. The dynamicfrictionmultiplier is multiplied by the friction value to get the dynamic friction value. The returned impulse should be applied equally to both objects. Note that the returned impulse may have a normal different than nml. The normal of the returned impulse should be used, as the impact normal, not the original nml. Otherwise the impulse magnitude will be wrong. Also, the output normal properly accounts for friction. However, the returned normal direction will be in the same hemisphere as the passed in normal, so it can be used directly as the impact normal for object a (the passed in normal is the normal on objb).

static UT_Vector3 SIM_Impacts::getRequiredImpulse	(	const UT_DMatrix3 &	Ka,
		const UT_Vector3 &	vela,
		const UT_Vector3 &	worldspacepos,
		const UT_Vector3 &	nml,
		const SIM_Object *	objb,
		GA_Index	ptnumb,
		bool	objbinfinitemass,
		fpreal	bounce,
		fpreal	friction,
		fpreal	dynamicfrictionmultiplier,
		fpreal	bounceforward,
		bool	usesdfvelocityb = `false`,
		bool	usepointvelocityb = `true`
	)

static

static UT_Vector3 SIM_Impacts::getRequiredImpulse	(	const UT_Vector3 &	desiredrelvel,
		const UT_DMatrix3 &	Ka,
		const UT_Vector3 &	vela,
		const UT_DMatrix3 &	Kb,
		const UT_Vector3 &	velb,
		const UT_Vector3 &	worldspacepos,
		const UT_Vector3 &	nml,
		fpreal	friction,
		fpreal	dynamicfrictionmultiplier,
		fpreal	bounceforward
	)

static

SIM_Time SIM_Impacts::getTime ( int index ) const

Get the estimated time of the collision.

void SIM_Impacts::initializeSubclass ( )

overrideprotectedvirtual

Clears out all contact information.

Reimplemented from SIM_Data.

void SIM_Impacts::keepOnlyImpactsForAffectors	(	const SIM_ObjectArray &	affectors,
		int	thisobjectid,
		int	startindex
	)

This is a very special-purpose function used by SIM_Engine. It removes any impacts that are self-impacts or that involve other objects that are not in the supplied object array. It starts the search for removal at the supplied index. This is used to eliminate impact data during feedback iteration so that we don't end up multiply applying impacts on non-feedback objects.

bool SIM_Impacts::loadSubclass ( UT_IStream & is )

overrideprotectedvirtual

Loads contact information from a stream.

Reimplemented from SIM_Data.

void SIM_Impacts::makeEqualSubclass ( const SIM_Data * source )

overrideprotectedvirtual

Copies the contact information from another SIM_Impacts.

Reimplemented from SIM_Data.

void SIM_Impacts::mergeImpacts ( const SIM_Impacts & src )

Merge the impacts from another SIM_Impacts data into this one.

void SIM_Impacts::mergeImpactsInTimeRange	(	const SIM_Impacts &	src,
		const SIM_Time &	startTime,
		const SIM_Time &	endTime
	)

Merge only the impacts in the given time range. This is useful for feedback and substepping: it allows merging of feedback impacts from the fullstep end object to a substep object.

void SIM_Impacts::removeImpact ( int index )

protected

Remove a impact! O(n) operation. This is protected because the use of this method is discouraged.

void SIM_Impacts::removeLastImpact ( )

Remove the last impact.

void SIM_Impacts::resizeArrays ( int numimpacts )

protected

Helper method for the loadSubclass method to resize all of our member variable arrays.

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

overrideprotectedvirtual

Saves the contact information to a stream.

Reimplemented from SIM_Data.

void SIM_Impacts::setImpulse	(	int	index,
		fpreal	impulse
	)

Set the collision impulse.

static void SIM_Impacts::splitImpulse	(	const UT_Vector3 &	impulse,
		const UT_Vector3 &	normal,
		fpreal &	normalImpulseLength,
		UT_Vector3 &	tangentImpulse
	)

static

Split an impulse into normal and tangential (friction) components.

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

SIM/SIM_Impacts.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation