diguyChainSettings

Generated from diguyChainSettings.h

DI-Guy API Version 12.5.1

This file was automatically generated from diguyChainSettings.h. Do not edit this file directly; the changes will be lost.

Includes: declspec_diguy.h

Contents:

Alphabetical Index

class diguyChainSettings

class BDI_DECLSPEC_diguy diguyChainSettings
{
public:
    const char* get_name();
    int set_name(const char* name);
    void set_num_masses(int num_masses);
    int get_num_masses();
    void set_index_of_chain_mass_connected_to_character(int chain_mass_index);
    int get_index_of_chain_mass_connected_to_character();
    void set_simulation_dt(float simulation_dt);
    float get_simulation_dt();
    void set_mass(float mass);
    float get_mass();
    void set_spring_length(float spring_length);
    float get_spring_length();
    void set_spring_k(float spring_k);
    float get_spring_k();
    void set_spring_b(float spring_b);
    float get_spring_b();
    void set_neighbor2_spring_length(float neighbor2_spring_length);
    float get_neighbor2_spring_length();
    void set_neighbor2_spring_k(float neighbor2_spring_k);
    float get_neighbor2_spring_k();
    void set_neighbor2_spring_b(float neighbor2_spring_b);
    float get_neighbor2_spring_b();
    void set_ground_k(float ground_k);
    float get_ground_k();
    void set_ground_b(float ground_b);
    float get_ground_b();
    void set_ground_lateral_b(float ground_lateral_b);
    float get_ground_lateral_b();
    void set_ground_stiction_engage_vel(float ground_stiction_engage_vel);
    float get_ground_stiction_engage_vel();
    void set_ground_stiction_release_force(float ground_stiction_release_force);
    float get_ground_stiction_release_force();
    void set_ground_height(float ground_height);
    float get_ground_height();
    void set_air_b(float air_b);
    float get_air_b();
    void set_gravity(float x, float y, float z);
    void get_gravity(float* x, float* y, float* z);
    void set_radius(float radius);
    float get_radius();
    void set_ambient_color(float r, float g, float b, float a);
    void get_ambient_color(float* r, float* g, float* b, float* a);
    void set_diffuse_color(float r, float g, float b, float a);
    void get_diffuse_color(float* r, float* g, float* b, float* a);
    void set_specular_color(float r, float g, float b, float a);
    void get_specular_color(float* r, float* g, float* b, float* a);
    void set_shininess(float shininess);
    float get_shininess();
    void set_texture_filename(const char* texture_filename);
    const char* get_texture_filename();
    void set_num_texture_repetitions(int num_texture_repetitions);
    int get_num_texture_repetitions();
    void set_cross_section(diguyChainCrossSection cs);
    diguyChainCrossSection get_cross_section();
    void set_appearance_begin_cap(const char* appearance_begin_cap);
    const char* get_appearance_begin_cap();
    void set_appearance_end_cap(const char* appearance_end_cap);
    const char* get_appearance_end_cap();
    void set_num_coils(int num_coils);
    int get_num_coils();
    void set_coil_thickness(float coil_thickness);
    float get_coil_thickness();
    void set_coil_taper_begin_mass_count(int coil_taper_begin_mass_count);
    int get_coil_taper_begin_mass_count();
    void set_coil_taper_end_mass_count(int coil_taper_end_mass_count);
    int get_coil_taper_end_mass_count();

General Functions

function diguyChainSettings::get_name

Prototype:
const char* get_name();
Returns:

name of this object; this value will never be NULL
Callable From:

C++
Script

function diguyChainSettings::set_name

Prototype:
int set_name(const char* name);
Description:

This function sets the name of this object.
Returns:

0 on success, -1 on failure
Callable From:

C++
Script

Simulation Constants Functions

function diguyChainSettings::set_num_masses

Prototype:
void set_num_masses(int num_masses);
Description:

This function sets how many masses will in a chain using these settings.

The default is 80 masses.
Arguments:

num_masses number of masses
Callable From:

C++
Script

function diguyChainSettings::get_num_masses

Prototype:
int get_num_masses();
Returns:

number of masses; see set_num_masses()
Callable From:

C++
Script

function diguyChainSettings::set_index_of_chain_mass_connected_to_character

Prototype:
void set_index_of_chain_mass_connected_to_character(int chain_mass_index);
Description:

This function sets which chain mass will be connected to the chain's associated character when a chain using these settings is created or reset.

Pass -1 for no mass to be connected.

The default is chain mass 0.
Arguments:

chain_mass_index index of chain mass
Callable From:

C++
Script

function diguyChainSettings::get_index_of_chain_mass_connected_to_character

Prototype:
int get_index_of_chain_mass_connected_to_character();
Returns:

which mass to connect on reset; see set_index_of_chain_mass_connected_to_character()
Callable From:

C++
Script

function diguyChainSettings::set_simulation_dt

Prototype:
void set_simulation_dt(float simulation_dt);
Description:

This function sets the dt of the chain simulation using these settings.

Higher dt values will provide faster simulations at the risk of instabilities. Conversely, lower dt values result in more simulation computational overhead, but the simulation will be more stable.

The default is 0.002 seconds.
Arguments:

simulation_dt dt of each simulation time step, in seconds
Callable From:

C++
Script

function diguyChainSettings::get_simulation_dt

Prototype:
float get_simulation_dt();
Returns:

dt of chain simulation; see set_simulation_dt()
Callable From:

C++
Script

function diguyChainSettings::set_mass

Prototype:
void set_mass(float mass);
Description:

This function sets the mass of each chain mass of the chain simulation using these settings.

Heavier mass will result in chain masses that have more momentum when moving.

The default is 0.5 kg.
Arguments:

mass mass of each chain mass, in kg
Callable From:

C++
Script

function diguyChainSettings::get_mass

Prototype:
float get_mass();
Returns:

mass of each chain mass; see set_mass()
Callable From:

C++
Script

function diguyChainSettings::set_spring_length

Prototype:
void set_spring_length(float spring_length);
Description:

This function sets the nominal length of the springs connecting adjacent chain masses of the chain simulation using these settings.

Adjacent chain masses will try to keep this distance between them. A longer spring length will result in a longer chain.

The default is 0.2 meters
Arguments:

spring_length nominal length between adjacent chain masses, in meters
Callable From:

C++
Script

function diguyChainSettings::get_spring_length

Prototype:
float get_spring_length();
Returns:

nominal length between adjacent chain masses; see set_spring_length()
Callable From:

C++
Script

function diguyChainSettings::set_spring_k

Prototype:
void set_spring_k(float spring_k);
Description:

This function sets the spring constant of the springs connecting adjacent chain masses of the chain simulation using these settings.

A higher spring constant will result in a more rigid chain, as adjacent masses will try to maintain their nominal spring length between them, as set by set_spring_length().

A hose would have a high spring constant, while a "slinky" would have a low spring constant.

This spring constant only applies between adjacent masses.

The default is 10000.
Arguments:

spring_k spring constant of springs between adjacent masses
Callable From:

C++
Script

function diguyChainSettings::get_spring_k

Prototype:
float get_spring_k();
Returns:

spring constant of springs between adjacent masses; see set_spring_k()
Callable From:

C++
Script

function diguyChainSettings::set_spring_b

Prototype:
void set_spring_b(float spring_b);
Description:

This function sets the damping constant of the springs connecting adjacent chain masses of the chain simulation using these settings.

A higher damping constant will result in a chain that doesn't oscillate as much; movement between masses will quickly die down.

A hose would have a high damping constant, while a "slinky" would have a low damping constant.

The default is 15.

damping constant of springs between adjacent masses
Callable From:

C++
Script

function diguyChainSettings::get_spring_b

Prototype:
float get_spring_b();
Returns:

damping constant of springs between adjacent masses; see set_spring_b()
Callable From:

C++
Script

function diguyChainSettings::set_neighbor2_spring_length

Prototype:
void set_neighbor2_spring_length(float neighbor2_spring_length);
Description:

This function sets the nominal length of the springs connecting '2nd neighbor' chain masses of the chain simulation using these settings.

2nd neighbor chain masses are two masses apart instead of one. (Adjacent masses are one mass apart.)

A longer 2nd neighbor spring length will result in a chain that is stiffer and doesn't droop. A lower value will result in a chain that can droop a lot from mass to mass.

A garden hose would have a high 2nd neighbor spring length, while a metal chain made of linked chain links would have a low 2nd neighbor spring length.

The default is 0.8 meters
Arguments:

spring_length nominal length between adjacent chain masses, in meters
Callable From:

C++
Script

function diguyChainSettings::get_neighbor2_spring_length

Prototype:
float get_neighbor2_spring_length();
Returns:

nominal distance between each mass and its '2nd neighbor'; see set_neighbor2_spring_length()
Callable From:

C++
Script

function diguyChainSettings::set_neighbor2_spring_k

Prototype:
void set_neighbor2_spring_k(float neighbor2_spring_k);
Description:

This function sets the spring constant of springs connecting 2nd neighbor chain masses of the chain simulation using these settings.

See set_spring_k() for a discussion of what this value means.

The default is 600.
Arguments:

neighbor2_spring_k spring constant of springs between

2nd neighbor masses
Callable From:

C++
Script

function diguyChainSettings::get_neighbor2_spring_k

Prototype:
float get_neighbor2_spring_k();
Returns:

spring constant of springs between 2nd neighbor masses; see set_neighbor2_spring_k()
Callable From:

C++
Script

function diguyChainSettings::set_neighbor2_spring_b

Prototype:
void set_neighbor2_spring_b(float neighbor2_spring_b);
Description:

This function sets the damping constant of springs connecting 2nd neighbor chain masses of the chain simulation using these settings.

See set_spring_b() for a discussion of what this value means.

The default is 5.
Arguments:

neighbor2_spring_b damping constant of springs between

2nd neighbor masses
Callable From:

C++
Script

function diguyChainSettings::get_neighbor2_spring_b

Prototype:
float get_neighbor2_spring_b();
Returns:

damping constant of springs between 2nd neighbor masses; see set_neighbor2_spring_b()
Callable From:

C++
Script

function diguyChainSettings::set_ground_k

Prototype:
void set_ground_k(float ground_k);
Description:

This function sets the spring constant of the ground model.

A higher spring constant will result in a harder ground that bounces chain masses higher when they come in contact with the ground. Also, chain masses will not sink as far into the ground when they come to rest.

A tile floor would have a high spring constant, while a mattress would have a low spring constant.

The default is 5000.
Arguments:

ground_k spring constant of ground model
Callable From:

C++
Script

function diguyChainSettings::get_ground_k

Prototype:
float get_ground_k();
Returns:

spring constant of ground model; see set_ground_k()
Callable From:

C++
Script

function diguyChainSettings::set_ground_b

Prototype:
void set_ground_b(float ground_b);
Description:

This function sets the damping constant of the ground model.

A higher damping constant will result in a ground that absorbs impacts and doesn't bounce masses as much when they hit the ground.

A tile floor would have a low damping constant, while an exercise mat would have a high damping constant.

The default is 100.
Arguments:

ground_b vertical damping constant of ground model
Callable From:

C++
Script

function diguyChainSettings::get_ground_b

Prototype:
float get_ground_b();
Returns:

vertical damping constant of ground model; see set_ground_b()
Callable From:

C++
Script

function diguyChainSettings::set_ground_lateral_b

Prototype:
void set_ground_lateral_b(float ground_lateral_b);
Description:

This function sets how much the ground model slows down masses that are sliding on it.

A higher lateral damping constant will quickly slow down masses sliding along the ground.

Dirt or grass ground would have a high lateral damping constant. Ice would have a very low damping constant.

The default is 0.5.
Arguments:

ground_lateral_b lateral damping constant of ground model
Callable From:

C++
Script

function diguyChainSettings::get_ground_lateral_b

Prototype:
float get_ground_lateral_b();
Returns:

lateral damping constant of ground model; see set_ground_lateral_b()
Callable From:

C++
Script

function diguyChainSettings::set_ground_stiction_engage_vel

Prototype:
void set_ground_stiction_engage_vel(float ground_stiction_engage_vel);
Description:

This function sets how slow a mass in contact with the ground must go in order for the mass to stop moving and "stick" to the ground. This is a simple form of "stiction".

A mass will unstick if the force being applied to it exceeds the stiction release force as set by set_ground_stiction_release_force().

The default is 0.05 m/s.
Arguments:

ground_stiction_engage_vel velocity at stiction will engage
Callable From:

C++
Script

function diguyChainSettings::get_ground_stiction_engage_vel

Prototype:
float get_ground_stiction_engage_vel();
Returns:

velocity at stiction will engage; see set_ground_stiction_engage_vel()
Callable From:

C++
Script

function diguyChainSettings::set_ground_stiction_release_force

Prototype:
void set_ground_stiction_release_force(float ground_stiction_release_force);
Description:

This function sets how much force is required to cause a mass that has stuck to the ground because of stiction to be released.

The default is 10 newtons.
Arguments:

ground_stiction_release_force force at which masses will release from stiction
Callable From:

C++
Script

function diguyChainSettings::get_ground_stiction_release_force

Prototype:
float get_ground_stiction_release_force();
Returns:

force at which masses will release from stiction; see set_ground_stiction_release_force()
Callable From:

C++
Script

function diguyChainSettings::set_ground_height

Prototype:
void set_ground_height(float ground_height);
Description:

This function sets the height of the ground model. Chain masses below this height will be repelled upward based on their mass and the ground spring and damping constants.

Currently the ground is a level plane.

The default is 0 meters.
Arguments:

ground_height height of the ground model, in meters
Callable From:

C++
Script

function diguyChainSettings::get_ground_height

Prototype:
float get_ground_height();
Returns:

height of the ground model; see set_ground_height()
Callable From:

C++
Script

function diguyChainSettings::set_air_b

Prototype:
void set_air_b(float air_b);
Description:

This function sets the damping constant caused by air resistance.

A higher air damping constant will result in chains that don't swing as much. A low air damping constant will result in chains that swing freely for a long time.

Water would have a very high "air" damping constant. A clock pendulum would have a very low air damping constant.

The default is 0.1.
Arguments:

air_b damping constant of air, or air resistance
Callable From:

C++
Script

function diguyChainSettings::get_air_b

Prototype:
float get_air_b();
Returns:

damping constant of air; see set_air_b()
Callable From:

C++
Script

function diguyChainSettings::set_gravity

Prototype:
void set_gravity(float x, float y, float z);
Description:

This function sets how strongly link masses will be accelerated in the gravity direction, typically downward.

The default is (0, 0, -9.8), in meters per second squared.
Arguments:

x, y, z accelerations due to gravity
Callable From:

C++
Script

function diguyChainSettings::get_gravity

Prototype:
void get_gravity(float* x, float* y, float* z);
Returns:

x, y, and z components of gravity; see set_gravity()
Callable From:

C++
Script

Chain Visual Functions

function diguyChainSettings::set_radius

Prototype:
void set_radius(float radius);
Description:

This function sets the radius of the chain visual.

The default is 0.05 meters.
Arguments:

radius radius of chain visual, in meters
Callable From:

C++
Script

function diguyChainSettings::get_radius

Prototype:
float get_radius();
Returns:

radius of chain visual; see set_radius()
Callable From:

C++
Script

function diguyChainSettings::set_ambient_color

Prototype:
void set_ambient_color(float r, float g, float b, float a);
Description:

This function sets the ambient color of the chain visual. Passed values should be between 0 and 1.

The default values are (0.4, 0.4, 0.4, 1).
Arguments:

r red component
g blue component
b green component
a alpha component
Callable From:

C++
Script

function diguyChainSettings::get_ambient_color

Prototype:
void get_ambient_color(float* r, float* g, float* b, float* a);
Description:

This function gets the ambient color of the chain visual. Values are returned via the passed pointers.
Arguments:

r red component
g blue component
b green component
a alpha component
Callable From:

C++
Script

function diguyChainSettings::set_diffuse_color

Prototype:
void set_diffuse_color(float r, float g, float b, float a);
Description:

This function sets the diffuse color of the chain visual. Passed values should be between 0 and 1.

The default values are (1, 1, 1, 1).
Arguments:

r red component
g blue component
b green component
a alpha component
Callable From:

C++
Script

function diguyChainSettings::get_diffuse_color

Prototype:
void get_diffuse_color(float* r, float* g, float* b, float* a);
Description:

This function gets the diffuse color of the chain visual. Values are returned via the passed pointers.
Arguments:

r red component
g blue component
b green component
a alpha component
Callable From:

C++
Script

function diguyChainSettings::set_specular_color

Prototype:
void set_specular_color(float r, float g, float b, float a);
Description:

This function sets the specular color of the chain visual. Passed values should be between 0 and 1.

The default values are (1, 1, 1, 1).
Arguments:

r red component
g blue component
b green component
a alpha component
Callable From:

C++
Script

function diguyChainSettings::get_specular_color

Prototype:
void get_specular_color(float* r, float* g, float* b, float* a);
Description:

This function gets the specular color of the chain visual. Values are returned via the passed pointers.
Arguments:

r red component
g blue component
b green component
a alpha component
Callable From:

C++
Script

function diguyChainSettings::set_shininess

Prototype:
void set_shininess(float shininess);
Description:

This function sets the shininess of the chain visual.

The default is 20.
Arguments:

shininess the shininess of the chain visual
Callable From:

C++
Script

function diguyChainSettings::get_shininess

Prototype:
float get_shininess();
Returns:

the shininess of the chain visual; see set_shininess()
Callable From:

C++
Script

function diguyChainSettings::set_texture_filename

Prototype:
void set_texture_filename(const char* texture_filename);
Description:

This function sets the filename of the texture that will be used for the chain visual.

Common textures are:

"chain_link.rgba"
"firefighter_hose2.rgb"

The default is "" (no texture).
Arguments:

texture_filename filename of texture of chain visual
Callable From:

C++
Script

function diguyChainSettings::get_texture_filename

Prototype:
const char* get_texture_filename();
Returns:

filename of texture of chain visual; see set_texture_filename()
Callable From:

C++
Script

function diguyChainSettings::set_num_texture_repetitions

Prototype:
void set_num_texture_repetitions(int num_texture_repetitions);
Description:

This function sets how many times the texture will be repeated along the length of the chain.

The default is 1 rep.
Arguments:

num_texture_repetitions how many times texture will be repeated on chain visual
Callable From:

C++
Script

function diguyChainSettings::get_num_texture_repetitions

Prototype:
int get_num_texture_repetitions();
Returns:

how many times texture will be repeated on chain visual; see set_num_texture_repetitions()
Callable From:

C++
Script

function diguyChainSettings::set_cross_section

Prototype:
void set_cross_section(diguyChainCrossSection cs);
Description:

This function sets what the "cross section" of the chain visual will be.

See the documentation for diguyChainCrossSection for information on what the different cross sections mean.

The default is DIGUY_CHAIN_CROSS_SECTION_SQUARE.
Arguments:

cs cross section of the chain visual
Callable From:

C++
Script

function diguyChainSettings::get_cross_section

Prototype:
diguyChainCrossSection get_cross_section();
Returns:

cross section type of chain visual; see set_cross_section()
Callable From:

C++
Script

function diguyChainSettings::set_appearance_begin_cap

Prototype:
void set_appearance_begin_cap(const char* appearance_begin_cap);
Description:

Set the shape that will be attached to the beginning end of the chain. Options are:

"chain_cap_firehose_nozzle"
"chain_cap_fuel_hose_nozzle"
"chain_cap_taser_probe"
"chain_cap_chain_hook"

The default is "" (no begin cap).
Arguments:

appearance_begin_cap name of begin cap
Callable From:

C++
Script

function diguyChainSettings::get_appearance_begin_cap

Prototype:
const char* get_appearance_begin_cap();
Returns:

name of cap appearance at beginning of chain; see set_appearance_begin_cap()
Callable From:

C++
Script

function diguyChainSettings::set_appearance_end_cap

Prototype:
void set_appearance_end_cap(const char* appearance_end_cap);
Description:

Sets the shape that will be attached to the end of the chain. See set_appearance_begin_cap().

