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tgGhostModel Class Reference

#include <tgGhostModel.h>

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Public Member Functions

 tgGhostModel (btPairCachingGhostObject *pCollisionObject, const tgTags &tags)
 
virtual ~tgGhostModel ()
 
virtual void teardown ()
 
virtual void onVisit (const tgModelVisitor &v) const
 
virtual btPairCachingGhostObject * getPGhostObject ()
 
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 Attributes

btPairCachingGhostObject * m_pCollisionObject
 

Detailed Description

Holds a pointer to a btPairCachingGhostObject through the build process It could be used to keep additional functions away from MuscleNP in the future, by holding pointers to the dispatcher and similar

Definition at line 45 of file tgGhostModel.h.

Constructor & Destructor Documentation

tgGhostModel::~tgGhostModel ( )
virtual

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

Definition at line 51 of file tgGhostModel.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]pChilda pointer to a sub-model
Exceptions
std::invalid_argumentis 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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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,atagSearch 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,astd::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 btPairCachingGhostObject* tgGhostModel::getPGhostObject ( )
inlinevirtual

Getter for rigid body

Definition at line 62 of file tgGhostModel.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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void tgGhostModel::onVisit ( const tgModelVisitor &  r) const
virtual

Call tgModelVisitor::render() on self and all descendants.

Parameters
[in,out]ra reference to a tgModelVisitor

Reimplemented from tgModel.

Definition at line 53 of file tgGhostModel.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]dtthe number of seconds since the previous call; std::invalid_argument is thrown if dt is not positive
Exceptions
std::invalid_argumentif 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 tgGhostModel::teardown ( )
virtual

Deletes the children (undoes setup)

Reimplemented from tgModel.

Definition at line 59 of file tgGhostModel.cpp.

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

Returns the tag names of this model and its children

Parameters
[in]prefixa 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

btPairCachingGhostObject* tgGhostModel::m_pCollisionObject
protected

The Bullet Physics implementation of the collision object.

Definition at line 77 of file tgGhostModel.h.

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