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| tgBox (btRigidBody *pRigidBody, const tgTags &tags, const double length) |
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virtual | ~tgBox () |
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virtual void | teardown () |
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virtual void | onVisit (const tgModelVisitor &v) const |
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double | length () const |
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virtual double | mass () const |
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virtual btVector3 | centerOfMass () const |
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virtual btRigidBody * | getPRigidBody () |
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virtual btVector3 | orientation () const |
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virtual void | setup (tgWorld &world) |
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virtual void | step (double dt) |
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void | addChild (tgModel *pChild) |
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virtual std::string | toString (std::string prefix="") const |
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template<typename T > |
std::vector< T * > | find (const tgTagSearch &tagSearch) |
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template<typename T > |
std::vector< T * > | find (const std::string &tagSearch) |
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std::vector< tgModel * > | getDescendants () const |
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const std::vector
< abstractMarker > & | getMarkers () const |
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void | addMarker (abstractMarker a) |
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void | addTags (const std::string &space_separated_tags) |
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void | addTags (const tgTags &tags) |
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bool | hasTag (const std::string tag) const |
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bool | hasAllTags (std::string tags) |
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bool | hasAnyTags (const std::string tags) |
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bool | hasNoTags () |
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tgTags & | getTags () |
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const tgTags & | getTags () const |
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void | setTags (tgTags tags) |
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std::string | getTagStr (std::string delim=" ") const |
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A rod is a rigid body. Length is defined by nodes, width, height and density are defined by config.
Definition at line 43 of file tgBox.h.
void tgModel::setup |
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tgWorld & |
world | ) |
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virtualinherited |
Setup takes a tgWorld and passes it to any children for their own setup functions. All subclasses should call this at the appropriate time (usually end of setup) within their own setup function.
- Parameters
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[in] | world | - the tgWorld the models will exist in. |
Reimplemented in tgSpringCableActuator, tgKinematicActuator, DuCTTTestModel, NestedBoxTestModel, NestedStructureTestModel, VerticalSpineModel, tgPrismatic, T6Model, tgCraterDeep, Wall, pidTestRig, CraterDeep, PrismModel, MuscleNPCons, tgCraterShallow, SuperBallModel, tsTestRig, Crater, PrismModel, T6Model, T12SuperBallPayload, CaterpillarModel, T6SphereModel, T6Model, T6Model, Escape_T6Model, EscapeModel, SingleRibModel, SingleRibModel, T6Model, hillyMuscleNP, simpleMuscleNP, Hilbert2DModel, tgBasicActuator, ContactTestModel, RBStringTest, TetraSpineStaticModel_hf, BaseSpineModelLearning, StructureTestModel, TetraSpineCollisions, TetraSpineStaticModel, ConnectorTestModel, TetraSpineLearningModel, BuildTestModel, FlemonsSpineModelContact, FlemonsSpineModelLearningCL, FlemonsSpineModelLearning, and RibModel.
Definition at line 57 of file tgModel.cpp.
void tgModel::step |
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double |
dt | ) |
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virtualinherited |
Advance the simulation.
- Parameters
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[in] | dt | the number of seconds since the previous call; std::invalid_argument is thrown if dt is not positive |
- Exceptions
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std::invalid_argument | if dt is not positive |
- Note
- This is not necessarily const for every child.
Reimplemented in tgSpringCableActuator, NestedStructureTestModel, ConnectorTestModel, BuildTestModel, ContactTestModel, tgKinematicActuator, StructureTestModel, DuCTTTestModel, T6Model, pidTestRig, PrismModel, NestedBoxTestModel, NestedStructureTestModel, SuperBallModel, tsTestRig, PrismModel, MuscleNPCons, T6Model, T12SuperBallPayload, CaterpillarModel, T6SphereModel, T6Model, T6Model, VerticalSpineModel, Escape_T6Model, EscapeModel, T6Model, tgCraterDeep, tgBasicActuator, Wall, CraterDeep, tgPrismatic, hillyMuscleNP, simpleMuscleNP, tgCraterShallow, Crater, RBStringTest, TetraSpineStaticModel_hf, BaseSpineModelLearning, TetraSpineCollisions, TetraSpineStaticModel, TetraSpineLearningModel, FlemonsSpineModelContact, FlemonsSpineModelLearningCL, FlemonsSpineModelLearning, and RibModel.
Definition at line 84 of file tgModel.cpp.