The default is "" (no end cap).
Arguments:

appearance_end_cap name of end cap
Callable From:

C++
Script

function diguyChainSettings::get_appearance_end_cap

Prototype:
const char* get_appearance_end_cap();
Returns:

name of cap appearance at end of chain; see set_appearance_end_cap()
Callable From:

C++
Script

Coil-Specific Functions

function diguyChainSettings::set_num_coils

Prototype:
void set_num_coils(int num_coils);
Description:

For chains with the DIGUY_CHAIN_CROSS_SECTION_COIL cross section, sets the number of coil windings of the chain.

The default is 4 coils.
Arguments:

num_coils number of coil windings
Callable From:

C++
Script

function diguyChainSettings::get_num_coils

Prototype:
int get_num_coils();
Returns:

number of coils for chain visual of type DIGUY_CHAIN_CROSS_SECTION_COIL; see set_num_coils()
Callable From:

C++
Script

function diguyChainSettings::set_coil_thickness

Prototype:
void set_coil_thickness(float coil_thickness);
Description:

Sets how thick the coil will be.

The default is 0.02 meters.
Arguments:

coil_thickness thickness of coil
Callable From:

C++
Script

function diguyChainSettings::get_coil_thickness

Prototype:
float get_coil_thickness();
Returns:

thickness of coils for chain visual of type DIGUY_CHAIN_CROSS_SECTION_COIL; see set_coil_thickness()
Callable From:

C++
Script

function diguyChainSettings::set_coil_taper_begin_mass_count

Prototype:
void set_coil_taper_begin_mass_count(int coil_taper_begin_mass_count);
Description:

Sets at which mass in the coil the thickness of the coil will reach its full radius.

The default is 6.
Arguments:

coil_taper_begin_mass_count chain mass at which to begin taper
Callable From:

C++
Script

function diguyChainSettings::get_coil_taper_begin_mass_count

Prototype:
int get_coil_taper_begin_mass_count();
Returns:

mass at which the coil will reach its full radius at the beginning of chain; see set_coil_taper_begin_mass_count()
Callable From:

C++
Script

function diguyChainSettings::set_coil_taper_end_mass_count

Prototype:
void set_coil_taper_end_mass_count(int coil_taper_end_mass_count);
Description:

Similar to set_coil_taper_begin_mass_count(), but for the end of the chain.

The default is 0.
Arguments:

coil_taper_end_mass_count chain mass at which to end taper
Callable From:

C++
Script

function diguyChainSettings::get_coil_taper_end_mass_count

Prototype:
int get_coil_taper_end_mass_count();
Returns:

mass at which the coil will reach its full radius at end of chain; see set_coil_taper_end_mass_count()
Callable From:

C++
Script

Alphabetical Index

These coded instructions, statements, and computer programs contain unpublished proprietary information of Boston Dynamics and are protected by Copyright Laws of the United States. They may not be used, duplicated, or disclosed in any form, in whole or in part, without the prior written consent from Boston Dynamics.

RESTRICTED RIGHTS LEGEND

Use, duplication, or disclosure by the government is subject to restrictions as set forth in FAR 52.227.19(c)(2) or subparagraph (c)(1)(ii) of the Rights in Technical Data and Computer Sofware clause at DFARS 252.227-7013 and/or in similar or successor clauses in the FAR, or the DOD or NASA FAR Supplement, or to subparagraphs (c)(1) and (c)(2) of the Commercial Computer Software--Restricted Rights at 48 CFR 52.227-19, as applicable. Unpublished-rights reserved under the Copyright Laws of the United States.

Contractor/Manufacturer is:

Boston Dynamics/78 Fourth Avenue/Waltham MA 02451.

`r`	red component
`g`	blue component
`b`	green component
`a`	alpha component