#include <Vechicle.h>

Inheritance diagram for dyno::Vechicle< TDataType >:

Collaboration diagram for dyno::Vechicle< TDataType >:

Public Types
typedef TDataType::Real	Real

typedef TDataType::Coord	Coord

typedef TDataType::Matrix	Matrix

typedef Pair< uint, uint >	BindingPair

Public Types inherited from dyno::RigidBodySystem< TDataType >
typedef TDataType::Real	Real

typedef TDataType::Coord	Coord

typedef TDataType::Matrix	Matrix

typedef dyno::TSphere3D< Real >	Sphere3D

typedef dyno::TOrientedBox3D< Real >	Box3D

typedef dyno::Quat< Real >	TQuat

typedef dyno::TContactPair< Real >	ContactPair

typedef BallAndSocketJoint< Real >	BallAndSocketJoint

typedef SliderJoint< Real >	SliderJoint

typedef HingeJoint< Real >	HingeJoint

typedef FixedJoint< Real >	FixedJoint

typedef PointJoint< Real >	PointJoint

Public Types inherited from dyno::Node
template<class T >
using	SPtr = std::shared_ptr< T >

Public Types inherited from dyno::OBase
typedef std::vector< FBase * >	FieldVector

typedef std::map< FieldID, FBase * >	FieldMap

Public Member Functions
	Vechicle ()

	~Vechicle () override

void	bind (std::shared_ptr< PdActor > actor, Pair< uint, uint > shapeId)

	DEF_INSTANCE_IN (TextureMesh, TextureMesh, "Texture mesh of the vechicle")

	DEF_INSTANCE_IN (TriangleSet< TDataType >, TriangleSet, "TriangleSet of the boundary")

	DEF_ARRAYLIST_STATE (Transform3f, InstanceTransform, DeviceType::GPU, "Instance transforms")

Public Member Functions inherited from dyno::RigidBodySystem< TDataType >
	RigidBodySystem ()

	~RigidBodySystem () override

std::shared_ptr< PdActor >	addBox (const BoxInfo &box, const RigidBodyInfo &bodyDef, const Real density=Real(100))

std::shared_ptr< PdActor >	addSphere (const SphereInfo &sphere, const RigidBodyInfo &bodyDef, const Real density=Real(100))

std::shared_ptr< PdActor >	addTet (const TetInfo &tet, const RigidBodyInfo &bodyDef, const Real density=Real(100))

std::shared_ptr< PdActor >	addCapsule (const CapsuleInfo &capsule, const RigidBodyInfo &bodyDef, const Real density=Real(100))

BallAndSocketJoint &	createBallAndSocketJoint (std::shared_ptr< PdActor > actor1, std::shared_ptr< PdActor > actor2)

SliderJoint &	createSliderJoint (std::shared_ptr< PdActor > actor1, std::shared_ptr< PdActor > actor2)

HingeJoint &	createHingeJoint (std::shared_ptr< PdActor > actor1, std::shared_ptr< PdActor > actor2)

FixedJoint &	createFixedJoint (std::shared_ptr< PdActor > actor1, std::shared_ptr< PdActor > actor2)

FixedJoint &	createUnilateralFixedJoint (std::shared_ptr< PdActor > actor1)

PointJoint &	createPointJoint (std::shared_ptr< PdActor > actor1)

Mat3f	pointInertia (Coord v1)

	DEF_VAR (bool, FrictionEnabled, true, "A toggle to control the friction")

	DEF_VAR (bool, GravityEnabled, true, "A toggle to control the gravity")

	DEF_VAR (Real, GravityValue, 9.8, "")

	DEF_VAR (Real, FrictionCoefficient, 2.0, "")

	DEF_VAR (Real, Slop, 0.001, "")

	DEF_INSTANCE_STATE (DiscreteElements< TDataType >, Topology, "Topology")

	DEF_ARRAY_STATE (Real, Mass, DeviceType::GPU, "Mass of rigid bodies")
	Particle position.

