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SIM_ConRelSoftAttach Class Reference

#include <SIM_ConRelSoftAttach.h>

+ Inheritance diagram for SIM_ConRelSoftAttach:

Public Member Functions

UT_Vector3 getForce (const SIM_Time &time, const SIM_ConAnchorSpatial &objAnchor, const SIM_ConAnchorSpatial &otherAnchor, UT_Matrix3 *jacobianPos=NULL, UT_Matrix3 *jacobianVel=NULL)
 
UT_Vector3 getForce (const UT_Vector3 &objAnchorPos, const UT_Vector3 &objAnchorVel, const UT_Vector3 &otherAnchorPos, const UT_Vector3 &otherAnchorVel, const UT_Matrix3 &dofFilter)
 
UT_Vector3 getTorque (const UT_Quaternion &objOrient, const UT_Vector3 &objAngVel, const UT_Quaternion &anchorOrient, const UT_Vector3 &anchorAngVel)
 
UT_Matrix3 getJacobianPos (const UT_Vector3 &objAnchorPos, const UT_Vector3 &objAnchorVel, const UT_Vector3 &otherAnchorPos, const UT_Vector3 &otherAnchorVel, const UT_Matrix3 &dofFilter) const
 
UT_Matrix3 getJacobianVel (const UT_Vector3 &objAnchorPos, const UT_Vector3 &objAnchorVel, const UT_Vector3 &otherAnchorPos, const UT_Vector3 &otherAnchorVel, const UT_Matrix3 &dofFilter) const
 Get Jacobian with respect to velocity, dF/dv. Same caveats as dF/dx. More...
 
 GETSET_DATA_FUNCS_F (SIM_NAME_STIFFNESS, Stiffness)
 
 GETSET_DATA_FUNCS_F (SIM_NAME_DAMPING, Damping)
 
- Public Member Functions inherited from SIM_ConRel
SIM_ConRelgetSubConRel ()
 
const SIM_ConRelgetConstSubConRel () const
 
void makeStateTransition (const SIM_Time &time)
 
void setStateForce (fpreal force)
 Functions to get and set state information. More...
 
fpreal getStateForce () const
 
void setStateDistance (fpreal distance)
 
fpreal getStateDistance () const
 
void setStateErrorCode (SIM_ConRelError errorcode)
 A constraint is invalid if its parameters cannot be resolved. More...
 
SIM_ConRelError getStateErrorCode () const
 
void buildConRelGuideGeometry (const GU_DetailHandle &gdh, const SIM_Time &time, const SIM_Relationship &rel, const SIM_ConAnchor &anchor1, const SIM_ConAnchor &anchor2) 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
 

Protected Member Functions

 SIM_ConRelSoftAttach (const SIM_DataFactory *factory)
 
virtual ~SIM_ConRelSoftAttach ()
 
virtual void setStateForceSubclass (fpreal force)
 
virtual fpreal getStateForceSubclass () const
 
virtual void setStateDistanceSubclass (fpreal distance)
 
virtual fpreal getStateDistanceSubclass () const
 
virtual void buildConRelGuide (const GU_DetailHandle &gdh, const SIM_Options &options, const UT_Vector3 &anchor_pos_1, const UT_Vector3 &anchor_pos_2, const UT_Quaternion &anchor_rot_1, const UT_Quaternion &anchor_rot_2, const ConRelData &c_data) const
 
virtual UT_Vector3 getForceSubclass (const UT_Vector3 &objAnchorPos, const UT_Vector3 &objAnchorVel, const UT_Vector3 &otherAnchorPos, const UT_Vector3 &otherAnchorVel, const UT_Matrix3 &dofFilter)
 
virtual UT_Vector3 getTorqueSubclass (const UT_Quaternion &objOrient, const UT_Vector3 &objAngVel, const UT_Quaternion &anchorOrient, const UT_Vector3 &anchorAngVel)
 
virtual UT_Matrix3 getJacobianPosSubclass (const UT_Vector3 &objAnchorPos, const UT_Vector3 &objAnchorVel, const UT_Vector3 &otherAnchorPos, const UT_Vector3 &otherAnchorVel, const UT_Matrix3 &dofFilter) const
 
virtual UT_Matrix3 getJacobianVelSubclass (const UT_Vector3 &objAnchorPos, const UT_Vector3 &objAnchorVel, const UT_Vector3 &otherAnchorPos, const UT_Vector3 &otherAnchorVel, const UT_Matrix3 &dofFilter) const
 
UT_Vector3 project (const UT_Vector3 &vec, const UT_Matrix3 &dofFilter) const
 
- Protected Member Functions inherited from SIM_ConRel
 SIM_ConRel (const SIM_DataFactory *factory)
 
virtual ~SIM_ConRel ()
 
virtual void initializeSubclass ()
 
virtual void makeEqualSubclass (const SIM_Data *source)
 
virtual void saveSubclass (std::ostream &os) const
 
virtual bool loadSubclass (UT_IStream &is)
 
virtual SIM_QuerycreateQueryObjectSubclass () const
 
virtual SIM_ConRelgetSubConRelSubclass ()
 
virtual const SIM_ConRelgetConstSubConRelSubclass () const
 
virtual void makeStateTransitionSubclass (const SIM_Time &time)
 
virtual void buildConRelGuideGeometrySubclass (const GU_DetailHandle &gdh, const SIM_Time &time, const SIM_Relationship &rel, const SIM_ConAnchor &anchor1, const SIM_ConAnchor &anchor2) const
 
- 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_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 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)
 
- 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

Defines a soft attachment force between two anchors.

The force is expressed mathematically as: F = -k * x with a damping force of Fd = -kd * v where x is the vector connecting the two anchors and v is dx/dt.

Definition at line 27 of file SIM_ConRelSoftAttach.h.

Constructor & Destructor Documentation

SIM_ConRelSoftAttach::SIM_ConRelSoftAttach ( const SIM_DataFactory factory)
explicitprotected
virtual SIM_ConRelSoftAttach::~SIM_ConRelSoftAttach ( )
protectedvirtual

Member Function Documentation

virtual void SIM_ConRelSoftAttach::buildConRelGuide ( const GU_DetailHandle gdh,
const SIM_Options options,
const UT_Vector3 anchor_pos_1,
const UT_Vector3 anchor_pos_2,
const UT_Quaternion anchor_rot_1,
const UT_Quaternion anchor_rot_2,
const ConRelData c_data 
) const
protectedvirtual

Reimplemented from SIM_ConRel.

UT_Vector3 SIM_ConRelSoftAttach::getForce ( const SIM_Time time,
const SIM_ConAnchorSpatial objAnchor,
const SIM_ConAnchorSpatial otherAnchor,
UT_Matrix3 jacobianPos = NULL,
UT_Matrix3 jacobianVel = NULL 
)

Retrieve the force (and optional jacobian) acting on objAnchor from a spring.

UT_Vector3 SIM_ConRelSoftAttach::getForce ( const UT_Vector3 objAnchorPos,
const UT_Vector3 objAnchorVel,
const UT_Vector3 otherAnchorPos,
const UT_Vector3 otherAnchorVel,
const UT_Matrix3 dofFilter 
)
virtual UT_Vector3 SIM_ConRelSoftAttach::getForceSubclass ( const UT_Vector3 objAnchorPos,
const UT_Vector3 objAnchorVel,
const UT_Vector3 otherAnchorPos,
const UT_Vector3 otherAnchorVel,
const UT_Matrix3 dofFilter 
)
protectedvirtual
UT_Matrix3 SIM_ConRelSoftAttach::getJacobianPos ( const UT_Vector3 objAnchorPos,
const UT_Vector3 objAnchorVel,
const UT_Vector3 otherAnchorPos,
const UT_Vector3 otherAnchorVel,
const UT_Matrix3 dofFilter 
) const

Get Jacobian with respect to position, dF/dx. The returned Jacobian is w.r.t. the obj point (dF_i/dx_i); the Jacobian for the other point is the same thing, just negated (dF_i/dx_j = -dF_i/dx_i)

virtual UT_Matrix3 SIM_ConRelSoftAttach::getJacobianPosSubclass ( const UT_Vector3 objAnchorPos,
const UT_Vector3 objAnchorVel,
const UT_Vector3 otherAnchorPos,
const UT_Vector3 otherAnchorVel,
const UT_Matrix3 dofFilter 
) const
protectedvirtual
UT_Matrix3 SIM_ConRelSoftAttach::getJacobianVel ( const UT_Vector3 objAnchorPos,
const UT_Vector3 objAnchorVel,
const UT_Vector3 otherAnchorPos,
const UT_Vector3 otherAnchorVel,
const UT_Matrix3 dofFilter 
) const

Get Jacobian with respect to velocity, dF/dv. Same caveats as dF/dx.

virtual UT_Matrix3 SIM_ConRelSoftAttach::getJacobianVelSubclass ( const UT_Vector3 objAnchorPos,
const UT_Vector3 objAnchorVel,
const UT_Vector3 otherAnchorPos,
const UT_Vector3 otherAnchorVel,
const UT_Matrix3 dofFilter 
) const
protectedvirtual
SIM_ConRelSoftAttach::GETSET_DATA_FUNCS_F ( SIM_NAME_STIFFNESS  ,
Stiffness   
)
SIM_ConRelSoftAttach::GETSET_DATA_FUNCS_F ( SIM_NAME_DAMPING  ,
Damping   
)
virtual fpreal SIM_ConRelSoftAttach::getStateDistanceSubclass ( ) const
protectedvirtual

Reimplemented from SIM_ConRel.

virtual fpreal SIM_ConRelSoftAttach::getStateForceSubclass ( ) const
protectedvirtual

Reimplemented from SIM_ConRel.

UT_Vector3 SIM_ConRelSoftAttach::getTorque ( const UT_Quaternion objOrient,
const UT_Vector3 objAngVel,
const UT_Quaternion anchorOrient,
const UT_Vector3 anchorAngVel 
)
virtual UT_Vector3 SIM_ConRelSoftAttach::getTorqueSubclass ( const UT_Quaternion objOrient,
const UT_Vector3 objAngVel,
const UT_Quaternion anchorOrient,
const UT_Vector3 anchorAngVel 
)
protectedvirtual
UT_Vector3 SIM_ConRelSoftAttach::project ( const UT_Vector3 vec,
const UT_Matrix3 dofFilter 
) const
protected
virtual void SIM_ConRelSoftAttach::setStateDistanceSubclass ( fpreal  distance)
protectedvirtual

Reimplemented from SIM_ConRel.

virtual void SIM_ConRelSoftAttach::setStateForceSubclass ( fpreal  force)
protectedvirtual

Reimplemented from SIM_ConRel.


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