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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:
OpenSim::ModelComponent OpenSim::Object OpenSim::ContactHalfSpace OpenSim::ContactMesh OpenSim::ContactSphere

Public Member Functions

 ContactGeometry ()
 Construct an empty ContactGeometry.
 ContactGeometry (const SimTK::Vec3 &location, const SimTK::Vec3 &orientation, OpenSim::Body &body)
 Construct a ContactGeometry.
 OpenSim_DECLARE_PROPERTY (body_name, std::string,"Body name to connect the contact geometry to")
 Body name.
 OpenSim_DECLARE_PROPERTY (location, SimTK::Vec3,"Location of geometry center in the body frame")
 Location.
 OpenSim_DECLARE_PROPERTY (orientation, SimTK::Vec3,"Orientation of geometry in the body frame")
 Orientation.
 OpenSim_DECLARE_PROPERTY (display_preference, int,"Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded")
 Display Preference to apply to the contact geometry.
 OpenSim_DECLARE_LIST_PROPERTY_SIZE (color, double, 3,"Display Color")
 Display Color to apply to the contact geometry.
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::BodygetBody () const
 Get the Body this geometry is attached to.
OpenSim::BodygetBody ()
 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.
const int getDisplayPreference ()
 Get the display_preference of this geometry.
void setDisplayPreference (const int dispPref)
 Set the display_preference of this geometry.
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 VisibleObjectgetDisplayer () const
 Methods to support making the object displayable in the GUI or Visualizer Implemented only in few objects.
virtual VisibleObjectupdDisplayer ()
 get Non const pointer to VisibleObject
virtual void updateGeometry ()
- Public Member Functions inherited from OpenSim::ModelComponent
 ModelComponent ()
 Default constructor.
 ModelComponent (const std::string &aFileName, bool aUpdateFromXMLNode=true) SWIG_DECLARE_EXCEPTION
 Construct ModelComponent from an XML file.
 ModelComponent (SimTK::Xml::Element &aNode)
 Construct ModelComponent from a specific node in an XML document.
 ModelComponent (const ModelComponent &source)
 
Construct ModelComponent with its contents copied from another 

ModelComponent; this is a deep copy so nothing is shared with the source after the copy.

virtual ~ModelComponent ()
 Destructor is virtual to allow concrete model component cleanup.
ModelComponentoperator= (const ModelComponent &aModelComponent)
 Assignment operator to copy contents of an existing component.
const ModelgetModel () const
 Get a const reference to the Model this component is part of.
ModelupdModel ()
 Get a modifiable reference to the Model this component is part of.
virtual void updateDisplayer (const SimTK::State &s)
 In case the ModelComponent has a visual representation (VisualObject), override this method to update it.
virtual int getNumStateVariables () const
 Get the number of "Continuous" state variables maintained by the ModelComponent and its specified subcomponents.
virtual Array< std::string > getStateVariableNames () const
 Get the names of "continuous" state variables maintained by the ModelComponent and its subcomponents.
virtual SimTK::SystemYIndex getStateVariableSystemIndex (const std::string &stateVariableName) const
 Get the System Index of a state variable allocated by this ModelComponent.
int getModelingOption (const SimTK::State &state, const std::string &name) const
 Get a ModelingOption flag for this ModelComponent by name.
void setModelingOption (SimTK::State &state, const std::string &name, int flag) const
 Set the value of a ModelingOption flag for this ModelComponent.
double getStateVariable (const SimTK::State &state, const std::string &name) const
 Get the value of a state variable allocated by this ModelComponent.
void setStateVariable (SimTK::State &state, const std::string &name, double value) const
 Set the value of a state variable allocated by this ModelComponent by name.
double getDiscreteVariable (const SimTK::State &state, const std::string &name) const
 Get the value of a discrete variable allocated by this ModelComponent by name.
void setDiscreteVariable (SimTK::State &state, const std::string &name, double value) const
 Set the value of a discrete variable allocated by this ModelComponent by name.
template<typename T >
const T & getCacheVariable (const SimTK::State &state, const std::string &name) const
 Get the value of a cache variable allocated by this ModelComponent by name.
template<typename T >
T & updCacheVariable (const SimTK::State &state, const std::string &name) const
 Obtain a writable cache variable value allocated by this ModelComponent by name.
void markCacheVariableValid (const SimTK::State &state, const std::string &name) const
 After updating a cache variable value allocated by this ModelComponent, you can mark its value as valid, which will not change until the realization stage falls below the minimum set at the time the cache variable was created.
void markCacheVariableInvalid (const SimTK::State &state, const std::string &name) const
 Mark a cache variable value allocated by this ModelComponent as invalid.
bool isCacheVariableValid (const SimTK::State &state, const std::string &name) const
 Enables the to monitor the validity of the cache variable value using the returned flag.
template<typename T >
void setCacheVariable (const SimTK::State &state, const std::string &name, T &value) const
 Set cache variable value allocated by this ModelComponent by name.
- Public Member Functions inherited from OpenSim::Object
virtual ~Object ()
 Virtual destructor for cleanup.
virtual Objectclone () const =0
 
Create a new heap-allocated copy of the concrete object to which this 

Object refers.

virtual const std::string & getConcreteClassName () const =0
 
Returns the class name of the concrete %Object-derived class of the

actual object referenced by this Object, as a string.

bool isEqualTo (const Object &aObject) const
 Equality operator wrapper for use from languages not supporting operator overloading.
Objectoperator= (const Object &aObject)
 
Copy assignment copies he base class fields, including the 

properties.

virtual bool operator== (const Object &aObject) const
 Determine if two objects are equal.
virtual bool operator< (const Object &aObject) const
 
Provide an ordering for objects so they can be put in sorted

containers.

void setName (const std::string &name)
 Set the name of the Object.
const std::string & getName () const
 Get the name of this Object.
void setDescription (const std::string &description)
 Set description, a one-liner summary.
const std::string & getDescription () const
 Get description, a one-liner summary.
const std::string & getAuthors () const
 Get Authors of this Object.
void setAuthors (const std::string &authors)
 Set Authors of this object, call this method in your constructor if needed.
const std::string & getReferences () const
 Get references or publications to cite if using this object.
void setReferences (const std::string &references)
 Set references or publications to cite if using this object.
int getNumProperties () const
 Determine how many properties are stored with this Object.
const AbstractPropertygetPropertyByIndex (int propertyIndex) const
 
Get a const reference to a property by its index number, returned as

an AbstractProperty.

AbstractPropertyupdPropertyByIndex (int propertyIndex)
 
Get a writable reference to a property by its index number, returned as

an AbstractProperty.

bool hasProperty (const std::string &name) const
 
Return true if this %Object has a property of any type with the 

given name, which must not be empty.

const AbstractPropertygetPropertyByName (const std::string &name) const
 
Get a const reference to a property by its name, returned as

an AbstractProperty.

AbstractPropertyupdPropertyByName (const std::string &name)
 
Get a writable reference to a property by its name, returned as

an AbstractProperty.

template<class T >
bool hasProperty () const
 
Return true if this %Object contains an unnamed, one-object property

that contains objects of the given template type T.

template<class T >
const Property< T > & getProperty (const PropertyIndex &index) const
 
Get property of known type Property\<T> as a const reference; 

the property must be present and have the right type.

template<class T >
Property< T > & updProperty (const PropertyIndex &index)
 
Get property of known type Property\<T> as a writable reference;

the property must be present and have the right type.

void setObjectIsUpToDateWithProperties ()
 
When an object is initialized using the current values of its 

properties, it can set a flag indicating that it is up to date.

bool isObjectUpToDateWithProperties () const
 
Returns \c true if any property's value has changed since the last time

setObjectIsUpToDateWithProperties() was called.

void readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber)
 We're given an XML element from which we are to populate this Object.
virtual void updateFromXMLNode (SimTK::Xml::Element &objectElement, int versionNumber)
 Use this method to deserialize an object from a SimTK::Xml::Element.
virtual void updateXMLNode (SimTK::Xml::Element &parent)
 Serialize this object into the XML node that represents it.
bool getInlined () const
 
Inlined means an in-memory Object that is not associated with

an XMLDocument.

void setInlined (bool aInlined, const std::string &aFileName="")
 
Mark this as inlined or not and optionally provide a file name

to associate with the new XMLDocument for the non-inline case.

std::string getDocumentFileName () const
 
If there is a document associated with this object then return the

file name maintained by the document.

void setAllPropertiesUseDefault (bool aUseDefault)
bool print (const std::string &fileName)
 
Write this %Object into an XML file of the given name; conventionally

the suffix to use is ".osim".

std::string dump (bool dumpName=false)
 dump the XML representation of this Object into an std::string and return it.
void clearObjectIsUpToDateWithProperties ()
 
For testing or debugging purposes, manually clear the "object is up to 

date with respect to properties" flag.

virtual bool isA (const char *type) const
 
The default implementation returns true only if the supplied string

is "Object"; each Object-derived class overrides this to match its own class name.

const std::string & toString () const
 
Wrapper to be used on Java side to display objects in tree; this returns

just the object's name.

PropertySetgetPropertySet ()
 
OBSOLETE: Get a reference to the PropertySet maintained by the 

Object.

const PropertySetgetPropertySet () const

Protected Member Functions

void connectToModel (Model &aModel) override
 
Perform any necessary initializations required to connect the 

component into the Model, and check for error conditions.

- Protected Member Functions inherited from OpenSim::ModelComponent
virtual void addToSystem (SimTK::MultibodySystem &system) const
 
Add appropriate Simbody elements (if needed) to the System 

corresponding to this component and specify needed state resources.

virtual void initStateFromProperties (SimTK::State &state) const
 
Transfer property values or other state-independent initial values

into this component's state variables in the passed-in state argument.

virtual void setPropertiesFromState (const SimTK::State &state)
 
Update this component's property values to match the specified State,

if the component has created any state variable that is intended to correspond to a property.

virtual SimTK::Vector computeStateVariableDerivatives (const SimTK::State &s) const
 
If a model component has allocated any continuous state variables

using the addStateVariable() method, then computeStateVariableDerivatives() must be implemented to provide time derivatives for those states.

virtual void generateDecorations (bool fixed, const ModelDisplayHints &hints, const SimTK::State &state, SimTK::Array_< SimTK::DecorativeGeometry > &appendToThis) const
 
Optional method for generating arbitrary display geometry that reflects

this ModelComponent at the specified state.

void includeAsSubComponent (ModelComponent *aComponent)
 Include another ModelComponent as a Subcomponent of this ModelComponent.
void addModelingOption (const std::string &optionName, int maxFlagValue) const
 
Add a modeling option (integer flag stored in the State) for use by 

this ModelComponent.

void addStateVariable (const std::string &stateVariableName, SimTK::Stage invalidatesStage=SimTK::Stage::Dynamics) const
 
Add a continuous system state variable belonging to this ModelComponent,

and assign a name by which to refer to it.

void addDiscreteVariable (const std::string &discreteVariableName, SimTK::Stage invalidatesStage) const
 
Add a system discrete variable belonging to this ModelComponent, give

it a name by which it can be referenced, and declare the lowest Stage that should be invalidated if this variable's value is changed.

template<class T >
void addCacheVariable (const std::string &cacheVariableName, const T &variablePrototype, SimTK::Stage dependsOnStage) const
 
Add a state cache entry belonging to this ModelComponent to hold

calculated values that must be automatically invalidated when certain state values change.

const int getStateIndex (const std::string &name) const
 Get the index of a ModelComponent's continuous state variable in the Subsystem for allocations.
const SimTK::DiscreteVariableIndex getDiscreteVariableIndex (const std::string &name) const
 Get the index of a ModelComponent's discrete variable in the Subsystem for allocations.
const SimTK::CacheEntryIndex getCacheVariableIndex (const std::string &name) const
 Get the index of a ModelComponent's cache variable in the Subsystem for allocations.
- Protected Member Functions inherited from OpenSim::Object
 Object ()
 
 The default constructor is only for use by constructors of 

derived types.

 Object (const std::string &fileName, bool aUpdateFromXMLNode=true) SWIG_DECLARE_EXCEPTION
 
Constructor from a file, to be called from other constructors that 

take a file as input.

