Scene objects that are governed by rigid body dynamics under the RigidBodyModel2. More...
#include <imstkRigidObject2.h>
Inheritance diagram for imstk::RigidObject2:
Collaboration diagram for imstk::RigidObject2:
Public Member Functions | |
| RigidObject2 (const std::string &name="RigidObject2") | |
| bool | initialize () override |
| Initialize the rigid scene object. | |
| std::shared_ptr< RigidBodyModel2 > | getRigidBodyModel2 () |
| Add local force at a position relative to object. | |
| std::shared_ptr< RigidBody > | getRigidBody () const |
| Returns body in the model. | |
| void | setDynamicalModel (std::shared_ptr< AbstractDynamicalModel > dynaModel) override |
| Sets the model, and creates the body within the model. | |
| void | updatePhysicsGeometry () override |
| Updates the physics geometry of the object. | |
 Public Member Functions inherited from imstk::DynamicObject | |
| size_t | getNumOfDOF () const |
| Returns the number of degree of freedom. | |
| void | updateGeometries () final |
| Update the physics geometry and the apply the maps (if defined) | |
| void | reset () override |
| Reset the dynamic object by reseting the respective DynamicalModel and Geometry. | |
| std::shared_ptr< Geometry > | getPhysicsGeometry () const |
| Set/Get the geometry used for Physics computations. | |
| virtual void | setPhysicsGeometry (std::shared_ptr< Geometry > geometry) |
| std::shared_ptr< GeometryMap > | getPhysicsToCollidingMap () const |
| Set/Get the Physics-to-Collision map. | |
| void | setPhysicsToCollidingMap (std::shared_ptr< GeometryMap > map) |
| std::shared_ptr< GeometryMap > | getPhysicsToVisualMap () const |
| Set/Get the Physics-to-Visual map. | |
| void | setPhysicsToVisualMap (std::shared_ptr< GeometryMap > map) |
| virtual std::shared_ptr< AbstractDynamicalModel > | getDynamicalModel () const |
| Set/Get dynamical model. | |
| Public Member Functions inherited from imstk::CollidingObject | |
| CollidingObject (const std::string &name="CollidingObject") | |
| void | update () override |
| Update the SceneObject, called during scene update. | |
| bool | didCollide (std::shared_ptr< CollidingObject > other) |
| void | addCollision (std::shared_ptr< CollidingObject > other, std::shared_ptr< imstk::CollisionData > data) |
| Add data for collision with the object `other. | |
| const std::vector< std::shared_ptr< imstk::CollisionData > > & | getCollisions (std::shared_ptr< CollidingObject > other) const |
| std::shared_ptr< Geometry > | getCollidingGeometry () const |
| void | setCollidingGeometry (std::shared_ptr< Geometry > geometry) |
| std::shared_ptr< GeometryMap > | getCollidingToVisualMap () const |
| void | setCollidingToVisualMap (std::shared_ptr< GeometryMap > map) |
| Public Member Functions inherited from imstk::SceneObject | |
| SceneObject (const std::string &name="SceneObject") | |
| std::shared_ptr< TaskGraph > | getTaskGraph () const |
| Get the computational graph. | |
| std::shared_ptr< Geometry > | getVisualGeometry () const |
| Sets the visual geometry, adds (sets the first) VisualModel. | |
| void | setVisualGeometry (std::shared_ptr< Geometry > geometry) |
| std::shared_ptr< VisualModel > | getVisualModel (const int index) const |
| Get/add visual model. | |
| void | addVisualModel (std::shared_ptr< VisualModel > visualModel) |
| void | removeVisualModel (std::shared_ptr< VisualModel > visualModel) |
| std::shared_ptr< TaskNode > | getUpdateNode () const |
| Returns the computational node for updating. | |
| std::shared_ptr< TaskNode > | getUpdateGeometryNode () const |
| Returns the computational node for updating geometry. | |
| virtual void | visualUpdate () |
| Update the visuals, called before render. | |
| void | initGraphEdges () |
| Initializes the edges of the SceneObject's computational graph. | |
| Public Member Functions inherited from imstk::Entity | |
| Entity (const std::string &name="Entity") | |
| SIGNAL (Entity, modified) | |
| EntityID | getID () const |
| Get ID (ALWAYS query the ID in your code, DO NOT hardcode it) More... | |
| virtual const std::string | getTypeName () const |
| template<typename T > | |
| std::shared_ptr< T > | addComponent () |
| Create and return a component on this entity. | |
| template<typename T > | |
| std::shared_ptr< T > | addComponent (std::string name) |
| void | addComponent (std::shared_ptr< Component > component) |
| Add existing component to entity. | |
| std::shared_ptr< Component > | getComponent (const unsigned int index) const |
| Get a component by index. | |
| template<typename T > | |
| std::shared_ptr< T > | getComponent () const |
| Get the first component of type T. | |
