RBD_Solver Class Reference
#include <RBD_Solver.h>
Public Types | |
| enum | rbdContactGroupMethod { CONTACTGROUP_NONE = 0, CONTACTGROUP_CLOSESTPOINT, CONTACTGROUP_AVERAGE } |
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 ×tep) const |
| This is public as we need it in our contact graph builder. | |
| RBD_ObjectTree * | createObjectTree () const |
| RBD_Object * | convertToRBDObject (const SIM_Object *obj) const |
Protected Member Functions | |
| RBD_Solver (const SIM_DataFactory *factory) | |
| virtual | ~RBD_Solver () |
| virtual SIM_Result | solveObjectsSubclass (SIM_Engine &engine, SIM_ObjectArray &objects, SIM_ObjectArray &newobjects, SIM_ObjectArray &feedbacktoobjects, const SIM_Time ×tep) |
| virtual void | getImpulseMassMatrixSubclass (const SIM_Object &object, const UT_Vector3 &impulseworldpos, UT_DMatrix3 &immatrix) const |
| virtual void | getPointImpulseMassMatrixSubclass (const SIM_Object &object, int ptnum, UT_DMatrix3 &immatrix) const |
| virtual fpreal | getPropertyAtPositionSubclass (const SIM_Object &object, const UT_Vector3 &worldspacepos, const SIM_Property &property) const |
| virtual fpreal | getPropertyAtPointSubclass (const SIM_Object &object, int ptnum, const SIM_Property &property) const |
| virtual void | getDefaultColliderLabelSubclass (const SIM_Object &object, UT_String &label) const |
| Gets the default collider label for an object using this solver. | |
| virtual void | getDefaultColliderSubclass (const SIM_Object &object, const UT_String &colliderlabel, UT_String &collidertype, bool &colliderreverseobjectroles) const |
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 50 of file RBD_Solver.h.
Member Enumeration Documentation
This should be kept in sync with the contact group method menu.
Definition at line 91 of file RBD_Solver.h.
Constructor & Destructor Documentation
| RBD_Solver::RBD_Solver | ( | const SIM_DataFactory * | factory | ) | [explicit, protected] |
| virtual RBD_Solver::~RBD_Solver | ( | ) | [protected, virtual] |
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_MAXIMUMSUBSTEPS | , | |
| MaximumSubSteps | ||||
| ) |
| RBD_Solver::GET_DATA_FUNC_I | ( | RBD_NAME_MINIMUMSUBSTEPS | , | |
| MinimumSubSteps | ||||
| ) |
| virtual void RBD_Solver::getDefaultColliderLabelSubclass | ( | const SIM_Object & | object, | |
| UT_String & | label | |||
| ) | const [protected, virtual] |
| virtual void RBD_Solver::getDefaultColliderSubclass | ( | const SIM_Object & | object, | |
| const UT_String & | colliderlabel, | |||
| UT_String & | collidertype, | |||
| bool & | colliderreverseobjectroles | |||
| ) | const [protected, virtual] |
Gets the default collider type for use on an object with a particular collider label.
Reimplemented from SIM_Solver.
| virtual void RBD_Solver::getImpulseMassMatrixSubclass | ( | const SIM_Object & | object, | |
| const UT_Vector3 & | impulseworldpos, | |||
| UT_DMatrix3 & | immatrix | |||
| ) | const [protected, virtual] |
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.
| virtual void RBD_Solver::getPointImpulseMassMatrixSubclass | ( | const SIM_Object & | object, | |
| int | ptnum, | |||
| UT_DMatrix3 & | immatrix | |||
| ) | const [protected, virtual] |
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.
| virtual fpreal RBD_Solver::getPropertyAtPointSubclass | ( | const SIM_Object & | object, | |
| int | ptnum, | |||
| const SIM_Property & | property | |||
| ) | const [protected, virtual] |
Gets the value of some physical property for the supplied object at a given point on the object's geometry.
Reimplemented from SIM_Solver.
| virtual fpreal RBD_Solver::getPropertyAtPositionSubclass | ( | const SIM_Object & | object, | |
| const UT_Vector3 & | worldpos, | |||
| const SIM_Property & | property | |||
| ) | const [protected, virtual] |
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_ADDIMPACTS | , | |
| AddImpacts | ||||
| ) |
| RBD_Solver::GETSET_DATA_FUNCS_B | ( | RBD_NAME_USESDFVELOCITY | , | |
| UseSDFVelocity | ||||
| ) |
| RBD_Solver::GETSET_DATA_FUNCS_B | ( | RBD_NAME_USEPOINTVELOCITY | , | |
| UsePointVelocity | ||||
| ) |
| RBD_Solver::GETSET_DATA_FUNCS_B | ( | RBD_NAME_GLUEIGNORESRESTING | , | |
| GlueIgnoresRestingObjects | ||||
| ) |
| RBD_Solver::GETSET_DATA_FUNCS_B | ( | RBD_NAME_FLAGPENETRATION | , | |
| FlagPenetration | ||||
| ) |
| RBD_Solver::GETSET_DATA_FUNCS_F | ( | RBD_NAME_CONTACTGROUPTOL | , | |
| ContactGroupTol | ||||
| ) |
| RBD_Solver::GETSET_DATA_FUNCS_I | ( | RBD_NAME_CONTACTGROUPMETHOD | , | |
| ContactGroupMethod | ||||
| ) |
| RBD_Solver::GETSET_DATA_FUNCS_I | ( | RBD_NAME_CULLMODE | , | |
| CullMode | ||||
| ) |
| virtual SIM_Result RBD_Solver::solveObjectsSubclass | ( | SIM_Engine & | engine, | |
| SIM_ObjectArray & | objects, | |||
| SIM_ObjectArray & | newobjects, | |||
| SIM_ObjectArray & | feedbacktoobjects, | |||
| const SIM_Time & | timestep | |||
| ) | [protected, virtual] |
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