	DEF_ARRAY_STATE (Coord, Center, DeviceType::GPU, "Center of rigid bodies")
	Particle position.

	DEF_ARRAY_STATE (Coord, Offset, DeviceType::GPU, "Offset of barycenters")
	The initial offset of barycenters.

	DEF_ARRAY_STATE (Coord, Velocity, DeviceType::GPU, "Velocity of rigid bodies")
	Particle position.

	DEF_ARRAY_STATE (Coord, AngularVelocity, DeviceType::GPU, "Angular velocity of rigid bodies")
	Particle position.

	DEF_ARRAY_STATE (Matrix, RotationMatrix, DeviceType::GPU, "Rotation matrix of rigid bodies")
	Particle position.

	DEF_ARRAY_STATE (Matrix, Inertia, DeviceType::GPU, "Inertia matrix")

	DEF_ARRAY_STATE (TQuat, Quaternion, DeviceType::GPU, "Quaternion")

	DEF_ARRAY_STATE (CollisionMask, CollisionMask, DeviceType::GPU, "Collision mask for each rigid body")

	DEF_ARRAY_STATE (Attribute, Attribute, DeviceType::GPU, "Rigid body attributes")

	DEF_ARRAY_STATE (Matrix, InitialInertia, DeviceType::GPU, "Initial inertia matrix")

int	getSamplingPointSize ()

DArray2D< Vec3f >	getSamples ()

DArray2D< Vec3f >	getNormals ()

Public Member Functions inherited from dyno::Node
	Node ()

	~Node () override

void	setName (std::string name)

std::string	getName () override

virtual std::string	getNodeType ()

bool	isAutoSync ()

void	setAutoSync (bool con)
	Whether the node can be automatically synchronized when its ancestor is updated.

virtual bool	isActive ()
	Check the state of dynamics.

virtual void	setActive (bool active)
	Set the state of dynamics.

virtual bool	isVisible ()
	Check the visibility of context.

virtual void	setVisible (bool visible)
	Set the visibility of context.

virtual Real	getDt ()
	Simulation timestep.

void	setDt (Real dt)

void	setSceneGraph (SceneGraph *scn)

SceneGraph *	getSceneGraph ()

std::vector< NodePort * > &	getImportNodes ()

std::vector< NodePort * > &	getExportNodes ()

bool	addModule (std::shared_ptr< Module > module)
	Add a module to m_module_list and other special module lists.

bool	deleteModule (std::shared_ptr< Module > module)

template<class TModule >
bool	addModule (std::shared_ptr< TModule > tModule)
	Add a speical kind of module.

template<class TModule >
bool	deleteModule (std::shared_ptr< TModule > tModule)

std::list< std::shared_ptr< Module > > &	getModuleList ()

bool	hasModule (std::string name)

std::shared_ptr< Module >	getModule (std::string name)
	Get a module by its name.

template<class TModule >
std::shared_ptr< TModule >	getModule ()
	Get the Module by the module class name.

template<class TModule >
std::shared_ptr< TModule >	getModule (std::string name)

std::shared_ptr< Pipeline >	resetPipeline ()

std::shared_ptr< AnimationPipeline >	animationPipeline ()

std::shared_ptr< GraphicsPipeline >	graphicsPipeline ()

template<class TModule >
std::shared_ptr< TModule >	addModule (std::string name)

void	update ()
	Called every time interval.

void	updateGraphicsContext ()

void	reset ()

virtual NBoundingBox	boundingBox ()

bool	connect (NodePort *nPort)

bool	disconnect (NodePort *nPort)

bool	attachField (FBase *field, std::string name, std::string desc, bool autoDestroy=true) override
	Attach a field to Node.

std::vector< NodePort * > &	getAllNodePorts ()

uint	sizeOfNodePorts ()

uint	sizeOfImportNodes () const

uint	sizeOfExportNodes () const

void	setForceUpdate (bool b)

	DEF_VAR_STATE (Real, ElapsedTime, 0, "Elapsed Time")

	DEF_VAR_STATE (Real, TimeStep, Real(0.033), "Time step size")

	DEF_VAR_STATE (uint, FrameNumber, 0, "Frame number")

Public Member Functions inherited from dyno::OBase
	OBase ()

	~OBase () override

virtual std::string	caption ()
	Return the caption.

virtual bool	captionVisible ()
	Whether to hide the caption in the GUI.

virtual std::string	description ()
	Return a description for the node or module, override this function to support user-defined description.

bool	addField (FBase *data)
	Add a field to Base FieldID will be set to the name of Field by default.

bool	addField (FieldID name, FBase *data)
	Add a field to Base.

bool	addFieldAlias (FieldID name, FBase *data)

bool	addFieldAlias (FieldID name, FBase *data, FieldMap &fieldAlias)

bool	findField (FBase *data)
	Find a field by its pointer.

bool	findFieldAlias (const FieldID name)
	Find a field by its name.

bool	findFieldAlias (const FieldID name, FieldMap &fieldAlias)
	Find a field in fieldAlias by its name This function is typically called by other functions.

bool	removeField (FBase *data)
	Remove a field by its pointer.

bool	removeFieldAlias (const FieldID name)
	Remove a field by its name.

bool	removeFieldAlias (const FieldID name, FieldMap &fieldAlias)

FBase *	getField (const FieldID name)
	Return a field by its name.

std::vector< FBase * > &	getAllFields ()

template<typename T >
T *	getField (FieldID name)

bool	isAllFieldsReady ()
	Check the completeness of all required fields.

std::vector< FieldID >	getFieldAlias (FBase *data)

int	getFieldAliasCount (FBase *data)

void	setBlockCoord (float x, float y)

float	bx ()

float	by ()

bool	findInputField (FBase *field)

bool	addInputField (FBase *field)

bool	removeInputField (FBase *field)

std::vector< FBase * > &	getInputFields ()

bool	findOutputField (FBase *field)

bool	addOutputField (FBase *field)

bool	addToOutput (FBase *field)

bool	removeOutputField (FBase *field)

bool	removeFromOutput (FBase *field)

std::vector< FBase * > &	getOutputFields ()

bool	findParameter (FBase *field)

bool	addParameter (FBase *field)

bool	removeParameter (FBase *field)

std::vector< FBase * > &	getParameters ()

Public Member Functions inherited from dyno::Object
	Object ()

virtual	~Object ()

ObjectId	objectId ()

Protected Member Functions
void	resetStates () override

void	updateStates () override

void	updateInstanceTransform ()

Protected Member Functions inherited from dyno::RigidBodySystem< TDataType >
void	updateTopology () override

Protected Member Functions inherited from dyno::Node
bool	appendExportNode (NodePort *nodePort)

bool	removeExportNode (NodePort *nodePort)

virtual void	preUpdateStates ()

virtual void	postUpdateStates ()

virtual bool	validateInputs ()

virtual bool	requireUpdate ()

void	tick ()
	notify all state and output fields are updated

Private Attributes
std::vector< Pair< uint, uint > >	mBindingPair

std::vector< std::shared_ptr< PdActor > >	mActors

DArray< Matrix >	mInitialRot

DArray< BindingPair >	mBindingPairDevice

DArray< int >	mBindingTagDevice

Additional Inherited Members
Static Public Member Functions inherited from dyno::Object
static bool	registerClass (ClassInfo *ci)

static Object *	createObject (std::string name)

static std::map< std::string, ClassInfo * > *	getClassMap ()

static ObjectId	baseId ()
	Base Id.

Public Attributes inherited from dyno::RigidBodySystem< TDataType >
int	m_numOfSamples

DArray2D< Vec3f >	m_deviceSamples

DArray2D< Vec3f >	m_deviceNormals

std::vector< Vec3f >	samples

std::vector< Vec3f >	normals

Public Attributes inherited from dyno::Node
std::string	m_node_name

Protected Attributes inherited from dyno::OBase
std::vector< FBase * >	fields_input

std::vector< FBase * >	fields_output

std::vector< FBase * >	fields_param