| template<typename T > | |
| std::shared_ptr< T > | getComponentN (const int index) const |
| Get's the Nth component of type T. | |
| template<class T > | |
| bool | containsComponent () const |
| Check if contains component of type T. | |
| bool | containsComponent (std::shared_ptr< Component > component) const |
| Check if contains given component. | |
| template<typename T > | |
| std::vector< std::shared_ptr< T > > | getComponents () const |
| Get all components of type T. | |
| const std::vector< std::shared_ptr< Component > > & | getComponents () |
| void | removeComponent (std::shared_ptr< Component > component) |
| Remove component if it exists. | |
| const std::string & | getName () const |
| Get/Set the name of the entity. | |
| void | setName (const std::string &name) |
| Public Member Functions inherited from imstk::EventObject | |
| template<typename T > | |
| void | postEvent (const T &e) |
| Emits the event Direct observers will be immediately called, in sync Queued observers will receive the Command in their queue for later execution, reciever must implement doEvent. | |
| template<typename T > | |
| void | queueEvent (const T &e) |
| Queues event directly to this. | |
| void | doEvent () |
| Do an event, if none exists return. | |
| void | doAllEvents () |
| Do all the events in the event queue. | |
| void | foreachEvent (std::function< void(Command cmd)> func) |
| Thread safe loop over all event commands, one can implement a custom handler. | |
| void | rforeachEvent (std::function< void(Command cmd)> func) |
| thread safe reverse loop over all event commands, one can implement a custom handler | |
| void | clearEvents () |
| Removes all events from queue cleans up copies of the event. | |
Protected Attributes | |
| std::shared_ptr< RigidBodyModel2 > | m_rigidBodyModel2 |
| std::shared_ptr< RigidBody > | m_rigidBody |
| Gives the actual body within the model. | |
| Protected Attributes inherited from imstk::DynamicObject | |
| std::shared_ptr< AbstractDynamicalModel > | m_dynamicalModel = nullptr |
| Dynamical model. | |
| std::shared_ptr< Geometry > | m_physicsGeometry = nullptr |
| Geometry used for Physics. | |
| std::shared_ptr< GeometryMap > | m_physicsToCollidingGeomMap = nullptr |
| Maps from Physics to collision geometry. | |
| std::shared_ptr< GeometryMap > | m_physicsToVisualGeomMap = nullptr |
| Maps from Physics to visual geometry. | |
| Protected Attributes inherited from imstk::CollidingObject | |
| std::shared_ptr< Geometry > | m_collidingGeometry = nullptr |
| Geometry for collisions. | |
| std::shared_ptr< GeometryMap > | m_collidingToVisualMap = nullptr |
| Maps transformations to visual geometry. | |
| Vec3d | m_force = Vec3d::Zero() |
| std::unordered_map< std::shared_ptr< CollidingObject >, std::vector< std::shared_ptr< CollisionData > > > | m_collisions |
| Protected Attributes inherited from imstk::SceneObject | |
| std::shared_ptr< TaskGraph > | m_taskGraph = nullptr |
| Computational Graph. | |
| Protected Attributes inherited from imstk::Entity | |
| std::vector< std::shared_ptr< Component > > | m_components |
| EntityID | m_ID |
| unique ID of entity | |
| std::string | m_name |
| Not unique name. | |
| Protected Attributes inherited from imstk::EventObject | |
| ParallelUtils::SpinLock | eventQueueLock |
| std::deque< Command > | eventQueue |
| std::vector< std::pair< std::string, std::vector< Observer > > > | queuedObservers |
| std::vector< std::pair< std::string, std::vector< Observer > > > | directObservers |
Additional Inherited Members | |
| Public Types inherited from imstk::EventObject | |
| using | Observer = std::tuple< bool, std::weak_ptr< EventObject >, std::function< void(Event *)> > |
| Protected Member Functions inherited from imstk::DynamicObject | |
| void | initGraphEdges (std::shared_ptr< TaskNode > source, std::shared_ptr< TaskNode > sink) override |
| Setup connectivity of task graph. | |
| void | postModifiedAll () override |
| Posts modified for all geometries. | |
| DynamicObject (const std::string &name) | |
| Protected Member Functions inherited from imstk::CollidingObject | |
| void | clearCollisions () |
| resets the collision information | |
| Static Protected Attributes inherited from imstk::Entity | |
| static std::atomic< EntityID > | m_count { 0 } |
| current count of entities | |
Detailed Description
Scene objects that are governed by rigid body dynamics under the RigidBodyModel2.
Definition at line 24 of file imstkRigidObject2.h.
The documentation for this class was generated from the following files:
- Source/SceneEntities/Objects/imstkRigidObject2.h
- Source/SceneEntities/Objects/imstkRigidObject2.cpp
