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SIM_ConAnchorRotational Class Referenceabstract

#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_ObjectgetReferencedObject (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_StringgetDataType () 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
 
bool loadFromFile (const char *filename)
 
bool loadFromStream (UT_IStream &is, bool skiptype=false)
 
bool getIsOfType (const char *datatype) const
 
const voidgetConstPointerToType (const char *datatype) const
 
voidgetPointerToType (const char *datatype)
 
int getNumSubData () const
 Get the number of sub-data items attached to this data. More...
 
const char * 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_QuerygetQueryObject () 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_DatagetSubData (int index)
 
const SIM_DatagetConstSubData (int index) const
 
SIM_DatagetNamedSubData (const char *dataname)
 
const SIM_DatagetConstNamedSubData (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_DatagetNthSubData (UT_String *name, const SIM_DataFilter &filter, int n, const char *startfrom, const SIM_DataFilter &recurseFilter)
 
const SIM_DatagetNthConstSubData (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_DatacreateNamedSubData (const char *dataname, const char *datatype, int creationflags, UT_String *newdatanameptr=NULL)
 
SIM_DatagetOrCreateAlternateRepresentation (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_GuidgetUniqueId () const
 
long getReferenceCount () const
 
int getCreatorId () const
 Get the ID of the node that created this data. More...
 
OP_NodegetCreatorNode () const
 Use the creator ID to look up the OP_Node that created this data. More...
 
OP_NodegetOwnerNetwork () const
 Look up the owner node of our engine to get the DOP Network pointer. More...
 
const SIM_EnginegetEngine () 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_TimegetCreationTime () 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_NodegetNodePathsRelativeTo () const
 
OP_NodegetOPNode (const char *path, bool addinterest) const
 Given a path relative to our creator node, return an OBJ_Node. More...
 
OBJ_NodegetOBJNode (const char *path, bool addinterest) const
 Given a path relative to our creator node, return an OBJ_Node. More...
 
SOP_NodegetSOPNode (const char *path, bool addinterest) const
 Given a path relative to our creator node, return a SOP_Node. More...
 
POP_NodegetPOPNode (const char *path, bool addinterest) const
 Given a path relative to our creator node, return a POP_Node. More...
 
DOP_NodegetDOPNode (const char *path, bool addinterest) const
 Given a path relative to our creator node, return a DOP_Node. More...
 
COP2_NodegetCOP2Node (const char *path, bool addinterest) const
 Given a path relative to our creator node, return a COP2_Node. More...
 
CHOP_NodegetCHOPNode (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...
 
- Public Member Functions inherited from SIM_OptionsUser
 SIM_OptionsUser (SIM_Data *owner)
 
virtual ~SIM_OptionsUser ()
 
void optionChanged (const char *name)
 
const SIM_OptionsgetOptions () 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 voidcastConstPointerToType (const SIM_Data *data, const char *datatype)
 
static voidcastPointerToType (SIM_Data *data, const char *datatype)
 

Protected Member Functions

 SIM_ConAnchorRotational (const SIM_DataFactory *f)
 
virtual ~SIM_ConAnchorRotational ()
 
virtual void buildAnchorGuideGeometrySubclass (const SIM_Options &options, const GU_DetailHandle &gdh, const SIM_Relationship &rel, const SIM_Time &t) const
 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)
 
virtual ~SIM_ConAnchor ()
 
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_QuerycreateQueryObjectSubclass () const
 
virtual long getGuideParmVersionSubclass () const
 
virtual SIM_GuidecreateGuideObjectSubclass () 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 voidgetCastToType (const char *datatype) const
 
virtual const UT_StringgetDataTypeSubclass () const
 
const SIM_DatagetAlternateRepresentationOf () const
 
- Protected Member Functions inherited from SIM_OptionsUser
SIM_OptionsgetOptions ()
 
virtual void optionChangedSubclass (const char *name)
 

Additional Inherited Members

- Static Protected Member Functions inherited from SIM_Data
static const PRM_TemplategetEmptyTemplateList ()
 
static const SIM_DopDescriptiongetEmptyDopDescription ()
 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

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
virtual SIM_ConAnchorRotational::~SIM_ConAnchorRotational ( )
protectedvirtual

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.

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

Default implementation does nothing.

Reimplemented from SIM_ConAnchor.

Reimplemented in SIM_ConAnchorObjPointGroupRot.

UT_Vector3 SIM_ConAnchorRotational::getAngularVelocity ( const SIM_Time time) const
virtual UT_Vector3 SIM_ConAnchorRotational::getAngularVelocitySubclass ( const SIM_Time time) const
protectedpure virtual
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
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
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
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: