OpenSim::WrapObject Class Reference

An abstract class that specifies the interface for a wrapping object. More...

#include <WrapObject.h>

Inheritance diagram for OpenSim::WrapObject:

Public Types
enum	WrapQuadrant { allQuadrants, negativeX, positiveX, negativeY, positiveY, negativeZ, positiveZ }
enum	WrapAction { noWrap, insideRadius, wrapped, mandatoryWrap }
Public Member Functions
	WrapObject ()
	Default constructor.
	WrapObject (const WrapObject &aWrapObject)
	Copy constructor.
virtual	~WrapObject ()
	Destructor.
virtual Object *	copy () const =0
	Construct and return a copy of this object.
WrapObject &	operator= (const WrapObject &aWrapObject)
	Assignment operator.
void	copyData (const WrapObject &aWrapObject)
	Copy data members from one WrapObject to another.
virtual void	scale (const SimTK::Vec3 &aScaleFactors)
	Scale the wrap object by aScaleFactors.
virtual void	setup (Model &aModel, Body &aBody)
	Perform some set up functions that happen after the object has been deserialized or copied.
Body &	getBody () const
const double *	getXYZBodyRotation () const
const double *	getTranslation () const
bool	getActive () const
bool	getActiveUseDefault () const
const char *	getQuadrantName () const
bool	getQuadrantNameUseDefault () const
void	setQuadrantName (const std::string &aName)
virtual const char *	getWrapTypeName () const =0
virtual std::string	getDimensionsString () const
int	wrapPathSegment (const SimTK::State &s, PathPoint &aPoint1, PathPoint &aPoint2, const PathWrap &aPathWrap, WrapResult &aWrapResult) const
	Calculate the wrapping of one path segment over one wrap object.
virtual int	wrapLine (const SimTK::State &s, SimTK::Vec3 &aPoint1, SimTK::Vec3 &aPoint2, const PathWrap &aPathWrap, WrapResult &aWrapResult, bool &aFlag) const =0
virtual VisibleObject *	getDisplayer () const
virtual void	updateGeometry ()
	OPENSIM_DECLARE_DERIVED (WrapObject, Object)
Protected Member Functions
void	setupProperties ()
	Connect properties to local pointers.
void	setupQuadrant ()
	Determine the appropriate values of _quadrant, _wrapAxis, and _wrapSign, based on the name of the quadrant.
void	setGeometryQuadrants (AnalyticGeometry *aGeometry) const
	set quadrants for the geometric object representing the wrap object This has to be done after geometry object creation so it's not part of WrapObject::setup
Protected Attributes
PropertyDblArray	_xyzBodyRotationProp
Array< double > &	_xyzBodyRotation
PropertyDblVec3	_translationProp
SimTK::Vec3 &	_translation
PropertyBool	_activeProp
bool &	_active
PropertyStr	_quadrantNameProp
std::string &	_quadrantName
PropertyObj	_displayerProp
VisibleObject &	_displayer
WrapQuadrant	_quadrant
int	_wrapAxis
int	_wrapSign
Body *	_body
SIMMTransform	_pose
SIMMTransform	_inversePose
const Model *	_model

Detailed Description

An abstract class that specifies the interface for a wrapping object.

Author:: Peter Loan

Version:: 1.0

Member Enumeration Documentation

enum OpenSim::WrapObject::WrapAction

Enumerator:

noWrap
insideRadius
wrapped
mandatoryWrap

enum OpenSim::WrapObject::WrapQuadrant

Enumerator:

allQuadrants
negativeX
positiveX
negativeY
positiveY
negativeZ
positiveZ

Constructor & Destructor Documentation

WrapObject::WrapObject ( )

Default constructor.

WrapObject::WrapObject ( const WrapObject & aWrapObject )

Copy constructor.

Parameters:

aWrapObject

WrapObject to be copied.

WrapObject::~WrapObject ( ) [virtual]

Destructor.

Member Function Documentation

virtual Object* OpenSim::WrapObject::copy ( ) const [pure virtual]

Construct and return a copy of this object.

The object is allocated using the new operator, so the caller is responsible for deleting the returned object.

Returns:: Copy of this object.

Reimplemented from OpenSim::Object.

Implemented in OpenSim::WrapCylinder, OpenSim::WrapCylinderObst, OpenSim::WrapDoubleCylinderObst, OpenSim::WrapEllipsoid, OpenSim::WrapSphere, OpenSim::WrapSphereObst, and OpenSim::WrapTorus.

void WrapObject::copyData ( const WrapObject & aWrapObject )

Copy data members from one WrapObject to another.

Parameters:

aWrapObject

WrapObject to be copied.

Reimplemented in OpenSim::WrapCylinder, OpenSim::WrapCylinderObst, OpenSim::WrapDoubleCylinderObst, OpenSim::WrapEllipsoid, OpenSim::WrapSphere, OpenSim::WrapSphereObst, and OpenSim::WrapTorus.

bool OpenSim::WrapObject::getActive ( ) const [inline]

bool OpenSim::WrapObject::getActiveUseDefault ( ) const [inline]

Body& OpenSim::WrapObject::getBody ( ) const [inline]

virtual std::string OpenSim::WrapObject::getDimensionsString ( ) const [inline, virtual]

Reimplemented in OpenSim::WrapCylinder, OpenSim::WrapCylinderObst, OpenSim::WrapDoubleCylinderObst, OpenSim::WrapEllipsoid, OpenSim::WrapSphere, OpenSim::WrapSphereObst, and OpenSim::WrapTorus.

virtual VisibleObject* OpenSim::WrapObject::getDisplayer ( ) const [inline, virtual]

Reimplemented from OpenSim::Object.

const char* OpenSim::WrapObject::getQuadrantName ( ) const [inline]

bool OpenSim::WrapObject::getQuadrantNameUseDefault ( ) const [inline]

const double* OpenSim::WrapObject::getTranslation ( ) const [inline]

virtual const char* OpenSim::WrapObject::getWrapTypeName ( ) const [pure virtual]

Implemented in OpenSim::WrapCylinder, OpenSim::WrapCylinderObst, OpenSim::WrapDoubleCylinderObst, OpenSim::WrapEllipsoid, OpenSim::WrapSphere, OpenSim::WrapSphereObst, and OpenSim::WrapTorus.

const double* OpenSim::WrapObject::getXYZBodyRotation ( ) const [inline]

OpenSim::WrapObject::OPENSIM_DECLARE_DERIVED	(	WrapObject	,
		Object
	)

WrapObject & WrapObject::operator= ( const WrapObject & aWrapObject )

Assignment operator.

Returns:: Reference to this object.

Reimplemented from OpenSim::Object.

Reimplemented in OpenSim::WrapCylinder, OpenSim::WrapCylinderObst, OpenSim::WrapDoubleCylinderObst, OpenSim::WrapEllipsoid, OpenSim::WrapSphere, OpenSim::WrapSphereObst, and OpenSim::WrapTorus.

void WrapObject::scale ( const SimTK::Vec3 & aScaleFactors ) [virtual]

Scale the wrap object by aScaleFactors.

This base class method scales only the _translation property, which is a local member. The derived classes are expected to scale the object itself, because they contain the object's dimensions.

Parameters:

aScaleFactors

The XYZ scale factors.

Reimplemented in OpenSim::WrapCylinder, OpenSim::WrapCylinderObst, OpenSim::WrapDoubleCylinderObst, OpenSim::WrapEllipsoid, OpenSim::WrapSphere, OpenSim::WrapSphereObst, and OpenSim::WrapTorus.

void WrapObject::setGeometryQuadrants ( OpenSim::AnalyticGeometry * aGeometry ) const [protected]

set quadrants for the geometric object representing the wrap object This has to be done after geometry object creation so it's not part of WrapObject::setup

void OpenSim::WrapObject::setQuadrantName ( const std::string & aName )

void WrapObject::setup	(	Model &	aModel,
		OpenSim::Body &	aBody
	)			`[virtual]`

Perform some set up functions that happen after the object has been deserialized or copied.

Parameters:

	aEngine	dynamics engine containing this wrap object.
	aBody	body containing this wrap object.

Reimplemented in OpenSim::WrapCylinder, OpenSim::WrapCylinderObst, OpenSim::WrapDoubleCylinderObst, OpenSim::WrapEllipsoid, OpenSim::WrapSphere, OpenSim::WrapSphereObst, and OpenSim::WrapTorus.

void WrapObject::setupProperties ( void ) [protected]

Connect properties to local pointers.

Reimplemented from OpenSim::Object.

Reimplemented in OpenSim::WrapCylinder, OpenSim::WrapCylinderObst, OpenSim::WrapDoubleCylinderObst, OpenSim::WrapEllipsoid, OpenSim::WrapSphere, OpenSim::WrapSphereObst, and OpenSim::WrapTorus.

void WrapObject::setupQuadrant ( ) [protected]

Determine the appropriate values of _quadrant, _wrapAxis, and _wrapSign, based on the name of the quadrant.

This should be called in setup() and whenever the quadrant name changes.

virtual void OpenSim::WrapObject::updateGeometry ( ) [inline, virtual]

virtual int OpenSim::WrapObject::wrapLine	(	const SimTK::State &	s,
		SimTK::Vec3 &	aPoint1,
		SimTK::Vec3 &	aPoint2,
		const PathWrap &	aPathWrap,
		WrapResult &	aWrapResult,
		bool &	aFlag
	)			const `[pure virtual]`

Implemented in OpenSim::WrapCylinder, OpenSim::WrapCylinderObst, OpenSim::WrapDoubleCylinderObst, OpenSim::WrapEllipsoid, OpenSim::WrapSphere, OpenSim::WrapSphereObst, and OpenSim::WrapTorus.

int WrapObject::wrapPathSegment	(	const SimTK::State &	s,
		PathPoint &	aPoint1,
		PathPoint &	aPoint2,
		const PathWrap &	aPathWrap,
		WrapResult &	aWrapResult
	)			const

Calculate the wrapping of one path segment over one wrap object.

Parameters:

	aPoint1	The first patth point
	aPoint2	The second path point
	aPathWrap	An object holding the parameters for this path/wrap-object pairing
	aWrapResult	The result of the wrapping (tangent points, etc.)