Implementation of a buoyancy model using RK4 integration. More...

Inheritance diagram for makVrv::DtRk4MotionModel:

Classes
struct	Acceleration
	Second derivative of the simulation's motion state. More...
struct	AppliedForce
struct	BuoyancySample
	Defines a buoyancy sample point. More...
struct	Derivative
	First and second derivatives of the simulation's motion state. More...
struct	State
	Motion state of the simulation. More...

Public Types
typedef std::vector < BuoyancySample * >	BuoyancySampleVec

Public Member Functions
	DtRk4MotionModel (makVrv::DtDe &de)
	CTOR.
virtual	~DtRk4MotionModel ()
	DTOR.
void	tick (double dt)
	Tick the physics simulation.
DtVector	velocity () const
	Get the object's linear velocity in world coordinates.
DtVector	position () const
	Get the object's position in world coordinates.
DtTaitBryan	orientation () const
	Get the object's orientation in world coordinates.
void	setPosition (const DtVector &position)
	Set the object's position in world coordinates.
void	setOrientation (const DtTaitBryan &orientation)
	Set the object's orientation in world coordinates.
void	setTargetOrientation (const DtTaitBryan &orientation)
	Set the resting orientation of the object in world coordinates.
void	setSpeed (double speed)
	Set the forward speed of the object.
void	sink ()
	Start simulated sinking.
void	unsink ()
	Restore the object to the water surface.
bool	isSinking ()
	Returns whether the model is currently sinking.
void	setSinkingSpeedScale (double scale)
	Allow the user to vary the speed at which ships sink.
double	sinkingSpeedScale () const
	Get the current sinking speed scale.
void	setRotationalInertia (double pitchInertia, double rollInertia)
	Set roll and pitch inertia coefficients in entity local coordinates.
void	applyForce (const DtVector &offset, const DtVector &force)
	apply a force at offset (in entity coordinatess) for the next frame
void	applyHeadingTorque (double magnitude)
	Apply a torque around the up vector for the next frame.
void	applyRollTorque (double magnitude)
	Apply a torque around the forward vector for the next frame.
void	addBuoyancySample (BuoyancySample *bs)
	Add a buoyancy sample point to the simulated object.
BuoyancySampleVec &	buoyancySamples ()
	Get a list of the sample points.
void	setOrigin (const DtVector &pos)
	Set an origin point in world coordinates for the simulation to use for its topo coordinate system.
DtVector	origin () const
	Get the origin of the simulation's topo system in world coordinates.
void	moveOrigin (const DtVector &pos)
	Move the origin of the simulation's topo system to a new origin, in world coordinates.

Static Public Attributes
static const double	theTimeStep
	time step for the motion model in seconds (currently 1/60 of a second)
static const double	theGeocentricWaterLineNudge
	adjustment for geocentric terrains for all buoyant objects.

Private Member Functions
DtVector	worldPos (const DtVector &bodyOffset) const
	Convert local position offset into world position.
DtTaitBryan	worldOri (const DtTaitBryan &bodyOffset) const
	Convert local pitch/roll offset into world orientation.
DtVector	localPos (const DtVector &pos) const
	Convert world position offset into local position.
DtTaitBryan	localOri (const DtTaitBryan &ori) const
	Convert world orientation into local hrp.
virtual void	slot_coordinateSystemChanged ()
	Update the cached coordinate converter.
Derivative	evaluate (const State &initial, double dt, const Derivative &d)
	Compute the derivatives from the passed in motion state and initial derivatives, over time step dt.
Acceleration	acceleration (const State &initial, double dt)
	Compute the second derivatives for the passed in motion state over time step dt.

Friends
struct	BuoyancySample

Additional Inherited Members
Protected Member Functions inherited from makVrv::DtSignalConnectionManager
	DtSignalConnectionManager ()
	CTOR.
virtual	~DtSignalConnectionManager ()
	DTOR.
void	manageConnection (const boost::signalslib::connection &conn)
	Connect a signal.
DtSignalConnectionManager &	operator+= (const boost::signalslib::connection &conn)
	Connect a signal.
int	numberOfConnections () const
	Get the number of connections.
void	disconnectSignals ()
	Disconnect all signals.
bool	blockConnections (bool blocked)
	Blocks/unblocks connections.
bool	blockConnection (int index, bool blocked)
	Blocks/unblocks connections.
bool	connectionsBlocked () const
	check whether connections are blocked.
bool	connectionBlocked (int index) const
	check whether connections are blocked.

Detailed Description

Implementation of a buoyancy model using RK4 integration.

Basic usage is to attach buoyancy floats, set position/orientation, and tick every frame.

Member Typedef Documentation

typedef std::vector<BuoyancySample*> makVrv::DtRk4MotionModel::BuoyancySampleVec

Constructor & Destructor Documentation

makVrv::DtRk4MotionModel::DtRk4MotionModel ( makVrv::DtDe & de )

CTOR.

virtual makVrv::DtRk4MotionModel::~DtRk4MotionModel ( )

virtual

DTOR.

Member Function Documentation

void makVrv::DtRk4MotionModel::tick ( double dt )

Tick the physics simulation.

Internally this runs multiple fixed time steps until the full dt has been ticked through.

DtVector makVrv::DtRk4MotionModel::velocity ( ) const

Get the object's linear velocity in world coordinates.

DtVector makVrv::DtRk4MotionModel::position ( ) const

Get the object's position in world coordinates.

DtTaitBryan makVrv::DtRk4MotionModel::orientation ( ) const

Get the object's orientation in world coordinates.

void makVrv::DtRk4MotionModel::setPosition ( const DtVector & position )

Set the object's position in world coordinates.

void makVrv::DtRk4MotionModel::setOrientation ( const DtTaitBryan & orientation )

Set the object's orientation in world coordinates.

void makVrv::DtRk4MotionModel::setTargetOrientation ( const DtTaitBryan & orientation )

Set the resting orientation of the object in world coordinates.

void makVrv::DtRk4MotionModel::setSpeed ( double speed )

Set the forward speed of the object.

This overwrites the current velocity

void makVrv::DtRk4MotionModel::sink ( )

Start simulated sinking.

void makVrv::DtRk4MotionModel::unsink ( )

Restore the object to the water surface.

bool makVrv::DtRk4MotionModel::isSinking ( )

Returns whether the model is currently sinking.

void makVrv::DtRk4MotionModel::setSinkingSpeedScale ( double scale )

Allow the user to vary the speed at which ships sink.

double makVrv::DtRk4MotionModel::sinkingSpeedScale ( ) const

Get the current sinking speed scale.

void makVrv::DtRk4MotionModel::setRotationalInertia	(	double	pitchInertia,
		double	rollInertia
	)

Set roll and pitch inertia coefficients in entity local coordinates.

void makVrv::DtRk4MotionModel::applyForce	(	const DtVector &	offset,
		const DtVector &	force
	)

apply a force at offset (in entity coordinatess) for the next frame

void makVrv::DtRk4MotionModel::applyHeadingTorque ( double magnitude )

Apply a torque around the up vector for the next frame.

void makVrv::DtRk4MotionModel::applyRollTorque ( double magnitude )

Apply a torque around the forward vector for the next frame.

void makVrv::DtRk4MotionModel::addBuoyancySample ( BuoyancySample * bs )

Add a buoyancy sample point to the simulated object.

BuoyancySampleVec& makVrv::DtRk4MotionModel::buoyancySamples ( )

Get a list of the sample points.

void makVrv::DtRk4MotionModel::setOrigin ( const DtVector & pos )

Set an origin point in world coordinates for the simulation to use for its topo coordinate system.

Use this only for initialization; to move the origin of a running simulation, use moveOrigin instead.

DtVector makVrv::DtRk4MotionModel::origin ( ) const

Get the origin of the simulation's topo system in world coordinates.

void makVrv::DtRk4MotionModel::moveOrigin ( const DtVector & pos )

Move the origin of the simulation's topo system to a new origin, in world coordinates.

DtVector makVrv::DtRk4MotionModel::worldPos ( const DtVector & bodyOffset ) const

private

Convert local position offset into world position.

DtTaitBryan makVrv::DtRk4MotionModel::worldOri ( const DtTaitBryan & bodyOffset ) const

private

Convert local pitch/roll offset into world orientation.

DtVector makVrv::DtRk4MotionModel::localPos ( const DtVector & pos ) const

private

Convert world position offset into local position.

DtTaitBryan makVrv::DtRk4MotionModel::localOri ( const DtTaitBryan & ori ) const

private

Convert world orientation into local hrp.

virtual void makVrv::DtRk4MotionModel::slot_coordinateSystemChanged ( )

privatevirtual

Update the cached coordinate converter.

Derivative makVrv::DtRk4MotionModel::evaluate	(	const State &	initial,
		double	dt,
		const Derivative &	d
	)

private

Compute the derivatives from the passed in motion state and initial derivatives, over time step dt.

Acceleration makVrv::DtRk4MotionModel::acceleration	(	const State &	initial,
		double	dt
	)

private

Compute the second derivatives for the passed in motion state over time step dt.

Friends And Related Function Documentation

friend struct BuoyancySample

friend

Member Data Documentation

const double makVrv::DtRk4MotionModel::theTimeStep

static

time step for the motion model in seconds (currently 1/60 of a second)

const double makVrv::DtRk4MotionModel::theGeocentricWaterLineNudge

static

adjustment for geocentric terrains for all buoyant objects.

DtCoordinateConverter* makVrv::DtRk4MotionModel::myCoordinateConverter

private

AppliedForce makVrv::DtRk4MotionModel::myAppliedForce

private

Dt3DLineModelInstanceSegment* makVrv::DtRk4MotionModel::myDebugLine[8]

private

State makVrv::DtRk4MotionModel::myState

private

bool makVrv::DtRk4MotionModel::mySinking

private

double makVrv::DtRk4MotionModel::myHeadingTorque

private

double makVrv::DtRk4MotionModel::myRollTorque

private

double makVrv::DtRk4MotionModel::myPitchTorque

private

double makVrv::DtRk4MotionModel::myForwardSpeed

private

double makVrv::DtRk4MotionModel::mySinkingDensity

private

bool makVrv::DtRk4MotionModel::mySinkingFloat[6]

private

double makVrv::DtRk4MotionModel::mySinkingSpeedScale

private

double makVrv::DtRk4MotionModel::myRollInertia

private

double makVrv::DtRk4MotionModel::myPitchInertia

private

DtVector makVrv::DtRk4MotionModel::myOriginPos

private

DtDe& makVrv::DtRk4MotionModel::myDe

private

BuoyancySampleVec makVrv::DtRk4MotionModel::myBuoyancySamples

private

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

/exports/nfedora7-1/nightly/docs/vrforcesDevelopment.tot/include/vrvTriton/DtRk4MotionModel.h

Private Attributes
DtCoordinateConverter *	myCoordinateConverter
AppliedForce	myAppliedForce
Dt3DLineModelInstanceSegment *	myDebugLine [8]
State	myState
bool	mySinking
double	myHeadingTorque
double	myRollTorque
double	myPitchTorque
double	myForwardSpeed
double	mySinkingDensity
bool	mySinkingFloat [6]
double	mySinkingSpeedScale
double	myRollInertia
double	myPitchInertia
DtVector	myOriginPos
DtDe &	myDe
BuoyancySampleVec	myBuoyancySamples

Classes

Public Types

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation