DtVreLadderClimbingActuator handles the movement of human entities when they are climbing ladders. It manages the entity's position, velocity, and orientation during ladder climbing, ensuring smooth transitions between regular movement and ladder climbing states. The actuator receives movement direction input from control components and updates the entity's state accordingly.
#include <vreLadderClimbingActuator.h>
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| static DtSimComponent * | creator (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0) |
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◆ DtVreLadderClimbingActuator()
| makVre::DtVreLadderClimbingActuator::DtVreLadderClimbingActuator |
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const DtString & | name, |
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DtLocalObject * | owner, |
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DtSimulationServices * | simManager, |
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DtComponentDescriptor * | desc = 0, |
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DtReaderWriterRegistry * | parentRegistry = 0 ) |
Constructor.
- Parameters
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| name | The name of this component |
| owner | The local object that owns this component |
| simManager | The simulation services manager |
| desc | Component descriptor with configuration parameters |
| parentRegistry | Optional parent registry for reader/writer functionality |
Creates a new ladder climbing actuator component with the specified parameters.
◆ ~DtVreLadderClimbingActuator()
| virtual makVre::DtVreLadderClimbingActuator::~DtVreLadderClimbingActuator |
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Virtual destructor.
Cleans up resources used by the ladder climbing actuator component, including process state and port groups.
◆ type()
| virtual const char * makVre::DtVreLadderClimbingActuator::type |
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const |
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Gets the type identifier for this component.
- Returns
- String identifying the component type (DtVreLadderClimbingActuatorType)
Implements the DtSimComponent::type() method to return the type identifier for this component.
◆ init()
| virtual bool makVre::DtVreLadderClimbingActuator::init |
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Initializes the ladder climbing actuator.
- Returns
- True if initialization is successful, false otherwise
Performs initial setup of the ladder climbing actuator, including creating the process state repository (PSR) for maintaining climb state. This method is called during component initialization.
◆ tick()
| virtual void makVre::DtVreLadderClimbingActuator::tick |
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Updates the actuator state each simulation frame.
If the entity is in a ladder-climbing state (according to the PSR), computes the movement of the entity on the ladder for this tick and updates the state in myUpdateRepositoryOutputPortGroup. This includes calculating new position, velocity, and orientation values based on the input control direction and ladder geometry.
◆ createPorts()
| virtual bool makVre::DtVreLadderClimbingActuator::createPorts |
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Creates input and output ports for the actuator.
- Returns
- True if ports are successfully created, false otherwise
Creates the movement control input ports needed for ladder climbing, as well as the update repository output port group for updating the entity's state. These ports allow the actuator to receive movement direction and output position updates.
◆ createPortGroups()
| virtual bool makVre::DtVreLadderClimbingActuator::createPortGroups |
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Creates input and output port groups for the actuator.
- Returns
- True if port groups are successfully created, false otherwise
Creates the movement control input port group and the update repository output port group. These port groups organize the input and output ports for proper routing between components.
◆ creator()
| static DtSimComponent * makVre::DtVreLadderClimbingActuator::creator |
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const DtString & | name, |
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DtLocalObject * | owner, |
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DtSimulationServices * | simManager, |
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DtComponentDescriptor * | desc = 0, |
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DtReaderWriterRegistry * | parentRegistry = 0 ) |
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static |
Factory method to create a new instance of this component.
- Parameters
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| name | The name for the new component |
| owner | The local object that will own this component |
| simManager | The simulation services manager |
| desc | Optional component descriptor |
| parentRegistry | Optional parent registry for reader/writer functionality |
- Returns
- Pointer to the newly created component
Static factory method used by the component creation system to instantiate new instances of this component type.
◆ createPSR()
Creates the process state repository for the actuator.
- Returns
- Pointer to the created process state repository
Creates the myProcessState data member and adds it to the process state repository manager. Uses the name and type specified in the component descriptor (if they exist) or appropriate defaults if not specified. This PSR stores the ladder climbing state including which ladder the entity is on and position information.
◆ defaultPSRType()
| const char * makVre::DtVreLadderClimbingActuator::defaultPSRType |
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const |
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Gets the default process state repository type.
- Returns
- String identifying the default PSR type
Returns the default process state repository type for ladder climbing, which is used when no type is specified in the component descriptor.
◆ ladderClimbingSpeed()
| virtual double makVre::DtVreLadderClimbingActuator::ladderClimbingSpeed |
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Gets the ladder climbing speed for this entity.
- Returns
- Climbing speed in meters per second
Returns the ladder climbing speed for this entity in meters per second. The speed is based on the value from the descriptor if one exists (i.e., if a descriptor of type DtClimbingLadderActuatorDescriptor has been configured). If no descriptor is available or the speed is not specified, a default value of 0.4 m/s is returned.
◆ calculateAndUpdateNewState()
| virtual void makVre::DtVreLadderClimbingActuator::calculateAndUpdateNewState |
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Calculates and updates entity state during ladder climbing.
If the entity is on a ladder, calculates the new position, velocity, orientation, and other state values for the current simulation frame, then sets these values on the output ports. This method handles the actual movement calculations based on input direction and ladder geometry.
◆ clampToLadderExtent()
| virtual void makVre::DtVreLadderClimbingActuator::clampToLadderExtent |
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const DtLadder & | ladder, |
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DtVector & | bodyLadderBaseToEntity ) |
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Constrains entity position to the ladder extent.
- Parameters
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| ladder | Reference to the ladder object |
| bodyLadderBaseToEntity | Vector from ladder base to entity in body coordinates |
Given a vector in body coordinates, clamps it to fall somewhere along the length of the ladder. This ensures that the entity's x component (in body coordinates) remains between the base and top of the ladder, preventing the entity from climbing beyond the ladder's endpoints.
◆ myProcessState
Process state repository for ladder climbing state.
Holds state information associated with ladder climbing, including which ladder the entity is currently on, position relative to the ladder, and climbing state. This state persists across simulation ticks and can be saved and restored with scenarios.
◆ myLadderClimbingMovementDirectionInputPort
| DtAnalogInputPort* makVre::DtVreLadderClimbingActuator::myLadderClimbingMovementDirectionInputPort |
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Input port for ladder climbing movement direction.
Receives the desired climbing direction in radians (range: 0 - 2*pi). This direction controls whether the entity climbs up, down, or remains stationary on the ladder. Parent group: movement-control
◆ myUpdateRepositoryOutputPortGroup
| DtUpdateRepositoryOutputPortGroup* makVre::DtVreLadderClimbingActuator::myUpdateRepositoryOutputPortGroup |
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Output port group for updating entity state.
Port group used to set values into the VRF state repository during ladder climbing. This includes position, velocity, orientation, and other state values in local coordinates, which are applied to the entity during simulation.
The documentation for this class was generated from the following file:
Public Member Functions inherited from makVre::DtVreSimComponent< DtActuatorComponent >