Implementation of a rigid body system containing a variety of rigid bodies with different shapes. More...

#include <RigidBodySystem.h>

Inheritance diagram for dyno::RigidBodySystem< TDataType >:

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Collaboration diagram for dyno::RigidBodySystem< TDataType >:

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Public Types
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
	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 ()

Public Attributes
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 Member Functions
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	validateInputs ()

virtual bool	requireUpdate ()

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

Private Member Functions
void	setupShape2RigidBodyMapping ()

Private Attributes
std::vector< RigidBodyInfo >	mHostRigidBodyStates

std::vector< SphereInfo >	mHostSpheres

std::vector< BoxInfo >	mHostBoxes

std::vector< TetInfo >	mHostTets

std::vector< CapsuleInfo >	mHostCapsules

DArray< RigidBodyInfo >	mDeviceRigidBodyStates

DArray< SphereInfo >	mDeviceSpheres

DArray< BoxInfo >	mDeviceBoxes

DArray< TetInfo >	mDeviceTets

DArray< CapsuleInfo >	mDeviceCapsules

std::vector< BallAndSocketJoint >	mHostJointsBallAndSocket

std::vector< SliderJoint >	mHostJointsSlider

std::vector< HingeJoint >	mHostJointsHinge

std::vector< FixedJoint >	mHostJointsFixed

std::vector< PointJoint >	mHostJointsPoint

std::vector< Pair< uint, uint > >	mHostShape2RigidBodyMapping

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.

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::RigidBodySystem< TDataType >

Implementation of a rigid body system containing a variety of rigid bodies with different shapes.

Definition at line 33 of file RigidBodySystem.h.

Member Typedef Documentation

◆ BallAndSocketJoint

template<typename TDataType>

typedef ::dyno::BallAndSocketJoint<Real> dyno::RigidBodySystem< TDataType >::BallAndSocketJoint

Definition at line 46 of file RigidBodySystem.h.

◆ Box3D

template<typename TDataType>

typedef dyno::TOrientedBox3D<Real> dyno::RigidBodySystem< TDataType >::Box3D

Definition at line 41 of file RigidBodySystem.h.

◆ ContactPair

template<typename TDataType>

typedef dyno::TContactPair<Real> dyno::RigidBodySystem< TDataType >::ContactPair

Definition at line 44 of file RigidBodySystem.h.

◆ Coord

template<typename TDataType>

typedef TDataType::Coord dyno::RigidBodySystem< TDataType >::Coord

Definition at line 37 of file RigidBodySystem.h.

◆ FixedJoint

template<typename TDataType>

typedef ::dyno::FixedJoint<Real> dyno::RigidBodySystem< TDataType >::FixedJoint

Definition at line 49 of file RigidBodySystem.h.

◆ HingeJoint

template<typename TDataType>

typedef ::dyno::HingeJoint<Real> dyno::RigidBodySystem< TDataType >::HingeJoint

Definition at line 48 of file RigidBodySystem.h.

◆ Matrix

template<typename TDataType>

typedef TDataType::Matrix dyno::RigidBodySystem< TDataType >::Matrix

Definition at line 38 of file RigidBodySystem.h.

◆ PointJoint

template<typename TDataType>

typedef ::dyno::PointJoint<Real> dyno::RigidBodySystem< TDataType >::PointJoint

Definition at line 50 of file RigidBodySystem.h.

◆ Real

template<typename TDataType>

typedef TDataType::Real dyno::RigidBodySystem< TDataType >::Real

Definition at line 36 of file RigidBodySystem.h.

◆ SliderJoint

template<typename TDataType>

typedef ::dyno::SliderJoint<Real> dyno::RigidBodySystem< TDataType >::SliderJoint

Definition at line 47 of file RigidBodySystem.h.

◆ Sphere3D

template<typename TDataType>

typedef dyno::TSphere3D<Real> dyno::RigidBodySystem< TDataType >::Sphere3D

Definition at line 40 of file RigidBodySystem.h.

◆ TQuat

template<typename TDataType>

typedef dyno::Quat<Real> dyno::RigidBodySystem< TDataType >::TQuat

Definition at line 42 of file RigidBodySystem.h.

Constructor & Destructor Documentation

◆ RigidBodySystem()

template<typename TDataType>

dyno::RigidBodySystem< TDataType >::RigidBodySystem ( )

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◆ ~RigidBodySystem()

template<typename TDataType>

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

override

Member Function Documentation

◆ addBox()

template<typename TDataType>

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

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◆ addCapsule()

template<typename TDataType>

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

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◆ addSphere()

template<typename TDataType>

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

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◆ addTet()

template<typename TDataType>

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

◆ bindBox()

template<typename TDataType>

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

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◆ bindCapsule()

template<typename TDataType>

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

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◆ bindSphere()

template<typename TDataType>

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

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◆ bindTet()

template<typename TDataType>

void dyno::RigidBodySystem< TDataType >::bindTet	(	const std::shared_ptr< PdActor >	actor,
		const TetInfo &	tet,
		const Real	density = Real(100) )

◆ clearRigidBodySystem()

template<typename TDataType>

void dyno::RigidBodySystem< TDataType >::clearRigidBodySystem ( )

protected

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◆ createBallAndSocketJoint()

template<typename TDataType>

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

inline

Definition at line 102 of file RigidBodySystem.h.

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◆ createFixedJoint()

template<typename TDataType>

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

inline

Definition at line 132 of file RigidBodySystem.h.

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◆ createHingeJoint()

template<typename TDataType>

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

inline

Definition at line 122 of file RigidBodySystem.h.

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◆ createPointJoint()

template<typename TDataType>

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

inline

Definition at line 151 of file RigidBodySystem.h.

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◆ createRigidBody() [1/2]

template<typename TDataType>

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

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◆ createRigidBody() [2/2]

template<typename TDataType>

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

◆ createSliderJoint()

template<typename TDataType>

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

inline

Definition at line 112 of file RigidBodySystem.h.

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◆ createUnilateralFixedJoint()

template<typename TDataType>

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

inline

Definition at line 142 of file RigidBodySystem.h.

◆ DEF_ARRAY_STATE() [1/11]

template<typename TDataType>

dyno::RigidBodySystem< TDataType >::DEF_ARRAY_STATE	(	Attribute	,
		Attribute	,
		DeviceType::GPU	,
		"Rigid body attributes"	)

◆ DEF_ARRAY_STATE() [2/11]

template<typename TDataType>

dyno::RigidBodySystem< TDataType >::DEF_ARRAY_STATE	(	CollisionMask	,
		CollisionMask	,
		DeviceType::GPU	,
		"Collision mask for each rigid body"	)

◆ DEF_ARRAY_STATE() [3/11]

template<typename TDataType>

dyno::RigidBodySystem< TDataType >::DEF_ARRAY_STATE	(	Coord	,
		AngularVelocity	,
		DeviceType::GPU	,
		"Angular velocity of rigid bodies"	)

Rigid Angular Velocity.

◆ DEF_ARRAY_STATE() [4/11]

template<typename TDataType>

dyno::RigidBodySystem< TDataType >::DEF_ARRAY_STATE	(	Coord	,
		Center	,
		DeviceType::GPU	,
		"Center of rigid bodies"	)

Rigid Position.

◆ DEF_ARRAY_STATE() [5/11]

template<typename TDataType>

dyno::RigidBodySystem< TDataType >::DEF_ARRAY_STATE	(	Coord	,
		Velocity	,
		DeviceType::GPU	,
		"Velocity of rigid bodies"	)

Rigid Velocity.

◆ DEF_ARRAY_STATE() [6/11]

template<typename TDataType>

dyno::RigidBodySystem< TDataType >::DEF_ARRAY_STATE	(	Matrix	,
		Inertia	,
		DeviceType::GPU	,
		"Inertia matrix"	)

◆ DEF_ARRAY_STATE() [7/11]

template<typename TDataType>

dyno::RigidBodySystem< TDataType >::DEF_ARRAY_STATE	(	Matrix	,
		InitialInertia	,
		DeviceType::GPU	,
		"Initial inertia matrix"	)

◆ DEF_ARRAY_STATE() [8/11]

template<typename TDataType>

dyno::RigidBodySystem< TDataType >::DEF_ARRAY_STATE	(	Matrix	,
		RotationMatrix	,
		DeviceType::GPU	,
		"Rotation matrix of rigid bodies"	)

Rigid Rotation.

◆ DEF_ARRAY_STATE() [9/11]

template<typename TDataType>

dyno::RigidBodySystem< TDataType >::DEF_ARRAY_STATE	(	Real	,
		FrictionCoefficients	,
		DeviceType::GPU	,
		"FrictionCoefficients of rigid bodies"	)

◆ DEF_ARRAY_STATE() [10/11]

template<typename TDataType>

dyno::RigidBodySystem< TDataType >::DEF_ARRAY_STATE	(	Real	,
		Mass	,
		DeviceType::GPU	,
		"Mass of rigid bodies"	)

Rigid Mass.

◆ DEF_ARRAY_STATE() [11/11]

template<typename TDataType>

dyno::RigidBodySystem< TDataType >::DEF_ARRAY_STATE	(	TQuat	,
		Quaternion	,
		DeviceType::GPU	,
		"Quaternion"	)

◆ DEF_INSTANCE_STATE()

template<typename TDataType>

dyno::RigidBodySystem< TDataType >::DEF_INSTANCE_STATE	(	DiscreteElements< TDataType >	,
		Topology	,
		"Topology"	)

◆ DEF_VAR() [1/5]

template<typename TDataType>

dyno::RigidBodySystem< TDataType >::DEF_VAR	(	bool	,
		FrictionEnabled	,
		true	,
		"A toggle to control the friction"	)

◆ DEF_VAR() [2/5]

template<typename TDataType>

dyno::RigidBodySystem< TDataType >::DEF_VAR	(	bool	,
		GravityEnabled	,
		true	,
		"A toggle to control the gravity"	)

◆ DEF_VAR() [3/5]

template<typename TDataType>

dyno::RigidBodySystem< TDataType >::DEF_VAR	(	Real	,
		FrictionCoefficient	,
		200	,
		""	)

◆ DEF_VAR() [4/5]

template<typename TDataType>

dyno::RigidBodySystem< TDataType >::DEF_VAR	(	Real	,
		GravityValue	,
		9.	8,
		""	)

◆ DEF_VAR() [5/5]

template<typename TDataType>

dyno::RigidBodySystem< TDataType >::DEF_VAR	(	Real	,
		Slop	,
		0.	0001,
		""	)

◆ getNodeType()

template<typename TDataType>

std::string dyno::RigidBodySystem< TDataType >::getNodeType ( )

inlineoverridevirtual

Reimplemented from dyno::Node.

Definition at line 162 of file RigidBodySystem.h.

◆ getNormals()

template<typename TDataType>

DArray2D< Vec3f > dyno::RigidBodySystem< TDataType >::getNormals ( )

inline

Definition at line 257 of file RigidBodySystem.h.

◆ getSamples()

template<typename TDataType>

DArray2D< Vec3f > dyno::RigidBodySystem< TDataType >::getSamples ( )

inline

Definition at line 256 of file RigidBodySystem.h.

◆ getSamplingPointSize()

template<typename TDataType>

int dyno::RigidBodySystem< TDataType >::getSamplingPointSize ( )

inline

Definition at line 254 of file RigidBodySystem.h.

◆ pointInertia()

template<typename TDataType>

Mat3f dyno::RigidBodySystem< TDataType >::pointInertia ( Coord v1 )

◆ postUpdateStates()

template<typename TDataType>

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

overrideprotectedvirtual

Reimplemented from dyno::Node.

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◆ resetStates()

template<typename TDataType>

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

overrideprotectedvirtual

Reimplemented from dyno::Node.

Reimplemented in dyno::Tank< TDataType >, dyno::TrackedTank< TDataType >, dyno::UAV< TDataType >, and dyno::UUV< TDataType >.

◆ setupShape2RigidBodyMapping()

template<typename TDataType>

void dyno::RigidBodySystem< TDataType >::setupShape2RigidBodyMapping ( )

private

Member Data Documentation

◆ m_deviceNormals

template<typename TDataType>

DArray2D<Vec3f> dyno::RigidBodySystem< TDataType >::m_deviceNormals

Definition at line 249 of file RigidBodySystem.h.

◆ m_deviceSamples

template<typename TDataType>

DArray2D<Vec3f> dyno::RigidBodySystem< TDataType >::m_deviceSamples

Definition at line 248 of file RigidBodySystem.h.

◆ m_numOfSamples

template<typename TDataType>

int dyno::RigidBodySystem< TDataType >::m_numOfSamples

Definition at line 247 of file RigidBodySystem.h.

◆ mDeviceBoxes

template<typename TDataType>

DArray<BoxInfo> dyno::RigidBodySystem< TDataType >::mDeviceBoxes

private

Definition at line 234 of file RigidBodySystem.h.

◆ mDeviceCapsules

template<typename TDataType>

DArray<CapsuleInfo> dyno::RigidBodySystem< TDataType >::mDeviceCapsules

private

Definition at line 236 of file RigidBodySystem.h.

◆ mDeviceRigidBodyStates

template<typename TDataType>

DArray<RigidBodyInfo> dyno::RigidBodySystem< TDataType >::mDeviceRigidBodyStates

private

Definition at line 231 of file RigidBodySystem.h.

◆ mDeviceSpheres

template<typename TDataType>

DArray<SphereInfo> dyno::RigidBodySystem< TDataType >::mDeviceSpheres

private

Definition at line 233 of file RigidBodySystem.h.

◆ mDeviceTets

template<typename TDataType>

DArray<TetInfo> dyno::RigidBodySystem< TDataType >::mDeviceTets

private

Definition at line 235 of file RigidBodySystem.h.

◆ mHostBoxes

template<typename TDataType>

std::vector<BoxInfo> dyno::RigidBodySystem< TDataType >::mHostBoxes

private

Definition at line 227 of file RigidBodySystem.h.

◆ mHostCapsules

template<typename TDataType>

std::vector<CapsuleInfo> dyno::RigidBodySystem< TDataType >::mHostCapsules

private

Definition at line 229 of file RigidBodySystem.h.

◆ mHostJointsBallAndSocket

template<typename TDataType>

std::vector<BallAndSocketJoint> dyno::RigidBodySystem< TDataType >::mHostJointsBallAndSocket

private

Definition at line 238 of file RigidBodySystem.h.

◆ mHostJointsFixed

template<typename TDataType>

std::vector<FixedJoint> dyno::RigidBodySystem< TDataType >::mHostJointsFixed

private

Definition at line 241 of file RigidBodySystem.h.

◆ mHostJointsHinge

template<typename TDataType>

std::vector<HingeJoint> dyno::RigidBodySystem< TDataType >::mHostJointsHinge

private

Definition at line 240 of file RigidBodySystem.h.

◆ mHostJointsPoint

template<typename TDataType>

std::vector<PointJoint> dyno::RigidBodySystem< TDataType >::mHostJointsPoint

private

Definition at line 242 of file RigidBodySystem.h.

◆ mHostJointsSlider

template<typename TDataType>

std::vector<SliderJoint> dyno::RigidBodySystem< TDataType >::mHostJointsSlider

private

Definition at line 239 of file RigidBodySystem.h.

◆ mHostRigidBodyStates

template<typename TDataType>

std::vector<RigidBodyInfo> dyno::RigidBodySystem< TDataType >::mHostRigidBodyStates

private

Definition at line 224 of file RigidBodySystem.h.

◆ mHostShape2RigidBodyMapping

template<typename TDataType>

std::vector<Pair<uint, uint> > dyno::RigidBodySystem< TDataType >::mHostShape2RigidBodyMapping

private

Definition at line 244 of file RigidBodySystem.h.

◆ mHostSpheres

template<typename TDataType>

std::vector<SphereInfo> dyno::RigidBodySystem< TDataType >::mHostSpheres

private

Definition at line 226 of file RigidBodySystem.h.

◆ mHostTets

template<typename TDataType>

std::vector<TetInfo> dyno::RigidBodySystem< TDataType >::mHostTets

private

Definition at line 228 of file RigidBodySystem.h.

◆ normals

template<typename TDataType>

std::vector<Vec3f> dyno::RigidBodySystem< TDataType >::normals

Definition at line 252 of file RigidBodySystem.h.

◆ samples

template<typename TDataType>

std::vector<Vec3f> dyno::RigidBodySystem< TDataType >::samples

Definition at line 251 of file RigidBodySystem.h.

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

D:/Peridyno/peridyno/src/Dynamics/Cuda/RigidBody/RigidBodySystem.h

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ BallAndSocketJoint

◆ Box3D

◆ ContactPair

◆ Coord

◆ FixedJoint

◆ HingeJoint

◆ Matrix

◆ PointJoint

◆ Real

◆ SliderJoint

◆ Sphere3D

◆ TQuat

Constructor & Destructor Documentation

◆ RigidBodySystem()

◆ ~RigidBodySystem()

Member Function Documentation

◆ addBox()

◆ addCapsule()

◆ addSphere()

◆ addTet()

◆ bindBox()

◆ bindCapsule()

◆ bindSphere()

◆ bindTet()

◆ clearRigidBodySystem()

◆ createBallAndSocketJoint()

◆ createFixedJoint()

◆ createHingeJoint()

◆ createPointJoint()

◆ createRigidBody() [1/2]

◆ createRigidBody() [2/2]

◆ createSliderJoint()

◆ createUnilateralFixedJoint()

◆ DEF_ARRAY_STATE() [1/11]

◆ DEF_ARRAY_STATE() [2/11]

◆ DEF_ARRAY_STATE() [3/11]

◆ DEF_ARRAY_STATE() [4/11]

◆ DEF_ARRAY_STATE() [5/11]

◆ DEF_ARRAY_STATE() [6/11]

◆ DEF_ARRAY_STATE() [7/11]

◆ DEF_ARRAY_STATE() [8/11]

◆ DEF_ARRAY_STATE() [9/11]

◆ DEF_ARRAY_STATE() [10/11]

◆ DEF_ARRAY_STATE() [11/11]

◆ DEF_INSTANCE_STATE()

◆ DEF_VAR() [1/5]

◆ DEF_VAR() [2/5]

◆ DEF_VAR() [3/5]

◆ DEF_VAR() [4/5]

◆ DEF_VAR() [5/5]

◆ getNodeType()

◆ getNormals()

◆ getSamples()

◆ getSamplingPointSize()

◆ pointInertia()

◆ postUpdateStates()

◆ resetStates()

◆ setupShape2RigidBodyMapping()

Member Data Documentation

◆ m_deviceNormals

◆ m_deviceSamples

◆ m_numOfSamples

◆ mDeviceBoxes

◆ mDeviceCapsules

◆ mDeviceRigidBodyStates

◆ mDeviceSpheres

◆ mDeviceTets

◆ mHostBoxes

◆ mHostCapsules

◆ mHostJointsBallAndSocket

◆ mHostJointsFixed