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#include <SurgSim/Physics/PhysicsManagerState.h>
Public Member Functions | |
PhysicsManagerState () | |
Constructor. More... | |
~PhysicsManagerState () | |
Destructor. More... | |
void | setRepresentations (const std::vector< std::shared_ptr< Representation >> &val) |
Sets the physics representations for the state, these are the basis for all the computations. More... | |
const std::vector< std::shared_ptr< Representation > > & | getRepresentations () |
Gets the physics representations. More... | |
void | setActiveRepresentations (const std::vector< std::shared_ptr< Representation >> &activeRepresentations) |
Set the list of representations into the active representations list. More... | |
const std::vector< std::shared_ptr< Representation > > & | getActiveRepresentations () const |
Gets the active physics representations. More... | |
void | setCollisionRepresentations (const std::vector< std::shared_ptr< SurgSim::Collision::Representation >> &val) |
Sets the collision representations for the state. More... | |
const std::vector< std::shared_ptr< SurgSim::Collision::Representation > > & | getCollisionRepresentations () |
Gets the collision representations. More... | |
void | setConstraintComponents (const std::vector< std::shared_ptr< ConstraintComponent >> &val) |
Sets the list of constraint components. More... | |
const std::vector< std::shared_ptr< ConstraintComponent > > & | getConstraintComponents () |
Gets the constraint components. More... | |
const std::unordered_map< std::shared_ptr< SurgSim::Collision::Representation >, std::shared_ptr< SurgSim::Physics::Representation > > & | getCollisionToPhysicsMap () const |
void | setCollisionPairs (std::vector< std::shared_ptr< SurgSim::Collision::CollisionPair >> val) |
Sets collision pairs that should be considered, while this is not being verified the collision pairs should only be from the list of representations that are in this state. More... | |
const std::vector< std::shared_ptr< SurgSim::Collision::CollisionPair > > & | getCollisionPairs () |
Gets collision pairs. More... | |
void | setExcludedCollisionPairs (const std::vector< std::shared_ptr< SurgSim::Collision::CollisionPair >> &val) |
Sets the exclusion pairs. More... | |
const std::vector< std::shared_ptr< SurgSim::Collision::CollisionPair > > & | getExcludedCollisionPairs () const |
Gets the exclusion pairs. More... | |
void | setConstraintGroup (ConstraintGroupType type, const std::vector< std::shared_ptr< Constraint >> &constraints) |
Sets the group of constraints to a given value, the grouping indicates what type of constraint we are dealing with. More... | |
const std::vector< std::shared_ptr< Constraint > > & | getConstraintGroup (int type) const |
Gets constraint group. More... | |
void | setActiveConstraints (const std::vector< std::shared_ptr< Constraint >> &activeConstraints) |
Filter the map of constraints into the active constraints list. More... | |
const std::vector< std::shared_ptr< Constraint > > & | getActiveConstraints () const |
MlcpPhysicsProblem & | getMlcpProblem () |
Gets the Mlcp problem. More... | |
const MlcpPhysicsProblem & | getMlcpProblem () const |
Gets the Mlcp problem. More... | |
MlcpPhysicsSolution & | getMlcpSolution () |
Gets the Mlcp solution. More... | |
const MlcpPhysicsSolution & | getMlcpSolution () const |
Gets the Mlcp solution. More... | |
const MlcpMapping< Representation > & | getRepresentationsMapping () const |
Gets the representations mapping. More... | |
void | setRepresentationsMapping (const MlcpMapping< Representation > &representationsMapping) |
Set the representations mapping. More... | |
const MlcpMapping< Constraint > & | getConstraintsMapping () const |
Gets the constraints mapping. More... | |
void | setConstraintsMapping (const MlcpMapping< Constraint > &constraintsMapping) |
Set the constraints mapping. More... | |
Private Attributes | |
MlcpPhysicsProblem | m_mlcpPhysicsProblem |
Mlcp problem for this Physics Manager State. More... | |
MlcpPhysicsSolution | m_mlcpPhysicsSolution |
Mlcp solution for this Physics Manager State. More... | |
std::vector< std::shared_ptr< Representation > > | m_representations |
std::vector< std::shared_ptr< Representation > > | m_activeRepresentations |
The list of active representations. More... | |
std::vector< std::shared_ptr< SurgSim::Collision::Representation > > | m_collisionRepresentations |
List of all the collision representations know to the state. More... | |
std::vector< std::shared_ptr< ConstraintComponent > > | m_constraintComponents |
List of the constraint components. More... | |
std::unordered_map< std::shared_ptr< SurgSim::Collision::Representation >, std::shared_ptr< SurgSim::Physics::Representation > > | m_collisionsToPhysicsMap |
Mapping of collision representations to their respective physics representation. More... | |
std::vector< std::shared_ptr< SurgSim::Collision::CollisionPair > > | m_collisionPairs |
The local list of collision pairs. More... | |
std::vector< std::shared_ptr< SurgSim::Collision::CollisionPair > > | m_excludedCollisionPairs |
List of collision pairs to be excluded. More... | |
std::unordered_map< int, std::vector< std::shared_ptr< Constraint > > > | m_constraints |
The local map of constraints. More... | |
std::vector< std::shared_ptr< Constraint > > | m_activeConstraints |
The list of active constraints. More... | |
MlcpMapping< Representation > | m_representationsIndexMapping |
Representation mapping. More... | |
MlcpMapping< Constraint > | m_constraintsIndexMapping |
Constraints mapping. More... | |
SurgSim::Physics::PhysicsManagerState::PhysicsManagerState | ( | ) |
Constructor.
SurgSim::Physics::PhysicsManagerState::~PhysicsManagerState | ( | ) |
Destructor.
const std::vector< std::shared_ptr< Constraint > > & SurgSim::Physics::PhysicsManagerState::getActiveConstraints | ( | ) | const |
const std::vector< std::shared_ptr< Representation > > & SurgSim::Physics::PhysicsManagerState::getActiveRepresentations | ( | ) | const |
Gets the active physics representations.
const std::vector< std::shared_ptr< SurgSim::Collision::CollisionPair > > & SurgSim::Physics::PhysicsManagerState::getCollisionPairs | ( | ) |
Gets collision pairs.
const std::vector< std::shared_ptr< SurgSim::Collision::Representation > > & SurgSim::Physics::PhysicsManagerState::getCollisionRepresentations | ( | ) |
Gets the collision representations.
const std::unordered_map< std::shared_ptr< SurgSim::Collision::Representation >, std::shared_ptr< SurgSim::Physics::Representation > > & SurgSim::Physics::PhysicsManagerState::getCollisionToPhysicsMap | ( | ) | const |
const std::vector< std::shared_ptr< ConstraintComponent > > & SurgSim::Physics::PhysicsManagerState::getConstraintComponents | ( | ) |
Gets the constraint components.
const std::vector< std::shared_ptr< Constraint > > & SurgSim::Physics::PhysicsManagerState::getConstraintGroup | ( | int | type | ) | const |
Gets constraint group.
type | The type. |
const MlcpMapping< Constraint > & SurgSim::Physics::PhysicsManagerState::getConstraintsMapping | ( | ) | const |
Gets the constraints mapping.
const std::vector< std::shared_ptr< SurgSim::Collision::CollisionPair > > & SurgSim::Physics::PhysicsManagerState::getExcludedCollisionPairs | ( | ) | const |
Gets the exclusion pairs.
MlcpPhysicsProblem & SurgSim::Physics::PhysicsManagerState::getMlcpProblem | ( | ) |
Gets the Mlcp problem.
const MlcpPhysicsProblem & SurgSim::Physics::PhysicsManagerState::getMlcpProblem | ( | ) | const |
Gets the Mlcp problem.
MlcpPhysicsSolution & SurgSim::Physics::PhysicsManagerState::getMlcpSolution | ( | ) |
Gets the Mlcp solution.
const MlcpPhysicsSolution & SurgSim::Physics::PhysicsManagerState::getMlcpSolution | ( | ) | const |
Gets the Mlcp solution.
const std::vector< std::shared_ptr< Representation > > & SurgSim::Physics::PhysicsManagerState::getRepresentations | ( | ) |
Gets the physics representations.
const MlcpMapping< Representation > & SurgSim::Physics::PhysicsManagerState::getRepresentationsMapping | ( | ) | const |
Gets the representations mapping.
void SurgSim::Physics::PhysicsManagerState::setActiveConstraints | ( | const std::vector< std::shared_ptr< Constraint >> & | activeConstraints | ) |
Filter the map of constraints into the active constraints list.
activeConstraints | The list of active constraints. |
void SurgSim::Physics::PhysicsManagerState::setActiveRepresentations | ( | const std::vector< std::shared_ptr< Representation >> & | activeRepresentations | ) |
Set the list of representations into the active representations list.
activeRepresentations | The active physics representations that are known to the state. |
void SurgSim::Physics::PhysicsManagerState::setCollisionPairs | ( | std::vector< std::shared_ptr< SurgSim::Collision::CollisionPair >> | val | ) |
Sets collision pairs that should be considered, while this is not being verified the collision pairs should only be from the list of representations that are in this state.
val | The list of collision pairs. |
void SurgSim::Physics::PhysicsManagerState::setCollisionRepresentations | ( | const std::vector< std::shared_ptr< SurgSim::Collision::Representation >> & | val | ) |
Sets the collision representations for the state.
val | collection of all collision representations. |
void SurgSim::Physics::PhysicsManagerState::setConstraintComponents | ( | const std::vector< std::shared_ptr< ConstraintComponent >> & | val | ) |
Sets the list of constraint components.
val | collection of all constraint components |
void SurgSim::Physics::PhysicsManagerState::setConstraintGroup | ( | ConstraintGroupType | type, |
const std::vector< std::shared_ptr< Constraint >> & | constraints | ||
) |
Sets the group of constraints to a given value, the grouping indicates what type of constraint we are dealing with.
type | The type of constraint grouping e.g. Contact Constraints. |
constraints | The constraints. |
void SurgSim::Physics::PhysicsManagerState::setConstraintsMapping | ( | const MlcpMapping< Constraint > & | constraintsMapping | ) |
Set the constraints mapping.
constraintsMapping | The constraints mapping (mapping between the constraints and the mlcp) |
void SurgSim::Physics::PhysicsManagerState::setExcludedCollisionPairs | ( | const std::vector< std::shared_ptr< SurgSim::Collision::CollisionPair >> & | val | ) |
Sets the exclusion pairs.
val | The list of collision pairs to be excluded from collision. |
void SurgSim::Physics::PhysicsManagerState::setRepresentations | ( | const std::vector< std::shared_ptr< Representation >> & | val | ) |
Sets the physics representations for the state, these are the basis for all the computations.
val | The list of representations. |
void SurgSim::Physics::PhysicsManagerState::setRepresentationsMapping | ( | const MlcpMapping< Representation > & | representationsMapping | ) |
Set the representations mapping.
representationsMapping | The representations mapping (mapping between the representation and the mlcp) |
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The list of active constraints.
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The list of active representations.
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The local list of collision pairs.
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List of all the collision representations know to the state.
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Mapping of collision representations to their respective physics representation.
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List of the constraint components.
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The local map of constraints.
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Constraints mapping.
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List of collision pairs to be excluded.
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Mlcp problem for this Physics Manager State.
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Mlcp solution for this Physics Manager State.
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Local state data structures, please note that the physics state may get copied, these data structures should copy their contents on copy. With the caveat that objects contained within those structures might not get copied themselves. The local list of representations
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Representation mapping.