 Object (const Object &source)
 
Copy constructor is invoked automatically by derived classes with

default copy constructors; otherwise it must be invoked explicitly.

 Object (SimTK::Xml::Element &aElement)
 
Construct the base class portion of an %Object from a given Xml 

element that describes this Object.

template<class T >
PropertyIndex addProperty (const std::string &name, const std::string &comment, const T &value)
 
Define a new single-value property of known type T, with the given 

name, associated comment, and initial value.

template<class T >
PropertyIndex addOptionalProperty (const std::string &name, const std::string &comment)
 
Add an optional property, meaning it can contain either no value or

a single value.

template<class T >
PropertyIndex addOptionalProperty (const std::string &name, const std::string &comment, const T &value)
 
Add an optional property, meaning it can contain either no value or

a single value.

template<class T >
PropertyIndex addListProperty (const std::string &name, const std::string &comment, int minSize, int maxSize)
 
Define a new list-valued property of known type T, with the given 

name, associated comment, minimum (==0) and maximum (>0) allowable list lengths, and a zero-length initial value.

template<class T , template< class > class Container>
PropertyIndex addListProperty (const std::string &name, const std::string &comment, int minSize, int maxSize, const Container< T > &valueList)
 
Define a new list-valued property as above, but assigning an initial

value via some templatized container class that supports size() and indexing.

PropertyIndex getPropertyIndex (const std::string &name) const
 
Look up a property by name and return its PropertyIndex if it is

found.

template<class T >
PropertyIndex getPropertyIndex () const
 
Look up an unnamed property by the type of object it contains,

and return its PropertyIndex if it is found.

void updateFromXMLDocument ()
 
Use this method only if you're deserializing from a file and the object

is at the top level; that is, primarily in constructors that take a file name as input.

void setDocument (XMLDocument *doc)
 Unconditionally set the XMLDocument associated with this object.
const XMLDocumentgetDocument () const
 
Get a const pointer to the document (if any) associated with this

object.

XMLDocumentupdDocument ()
 
Get a writable pointer to the document (if any) associated with this

object.

Protected Attributes

Body_body
VisibleObject _displayer
- Protected Attributes inherited from OpenSim::ModelComponent
Model_model
 The model this component belongs to.
- Protected Attributes inherited from OpenSim::Object
PropertySet _propertySet
 
OBSOLETE: Property_Deprecated set for serializable member variables of 

this and derived classes.

Additional Inherited Members

- Static Public Member Functions inherited from OpenSim::Object
static void registerType (const Object &defaultObject)
 
Register an instance of a class; if the class is already registered it

will be replaced.

static void renameType (const std::string &oldTypeName, const std::string &newTypeName)
 
Support versioning by associating the current %Object type with an 

old name.

static const ObjectgetDefaultInstanceOfType (const std::string &concreteClassName)
 
Return a pointer to the default instance of the registered (concrete)

Object whose class name is given, or NULL if the type is not registered.

template<class T >
static bool isObjectTypeDerivedFrom (const std::string &concreteClassName)
 
Return true if the given concrete object type represents a subclass of 

the template object type T, and thus could be referenced with a T*.

static ObjectnewInstanceOfType (const std::string &concreteClassName)
 
Create a new instance of the concrete %Object type whose class name is 

given as concreteClassName.

static void getRegisteredTypenames (Array< std::string > &typeNames)
 Retrieve all the typenames registered so far.
template<class T >
static void getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray)
 
Return an array of pointers to the default instances of all registered

(concrete) Object types that derive from a given Object-derived type that does not have to be concrete.

static void PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName)
 
Dump formatted property information to a given output stream, useful

for creating a "help" facility for registered objects.

static void PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName)
 
Same as the other signature but the class name and property name are

provided as two separate strings.

static ObjectmakeObjectFromFile (const std::string &fileName)
 
Create an %OpenSim object whose type is based on the tag at the root 

node of the XML file passed in.

static const std::string & getClassName ()
 Return the name of this class as a string; i.e., "Object".
static void setSerializeAllDefaults (bool shouldSerializeDefaults)
 
Static function to control whether all registered objects and

their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically.

