#include <tgBaseRigid.h>

Inherited by tgBox, tgRod, and tgSphere.

Collaboration diagram for tgBaseRigid:

Public Member Functions
virtual	~tgBaseRigid ()

virtual void	teardown ()

virtual void	onVisit (const tgModelVisitor &v) const

virtual double	mass () const

virtual btVector3	centerOfMass () const

virtual btRigidBody *	getPRigidBody ()

virtual btVector3	orientation () const

virtual void	setup (tgWorld &world)

virtual void	step (double dt)

void	addChild (tgModel *pChild)

virtual std::string	toString (std::string prefix="") const

template<typename T >
std::vector< T * >	find (const tgTagSearch &tagSearch)

template<typename T >
std::vector< T * >	find (const std::string &tagSearch)

std::vector< tgModel * >	getDescendants () const

const std::vector < abstractMarker > &	getMarkers () const

void	addMarker (abstractMarker a)

virtual std::vector < tgSenseable * >	getSenseableDescendants () const

void	addTags (const std::string &space_separated_tags)

void	addTags (const tgTags &tags)

bool	hasTag (const std::string tag) const

bool	hasAllTags (std::string tags)

bool	hasAnyTags (const std::string tags)

bool	hasNoTags ()

tgTags &	getTags ()

const tgTags &	getTags () const

void	setTags (tgTags tags)

std::string	getTagStr (std::string delim=" ") const

Protected Member Functions
	tgBaseRigid (btRigidBody *pRigidBody, const tgTags &tags)

Protected Attributes
btRigidBody *	m_pRigidBody

const double	m_mass

Detailed Description

A rod is a rigid body. Length is defined by nodes, radius and density are defined by config.

Definition at line 43 of file tgBaseRigid.h.

Constructor & Destructor Documentation

tgBaseRigid::~tgBaseRigid ( )

virtual

A class with a virtual memeber function requires a virtual destructor.

Definition at line 57 of file tgBaseRigid.cpp.

Member Function Documentation

void tgModel::addChild ( tgModel * pChild )

inherited

Add a sub-model to this model. The model takes ownership of the child sub-model and is responsible for deallocating it.

Parameters

[in,out] pChild a pointer to a sub-model

Exceptions

std::invalid_argument is pChild is NULL, this object, or already a descendant

Todo:: Make sure that every child appears no more than once in the tree.

Definition at line 122 of file tgModel.cpp.

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btVector3 tgBaseRigid::centerOfMass ( ) const

virtual

Return the center of mass of the rod, a vector in 3-space.

Returns: the center of mass of the rod, a vector in 3-space

Definition at line 74 of file tgBaseRigid.cpp.

template<typename T >

std::vector<T*> tgModel::find ( const tgTagSearch & tagSearch )

inlineinherited

Get a vector of descendants sorted by type and a tagsearch. Useful for pulling out muscle groups, or similar.

Parameters

[in] tagSearch,a tagSearch that contains the desired tags

Returns: a std::vector of pointers to members that match the tag search and typename T

Definition at line 128 of file tgModel.h.

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template<typename T >

std::vector<T*> tgModel::find ( const std::string & tagSearch )

inlineinherited

Get a vector of descendants sorted by type and a tagsearch. Useful for pulling out muscle groups, or similar.

Parameters

[in] tagSearch,a std::string& that contains the desired tags

Returns: a std::vector of pointers to members that match the tag search and typename T

Definition at line 141 of file tgModel.h.

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std::vector< tgModel * > tgModel::getDescendants ( ) const

inherited

Return a std::vector of const pointers to all sub-models.

Todo:

examine whether this should be public, and perhaps create a read only version

Returns: a std::vector of const pointers all sub-models.

Todo:: Unnecessary copying can be avoided by pasing the result collection in the recursive step.

Definition at line 170 of file tgModel.cpp.

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virtual btRigidBody* tgBaseRigid::getPRigidBody ( )

inlinevirtual

Getter for rigid body

Definition at line 76 of file tgBaseRigid.h.

std::vector< tgSenseable * > tgModel::getSenseableDescendants ( ) const

virtualinherited

From tgSenseable: need to return all the children of this class. Since tgModels are tgSenseables, just return getDescendants().

Returns: a vector of tgModels, with pointers changed into pointers for tgSenseables.

For tgSenseable: just return the results of getDescendants here. This should be OK, since a vector of tgModel* is also a vector of tgSenseable*.

Reimplemented from tgSenseable.

Definition at line 191 of file tgModel.cpp.

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virtual double tgBaseRigid::mass ( ) const

inlinevirtual

Return the rod's mass in application-dependent units.

Returns: the rod's mass in application-dependent units

Definition at line 65 of file tgBaseRigid.h.

void tgBaseRigid::onVisit ( const tgModelVisitor & v ) const

virtual

Double dispatch funciton. Will pass itself and any children back to the tgModelVisitor

Reimplemented from tgModel.

Reimplemented in tgSphere, tgBox, tgRod, and tgBoxMoreAnchors.

Definition at line 59 of file tgBaseRigid.cpp.

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btVector3 tgBaseRigid::orientation ( ) const

virtual

Return the rod's orientation in Euler angles.

Returns: 3-vector of these euler angles

Definition at line 87 of file tgBaseRigid.cpp.

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void tgModel::setup ( tgWorld & world )

virtualinherited

Setup takes a tgWorld and passes it to any children for their own setup functions. All subclasses should call this at the appropriate time (usually end of setup) within their own setup function.

Parameters

[in] world - the tgWorld the models will exist in.

Reimplemented in TensegrityModel, tgSpringCableActuator, tgCompressionSpringActuator, tgUnidirComprSprActuator, tgKinematicActuator, tgBlockField, tgStairs, DuCTTTestModel, VerticalSpineModel, NestedBoxTestModel, NestedStructureTestModel, tgPrismatic, FlemonsArmModel, T6Model, tgBoxAnchorDebugModel, pidTestRig, CraterDeep, PrismModel, tgCraterDeep, ContactCableDemo, SuperBallModel, Crater, ScarrArmModel, PrismModel, tsTestRig, tgCraterShallow, Wall, T6Model, T12SuperBallPayload, CaterpillarModel, T6SphereModel, BigPuppy, T6Model, T6Model, Escape_T6Model, EscapeModel, SingleRibModel, SingleRibModel, T6Model, hillyMuscleNP, simpleMuscleNP, Hilbert2DModel, tgBasicActuator, BigDoxie, BigDoxieNoFeet, BigDoxieSpirals, MountainGoat, MountainGoatAchilles, MountainGoatFM0, BigPuppySymmetricSpiral2, BigPuppySymmetricSpiral2, BigPuppyNoFeet, BigPuppyRigidFeet, BigPuppySpineOnly, BigPuppySpineOnlyStats, BigPuppySymmetric, BigPuppySymmetricArching, BigPuppySymmetricSpiral1, BigPuppySymmetricSpiral2, BigPuppySymmetricSpiralMetrics, BigPuppySymmetricSpiralSegments, MountainGoatNL2, BigPuppy, BigFoot, BigPuppy, BigPuppy, BigPuppy, ContactTestModel, RBStringTest, BaseQuadModelLearning, BaseSpineModelLearning, VerticalSpineModelCableCollision, TetraSpineStaticModel_hf, StructureTestModel, FlemonsSpineModelGoal, OctahedralComplex, BaseSpineModelGoal, TetraSpineKinematic, TetraSpineGoal, TetraSpineCollisions, ConnectorTestModel, TetraSpineStaticModel, TetraSpineLearningModel, BuildTestModel, FlemonsSpineModelContact, FlemonsSpineModelMixed, RibModelMixedContact, FlemonsSpineModelLearningCL, FlemonsSpineModelLearning, and RibModel.

Definition at line 57 of file tgModel.cpp.

void tgModel::step ( double dt )

virtualinherited

Advance the simulation.

Parameters

[in] dt the number of seconds since the previous call; std::invalid_argument is thrown if dt is not positive

Exceptions

std::invalid_argument if dt is not positive

Note: This is not necessarily const for every child.

Reimplemented in TensegrityModel, tgSpringCableActuator, NestedStructureTestModel, tgCompressionSpringActuator, tgUnidirComprSprActuator, ConnectorTestModel, BuildTestModel, ContactTestModel, tgKinematicActuator, StructureTestModel, tgBlockField, tgStairs, DuCTTTestModel, VerticalSpineModel, FlemonsArmModel, T6Model, tgBoxAnchorDebugModel, pidTestRig, PrismModel, NestedBoxTestModel, NestedStructureTestModel, SuperBallModel, ScarrArmModel, PrismModel, tsTestRig, T6Model, T12SuperBallPayload, ContactCableDemo, CaterpillarModel, T6SphereModel, BigPuppy, T6Model, T6Model, Escape_T6Model, EscapeModel, T6Model, tgBasicActuator, CraterDeep, tgCraterDeep, tgPrismatic, hillyMuscleNP, simpleMuscleNP, BigDoxie, BigDoxieNoFeet, BigDoxieSpirals, MountainGoat, MountainGoatAchilles, MountainGoatFM0, BigPuppySymmetricSpiral2, BigPuppySymmetricSpiral2, BigPuppyNoFeet, BigPuppyRigidFeet, BigPuppySpineOnly, BigPuppySpineOnlyStats, BigPuppySymmetric, BigPuppySymmetricArching, BigPuppySymmetricSpiral1, BigPuppySymmetricSpiral2, BigPuppySymmetricSpiralMetrics, BigPuppySymmetricSpiralSegments, MountainGoatNL2, Crater, tgCraterShallow, Wall, BigPuppy, BigFoot, BigPuppy, BigPuppy, BigPuppy, RBStringTest, BaseQuadModelLearning, BaseSpineModelLearning, TetraSpineStaticModel_hf, FlemonsSpineModelGoal, VerticalSpineModelCableCollision, OctahedralComplex, BaseSpineModelGoal, TetraSpineKinematic, TetraSpineGoal, TetraSpineCollisions, TetraSpineStaticModel, TetraSpineLearningModel, FlemonsSpineModelContact, FlemonsSpineModelMixed, RibModelMixedContact, FlemonsSpineModelLearningCL, FlemonsSpineModelLearning, and RibModel.

Definition at line 84 of file tgModel.cpp.

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void tgBaseRigid::teardown ( )

virtual

Sets the btRigidBody to NULL

Reimplemented from tgModel.

Reimplemented in tgSphere, tgBox, and tgRod.

Definition at line 65 of file tgBaseRigid.cpp.

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std::string tgModel::toString ( std::string prefix = "" ) const

virtualinherited

Returns the tag names of this model and its children

Parameters

[in] prefix a string to append to

Returns: the original string with this model and its children's tags appended

Definition at line 152 of file tgModel.cpp.

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Member Data Documentation

const double tgBaseRigid::m_mass

protected

The rod's mass. The units are application dependent.

Definition at line 105 of file tgBaseRigid.h.

btRigidBody* tgBaseRigid::m_pRigidBody

protected

The Bullet Physics implementation of the rod.

Definition at line 102 of file tgBaseRigid.h.

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

core/tgBaseRigid.h
core/tgBaseRigid.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation