#include <MultibodySystem.h>

Inheritance diagram for dyno::MultibodySystem< TDataType >:

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Collaboration diagram for dyno::MultibodySystem< TDataType >:

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Public Types
typedef TDataType::Real	Real

typedef TDataType::Coord	Coord

typedef TDataType::Matrix	Matrix

typedef ::dyno::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 ::dyno::BallAndSocketJoint< Real >	BallAndSocketJoint

typedef ::dyno::SliderJoint< Real >	SliderJoint

typedef ::dyno::HingeJoint< Real >	HingeJoint

typedef ::dyno::FixedJoint< Real >	FixedJoint

typedef ::dyno::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
	MultibodySystem ()

	~MultibodySystem () override

	DEF_VAR (std::vector< Transform3f >, VehiclesTransform, std::vector< Transform3f >{Transform3f()}, "")
	Creates multiple vehicles and specifies the transformations for each vehicle.

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

	DEF_NODE_PORTS (RigidBodySystem< TDataType >, Vehicle, "")

	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))

std::shared_ptr< PdActor >	createRigidBody (const Coord &p, const TQuat &q)

std::shared_ptr< PdActor >	createRigidBody (const RigidBodyInfo &bodyDef)

void	bindBox (const std::shared_ptr< PdActor > actor, const BoxInfo &box, const Real density=Real(100))

void	bindSphere (const std::shared_ptr< PdActor > actor, const SphereInfo &sphere, const Real density=Real(100))

void	bindCapsule (const std::shared_ptr< PdActor > actor, const CapsuleInfo &capsule, const Real density=Real(100))

void	bindTet (const std::shared_ptr< PdActor > actor, const TetInfo &tet, 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)

std::string	getNodeType () override

	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, 200, "")

	DEF_VAR (Real, Slop, 0.0001, "")

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

	DEF_ARRAY_STATE (Real, FrictionCoefficients, DeviceType::GPU, "FrictionCoefficients of rigid bodies")

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

	DEF_ARRAY_STATE (Coord, Center, DeviceType::GPU, "Center of rigid bodies")
	Rigid Position.

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

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

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

	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

bool	isAutoSync ()

bool	isAutoHidden ()

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

void	setAutoHidden (bool con)

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)
	Depth-first tree traversal.

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	postUpdateStates () override

bool	validateInputs () override

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

void	postUpdateStates () override

void	clearRigidBodySystem ()

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

bool	removeExportNode (NodePort *nodePort)

virtual void	preUpdateStates ()

virtual void	updateStates ()

virtual void	updateTopology ()

virtual bool	requireUpdate ()

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

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

Detailed Description

template<typename TDataType>
class dyno::MultibodySystem< TDataType >

Definition at line 25 of file MultibodySystem.h.

Member Typedef Documentation

◆ BindingPair

template<typename TDataType>

typedef ::dyno::Pair<uint, uint> dyno::MultibodySystem< TDataType >::BindingPair

Definition at line 32 of file MultibodySystem.h.

◆ Coord

template<typename TDataType>

typedef TDataType::Coord dyno::MultibodySystem< TDataType >::Coord

Definition at line 30 of file MultibodySystem.h.

◆ Matrix

template<typename TDataType>

typedef TDataType::Matrix dyno::MultibodySystem< TDataType >::Matrix

Definition at line 31 of file MultibodySystem.h.

◆ Real

template<typename TDataType>

typedef TDataType::Real dyno::MultibodySystem< TDataType >::Real

Definition at line 29 of file MultibodySystem.h.

Constructor & Destructor Documentation

◆ MultibodySystem()

template<typename TDataType>

dyno::MultibodySystem< TDataType >::MultibodySystem ( )

Definition at line 25 of file MultibodySystem.cpp.

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◆ ~MultibodySystem()

template<typename TDataType>

dyno::MultibodySystem< TDataType >::~MultibodySystem ( )

override

Definition at line 75 of file MultibodySystem.cpp.

Member Function Documentation

◆ DEF_ARRAYLIST_STATE()

template<typename TDataType>

dyno::MultibodySystem< TDataType >::DEF_ARRAYLIST_STATE	(	Transform3f	,
		InstanceTransform	,
		DeviceType::GPU	,
		"Instance transforms"	)

◆ DEF_INSTANCE_IN()

template<typename TDataType>

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

◆ DEF_NODE_PORTS()

template<typename TDataType>

dyno::MultibodySystem< TDataType >::DEF_NODE_PORTS	(	RigidBodySystem< TDataType >	,
		Vehicle	,
		""	)

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◆ DEF_VAR()

template<typename TDataType>

dyno::MultibodySystem< TDataType >::DEF_VAR	(	std::vector< Transform3f >	,
		VehiclesTransform	,
		std::vector< Transform3f >{Transform3f()}	,
		""	)

Creates multiple vehicles and specifies the transformations for each vehicle.

◆ postUpdateStates()

template<typename TDataType>

void dyno::MultibodySystem< TDataType >::postUpdateStates ( )

overrideprotectedvirtual

Reimplemented from dyno::Node.

Definition at line 190 of file MultibodySystem.cpp.

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◆ resetStates()

template<typename TDataType>

void dyno::MultibodySystem< TDataType >::resetStates ( )

overrideprotectedvirtual

Reimplemented from dyno::Node.

Definition at line 81 of file MultibodySystem.cpp.

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◆ validateInputs()

template<typename TDataType>

bool dyno::MultibodySystem< TDataType >::validateInputs ( )

overrideprotectedvirtual

Reimplemented from dyno::Node.

Definition at line 245 of file MultibodySystem.cpp.

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

D:/Peridyno/peridyno/src/Dynamics/Cuda/RigidBody/MultibodySystem.h
D:/Peridyno/peridyno/src/Dynamics/Cuda/RigidBody/MultibodySystem.cpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ BindingPair

◆ Coord

◆ Matrix

◆ Real

Constructor & Destructor Documentation

◆ MultibodySystem()

◆ ~MultibodySystem()

Member Function Documentation

◆ DEF_ARRAYLIST_STATE()

◆ DEF_INSTANCE_IN()

◆ DEF_NODE_PORTS()

◆ DEF_VAR()

◆ postUpdateStates()

◆ resetStates()

◆ validateInputs()