OpenSim::ContactGeometry Class Reference

This class represents the physical shape of an object for use in contact modeling. More...

#include <ContactGeometry.h>

Inheritance diagram for OpenSim::ContactGeometry:

Public Member Functions
	ContactGeometry (const ContactGeometry &geom)
	~ContactGeometry ()
void	copyData (const ContactGeometry &geom)
virtual Object *	copy () const =0
	Construct and return a copy of this object.
const SimTK::Vec3 &	getLocation () const
	Get the location of the geometry within the Body it is attached to.
void	setLocation (const SimTK::Vec3 &location)
	Set the location of the geometry within the Body it is attached to.
const SimTK::Vec3 &	getOrientation () const
	Get the orientation of the geometry within the Body it is attached to.
void	setOrientation (const SimTK::Vec3 &orientation)
	Set the orientation of the geometry within the Body it is attached to.
const OpenSim::Body &	getBody () const
	Get the Body this geometry is attached to.
OpenSim::Body &	getBody ()
	Get the Body this geometry is attached to.
void	setBody (OpenSim::Body &body)
	Set the Body this geometry is attached to.
const std::string &	getBodyName ()
	Get the name of the Body this geometry is attached to.
void	setBodyName (const std::string &name)
	Set the name of the Body this geometry is attached to.
virtual SimTK::ContactGeometry	createSimTKContactGeometry ()=0
	Create a new SimTK::ContactGeometry based on this object.
SimTK::Transform	getTransform ()
	Get a Transform representing the position and orientation of the geometry within the Body it is attached to.
virtual void	scale (const ScaleSet &aScaleSet)
	Scale a ContactGeometry based on XYZ scale factors for the bodies.
virtual const VisibleObject *	getDisplayer () const
virtual VisibleObject *	updDisplayer ()
virtual void	updateGeometry ()
Protected Member Functions
	ContactGeometry ()
	Construct an empty ContactGeometry.
	ContactGeometry (const SimTK::Vec3 &location, const SimTK::Vec3 &orientation, OpenSim::Body &body)
	Construct a ContactGeometry.
virtual void	setup (Model &aModel)
	Perform setup functions that happen after the object has been deserialized or copied.
virtual void	createSystem (SimTK::MultibodySystem &system) const
	This is called when a SimTK System is being created for the Model.
virtual void	initState (SimTK::State &s) const
	This is called after a SimTK System and State have been created for the Model.
virtual void	setDefaultsFromState (const SimTK::State &state)
	Set all default values for this object to match those in a specified State.
virtual int	getNumStateVariables () const
	Gets the number of "Continuous" state variables maintained by the ModelComponent If the ModelComponent defines any that are of interest to the user, names should also be given.
Protected Attributes
Body *	_body
PropertyStr	_bodyNameProp
std::string &	_bodyName
PropertyDblVec3	_locationInBodyProp
SimTK::Vec3 &	_locationInBody
PropertyDblVec3	_orientationInBodyProp
SimTK::Vec3 &	_orientationInBody
VisibleObject	_displayer

Detailed Description

This class represents the physical shape of an object for use in contact modeling.

It is an abstract class, with subclasses for particular geometric representations.

Author:: Peter Eastman

Constructor & Destructor Documentation

OpenSim::ContactGeometry::ContactGeometry ( ) [protected]

Construct an empty ContactGeometry.

This constructor is protected, and is used by subclasses.

OpenSim::ContactGeometry::ContactGeometry	(	const SimTK::Vec3 &	location,
		const SimTK::Vec3 &	orientation,
		OpenSim::Body &	body
	)			`[protected]`

Construct a ContactGeometry.

This constructor is protected, and is used by subclasses.

Parameters:

	location	the location of the geometry within the Body it is attached to
	orientation	the orientation of the geometry within the Body it is attached to
	body	the Body this geometry is attached to

OpenSim::ContactGeometry::ContactGeometry ( const ContactGeometry & geom )

OpenSim::ContactGeometry::~ContactGeometry ( )

Member Function Documentation

virtual Object* OpenSim::ContactGeometry::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::ContactHalfSpace, OpenSim::ContactMesh, and OpenSim::ContactSphere.

void OpenSim::ContactGeometry::copyData ( const ContactGeometry & geom )

virtual SimTK::ContactGeometry OpenSim::ContactGeometry::createSimTKContactGeometry ( ) [pure virtual]

Create a new SimTK::ContactGeometry based on this object.

Implemented in OpenSim::ContactHalfSpace, OpenSim::ContactMesh, and OpenSim::ContactSphere.

virtual void OpenSim::ContactGeometry::createSystem ( SimTK::MultibodySystem & system ) const [inline, protected, virtual]

This is called when a SimTK System is being created for the Model.

It must be implemented to add appropriate elements to the System corresponding to this object. Methods for adding modeling options, state variables and their derivatives, discrete variables, as well must be called with createSystem() only.

Parameters:

system

the System being created

Reimplemented from OpenSim::ModelComponent.

Body & OpenSim::ContactGeometry::getBody ( )

Get the Body this geometry is attached to.

const Body & OpenSim::ContactGeometry::getBody ( ) const

Get the Body this geometry is attached to.

const std::string & OpenSim::ContactGeometry::getBodyName ( )

Get the name of the Body this geometry is attached to.

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

Reimplemented from OpenSim::Object.

const Vec3 & OpenSim::ContactGeometry::getLocation ( ) const

Get the location of the geometry within the Body it is attached to.

virtual int OpenSim::ContactGeometry::getNumStateVariables ( ) const [inline, protected, virtual]

Gets the number of "Continuous" state variables maintained by the ModelComponent If the ModelComponent defines any that are of interest to the user, names should also be given.

Implements OpenSim::ModelComponent.

const Vec3 & OpenSim::ContactGeometry::getOrientation ( ) const

Get the orientation of the geometry within the Body it is attached to.

SimTK::Transform OpenSim::ContactGeometry::getTransform ( )

Get a Transform representing the position and orientation of the geometry within the Body it is attached to.

virtual void OpenSim::ContactGeometry::initState ( SimTK::State & state ) const [inline, protected, virtual]

This is called after a SimTK System and State have been created for the Model.

It must be implementd to set initial values of state variables.

Parameters:

state

the State to initialize

Reimplemented from OpenSim::ModelComponent.

void OpenSim::ContactGeometry::scale ( const ScaleSet & aScaleSet ) [virtual]

Scale a ContactGeometry based on XYZ scale factors for the bodies.

Parameters:

aScaleSet

Set of XYZ scale factors for the bodies.

void OpenSim::ContactGeometry::setBody ( OpenSim::Body & body )

Set the Body this geometry is attached to.

void OpenSim::ContactGeometry::setBodyName ( const std::string & name )

Set the name of the Body this geometry is attached to.

This will cause the Body to be set to NULL, then resolved when setup() is called.

virtual void OpenSim::ContactGeometry::setDefaultsFromState ( const SimTK::State & state ) [inline, protected, virtual]

Set all default values for this object to match those in a specified State.

It must be implemented/overriden to set any default values defined by each subclass.

Parameters:

state

the State from which to take values that should become the defaults for this object

Reimplemented from OpenSim::ModelComponent.

void OpenSim::ContactGeometry::setLocation ( const SimTK::Vec3 & location )

Set the location of the geometry within the Body it is attached to.

void OpenSim::ContactGeometry::setOrientation ( const SimTK::Vec3 & orientation )

Set the orientation of the geometry within the Body it is attached to.

void OpenSim::ContactGeometry::setup ( Model & aModel ) [protected, virtual]

Perform setup functions that happen after the object has been deserialized or copied.

Parameters:

aModel

OpenSim model containing this Joint.

Reimplemented from OpenSim::ModelComponent.

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

virtual VisibleObject* OpenSim::ContactGeometry::updDisplayer ( ) [inline, virtual]

Reimplemented from OpenSim::Object.

Member Data Documentation

Body* OpenSim::ContactGeometry::_body [protected]

std::string& OpenSim::ContactGeometry::_bodyName [protected]

PropertyStr OpenSim::ContactGeometry::_bodyNameProp [protected]

VisibleObject OpenSim::ContactGeometry::_displayer [protected]

SimTK::Vec3& OpenSim::ContactGeometry::_locationInBody [protected]

PropertyDblVec3 OpenSim::ContactGeometry::_locationInBodyProp [protected]

SimTK::Vec3& OpenSim::ContactGeometry::_orientationInBody [protected]

PropertyDblVec3 OpenSim::ContactGeometry::_orientationInBodyProp [protected]

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

OpenSim/Simulation/Model/ContactGeometry.h
OpenSim/Simulation/Model/ContactGeometry.cpp

OpenSim::ContactGeometry Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation