makVrv::DtRk4MotionModel Class Reference

Implementation of a buoyancy model using RK4 integration.

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

Inheritance diagram for makVrv::DtRk4MotionModel:

Classes
struct	Acceleration
struct	AppliedForce
struct	BuoyancySample
struct	Derivative
struct	State

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

Public Member Functions
	DtRk4MotionModel (makVrv::DtDe &de)
virtual	~DtRk4MotionModel ()
void	tick (double dt)
DtVector	velocity () const
DtVector	position () const
DtTaitBryan	orientation () const
void	setPosition (const DtVector &position)
void	setOrientation (const DtTaitBryan &orientation)
void	setTargetOrientation (const DtTaitBryan &orientation)
void	setSpeed (double speed)
void	sink ()
void	unsink ()
bool	isSinking ()
void	setSinkingSpeedScale (double scale)
double	sinkingSpeedScale () const
void	setRotationalInertia (double pitchInertia, double rollInertia)
void	applyForce (const DtVector &offset, const DtVector &force)
void	applyHeadingTorque (double magnitude)
void	applyRollTorque (double magnitude)
void	addBuoyancySample (BuoyancySample *bs)
BuoyancySampleVec &	buoyancySamples ()
void	setOrigin (const DtVector &pos)
DtVector	origin () const
void	moveOrigin (const DtVector &pos)

Static Public Attributes
static const double	theTimeStep

Private Member Functions
DtVector	worldPos (const DtVector &bodyOffset) const
DtTaitBryan	worldOri (const DtTaitBryan &bodyOffset) const
DtVector	localPos (const DtVector &pos) const
DtTaitBryan	localOri (const DtTaitBryan &ori) const
virtual void	slot_coordinateSystemChanged ()
Derivative	evaluate (const State &initial, double dt, const Derivative &d)
Acceleration	acceleration (const State &initial, double dt)

Private Attributes
DtCoordinateConverter *	myCoordinateConverter
AppliedForce	myAppliedForce
State	myState
bool	mySinking
double	myHeadingTorque
double	myRollTorque
double	myPitchTorque
double	myForwardSpeed
double	mySinkingDensity
double	mySinkingSpeedScale
double	myRollInertia
double	myPitchInertia
DtVector	myOriginPos
DtDe &	myDe
BuoyancySampleVec	myBuoyancySamples

Friends
struct	BuoyancySample

Additional Inherited Members
Protected Types inherited from makVrv::DtSignalConnectionManager
typedef std::vector < boost::signalslib::connection >	Connections
Protected Member Functions inherited from makVrv::DtSignalConnectionManager
	DtSignalConnectionManager ()
virtual	~DtSignalConnectionManager ()
void	manageConnection (const boost::signalslib::connection &conn)
DtSignalConnectionManager &	operator+= (const boost::signalslib::connection &conn)
bool	blockConnections (bool blocked)
int	numberOfConnections () const
void	disconnectSignals ()
bool	connectionsBlocked () const
Protected Attributes inherited from makVrv::DtSignalConnectionManager
Connections	myConnections
bool	myConnectionsBlocked
bool	myIndiviualConnectionedBlocked
std::vector < boost::signalslib::shared_connection_block * >	mySharedConnectionsBlockManager

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)

DtCoordinateConverter* makVrv::DtRk4MotionModel::myCoordinateConverter

private

AppliedForce makVrv::DtRk4MotionModel::myAppliedForce

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

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

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

• /data/exports/nrhent7-1/nightly/docs/vrForces.vrf5-2-branch/include/vrvTriton/DtRk4MotionModel.h