static bool getSerializeAllDefaults ()
 Report the value of the "serialize all defaults" flag.
static bool isKindOf (const char *type)
 
Returns true if the passed-in string is "Object"; each %Object-derived

class defines a method of this name for its own class name.

static void setDebugLevel (int newLevel)
 Set the debug level to get verbose output.
static int getDebugLevel ()
 Get current setting of debug level.
static ObjectSafeCopy (const Object *aObject)
 
Use the clone() method to duplicate the given object unless the pointer

is null in which case null is returned.

static void RegisterType (const Object &defaultObject)
 OBSOLETE alternate name for registerType().
static void RenameType (const std::string &oldName, const std::string &newName)
 OBSOLETE alternate name for renameType().
- Static Public Attributes inherited from OpenSim::Object
static const std::string DEFAULT_NAME
 Name used for default objects when they are serialized.

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 ( )

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 
)

Construct a ContactGeometry.

This constructor is protected, and is used by subclasses.

Parameters
locationthe location of the geometry within the Body it is attached to
orientationthe orientation of the geometry within the Body it is attached to
bodythe Body this geometry is attached to

Member Function Documentation

void OpenSim::ContactGeometry::connectToModel ( Model model)
overrideprotectedvirtual

Perform any necessary initializations required to connect the 

component into the Model, and check for error conditions.

connectToModel() is invoked on all components to complete construction of a Model, prior to creating a Simbody System to represent it computationally. It may also be invoked at times just for its error-checking side effects.

If you override this method, be sure to invoke the base class method first, using code like this:

void MyComponent::connectToModel(Model& model) {
Super::connectToModel(model); // invoke parent class method
// ... your code goes here
}

Note that this method is expected to check for modeling errors and should throw an OpenSim::Exception if there is something wrong. For example, if your model component references another object by name, you should verify that it exists in the supplied Model, which is not guaranteed since components may be independently instantiated or constructed from XML files.

Parameters
[in,out]modelThe Model currently being constructed to which this ModelComponent should be connected.

Reimplemented from OpenSim::ModelComponent.

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

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

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

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

Get the Body this geometry is attached to.

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

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
inlinevirtual

Methods to support making the object displayable in the GUI or Visualizer Implemented only in few objects.

Get const pointer to VisibleObject that contains geometry

Reimplemented from OpenSim::Object.

const int OpenSim::ContactGeometry::getDisplayPreference ( )

Get the display_preference of this geometry.

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

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

const SimTK::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.

OpenSim::ContactGeometry::OpenSim_DECLARE_LIST_PROPERTY_SIZE ( color  ,
double  ,
,
"Display Color"   
)

Display Color to apply to the contact geometry.

OpenSim::ContactGeometry::OpenSim_DECLARE_PROPERTY ( body_name  ,
std::string  ,
"Body name to connect the contact geometry to"   
)

Body name.

OpenSim::ContactGeometry::OpenSim_DECLARE_PROPERTY ( location  ,
SimTK::Vec3  ,
"Location of geometry center in the body frame"   
)

Location.

OpenSim::ContactGeometry::OpenSim_DECLARE_PROPERTY ( orientation  ,
SimTK::Vec3  ,
"Orientation of geometry in the body frame"   
)

Orientation.

OpenSim::ContactGeometry::OpenSim_DECLARE_PROPERTY ( display_preference  ,
int  ,
"Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded"   
)

Display Preference to apply to the contact geometry.

virtual void OpenSim::ContactGeometry::scale ( const ScaleSet aScaleSet)
virtual

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

Parameters
aScaleSetSet 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 connectToModel() is called.

void OpenSim::ContactGeometry::setDisplayPreference ( const int  dispPref)

Set the display_preference of this geometry.

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.

virtual void OpenSim::ContactGeometry::updateGeometry ( )
inlinevirtual
virtual VisibleObject* OpenSim::ContactGeometry::updDisplayer ( )
inlinevirtual

get Non const pointer to VisibleObject

Reimplemented from OpenSim::Object.

Member Data Documentation

Body* OpenSim::ContactGeometry::_body
protected
VisibleObject OpenSim::ContactGeometry::_displayer
protected

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