VR-Engage  2.2
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Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
DtVortexDynamicsPart Class Reference

Detailed Description

Used for parts that rely on the Vortex dynamics extension, such as wheels and tracks.

#include <vortexPart.h>

Inheritance diagram for DtVortexDynamicsPart:
[legend]

Public Member Functions

 DtVortexDynamicsPart (Vx::VxWeakPtr< VxSim::VxExtension > dynamicsExt, makVre::DtVortexSimArtPartDescriptor *desc, DtVortexBasePart *parent)
 
virtual ~DtVortexDynamicsPart () override
 
virtual bool init () override
 
virtual void update () override
 
virtual Vx::VxTransform transform () const override
 
virtual Vx::VxTransform worldTransform () const override
 
double wheelRadius ()
 
virtual void resetInitialPartPositions () override
 
virtual void reset () override
 
- Public Member Functions inherited from DtVortexBasePart
 DtVortexBasePart (makVre::DtVortexSimArtPartDescriptor *desc, DtVortexBasePart *parent)
 
virtual ~DtVortexBasePart ()
 
virtual const std::vector< int > & paramIds () const
 
virtual DtVortexBasePart & parent () const
 
virtual bool hasMotion (DtPartMotion motion) const
 
virtual int partId () const
 
virtual int parentId () const
 
virtual DtVector position () const
 
virtual DtVector velocity () const
 
virtual DtVector acceleration () const
 
virtual DtTaitBryan orientation () const
 
virtual DtVector angularVelocity () const
 
virtual const std::string & name () const
 

Protected Member Functions

virtual bool initializeCarWheel ()
 
virtual bool initializeTrackSprocket ()
 
virtual bool initializeTrackIdler ()
 
virtual bool initializeTrackWheel ()
 

Protected Attributes

double myDynamicWheelRadius
 
Vx::VxTransform myDOFTransform
 
Vx::VxWeakPtr< VxSim::VxExtension > myDynamicsExt
 
VxData::FieldBase * myDynamicsTransform
 
VxData::FieldBase * myDynamicsContactMaterial
 
- Protected Attributes inherited from DtVortexBasePart
std::string myName
 
DtVortexBasePart * myParent
 
makVre::DtVortexSimArtPartDescriptor * myDescriptor
 
int myParentId
 
int myPartId
 
int myMotion
 
std::vector< int > myParamterIds
 
DtVector myPosition
 
DtVector myVelocity
 
DtVector myAcceleration
 
DtTaitBryan myOrientation
 
DtVector myAngularVelocity
 

Additional Inherited Members

- Public Types inherited from DtVortexBasePart
enum  DtPartMotion {
  X = 0x01 , Y = 0x02 , Z = 0x04 , TRANSLATION = X | Y | Z ,
  AZIMUTH = 0x10 , ELEVATION = 0x20 , ROTATION = 0x40 , ORIENTATION = AZIMUTH | ELEVATION | ROTATION
}
 

Constructor & Destructor Documentation

◆ DtVortexDynamicsPart()

DtVortexDynamicsPart::DtVortexDynamicsPart ( Vx::VxWeakPtr< VxSim::VxExtension > dynamicsExt,
makVre::DtVortexSimArtPartDescriptor * desc,
DtVortexBasePart * parent )

Constructor.

Parameters
dynamicsExtThe Vortex dynamics extension
descPart descriptor
parentPointer to the parent part

References DtVortexBasePart::DtVortexBasePart(), and DtVortexBasePart::parent().

◆ ~DtVortexDynamicsPart()

virtual DtVortexDynamicsPart::~DtVortexDynamicsPart ( )
overridevirtual

Destructor.

Member Function Documentation

◆ init()

virtual bool DtVortexDynamicsPart::init ( )
overridevirtual

Initializes the part.

Returns
True if initialization succeeded, false otherwise

Implements DtVortexBasePart.

◆ update()

virtual void DtVortexDynamicsPart::update ( )
overridevirtual

Updates the part state from Vortex.

Implements DtVortexBasePart.

◆ transform()

virtual Vx::VxTransform DtVortexDynamicsPart::transform ( ) const
overridevirtual

Gets the local transform.

Returns
Local transform in Vortex coordinates

Implements DtVortexBasePart.

◆ worldTransform()

virtual Vx::VxTransform DtVortexDynamicsPart::worldTransform ( ) const
overridevirtual

Gets the world transform.

Returns
World transform in Vortex coordinates

Implements DtVortexBasePart.

◆ wheelRadius()

double DtVortexDynamicsPart::wheelRadius ( )

Gets the wheel radius.

Returns
Wheel radius in meters

◆ resetInitialPartPositions()

virtual void DtVortexDynamicsPart::resetInitialPartPositions ( )
overridevirtual

Resets the initial part positions.

Reimplemented from DtVortexBasePart.

◆ reset()

virtual void DtVortexDynamicsPart::reset ( )
overridevirtual

Resets the part to its initial state.

See DtVortexBasePart::reset()

Reimplemented from DtVortexBasePart.

◆ initializeCarWheel()

virtual bool DtVortexDynamicsPart::initializeCarWheel ( )
protectedvirtual

Initializes a car wheel.

Returns
True if initialization succeeded, false otherwise

◆ initializeTrackSprocket()

virtual bool DtVortexDynamicsPart::initializeTrackSprocket ( )
protectedvirtual

Initializes a track sprocket.

Returns
True if initialization succeeded, false otherwise

◆ initializeTrackIdler()

virtual bool DtVortexDynamicsPart::initializeTrackIdler ( )
protectedvirtual

Initializes a track idler.

Returns
True if initialization succeeded, false otherwise

◆ initializeTrackWheel()

virtual bool DtVortexDynamicsPart::initializeTrackWheel ( )
protectedvirtual

Initializes a track wheel.

Returns
True if initialization succeeded, false otherwise

Member Data Documentation

◆ myDynamicWheelRadius

double DtVortexDynamicsPart::myDynamicWheelRadius
protected

Wheel radius for dynamics calculations.

◆ myDOFTransform

Vx::VxTransform DtVortexDynamicsPart::myDOFTransform
protected

Degree of freedom transform.

◆ myDynamicsExt

Vx::VxWeakPtr<VxSim::VxExtension> DtVortexDynamicsPart::myDynamicsExt
protected

The dynamics extension.

◆ myDynamicsTransform

VxData::FieldBase* DtVortexDynamicsPart::myDynamicsTransform
protected

The dynamics transform field.

◆ myDynamicsContactMaterial

VxData::FieldBase* DtVortexDynamicsPart::myDynamicsContactMaterial
protected

The dynamics contact material field.

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