Inheritance diagram for tgSimView:

Collaboration diagram for tgSimView:

Public Member Functions
	tgSimView (tgWorld &world, double stepSize=1.0/1000.0, double renderRate=1.0/60.0)

tgWorld &	world ()

virtual void	setup ()

virtual void	teardown ()

virtual void	run ()

virtual void	run (int steps)

virtual void	render () const

virtual void	render (const tgModelVisitor &r) const

virtual void	reset ()

void	setRenderRate (double renderRate)

double	getRenderRate () const

void	setStepSize (double stepSize)

double	getStepSize () const

Protected Member Functions
void	bindToSimulation (tgSimulation &simulation)

void	releaseFromSimulation ()

void	bindToWorld (tgWorld &world)

bool	isInitialzed () const

Protected Attributes
tgSimulation *	m_pSimulation

tgModelVisitor *	m_pModelVisitor

double	m_stepSize

double	m_renderRate

double	m_renderTime

Friends
class	tgSimulation

Detailed Description

Definition at line 34 of file tgSimView.h.

Constructor & Destructor Documentation

tgSimView::tgSimView	(	tgWorld &	world,
		double	stepSize = `1.0/1000.0`,
		double	renderRate = `1.0/60.0`
	)

The only constructor..

Parameters

[in]	world	a reference to the tgWorld being simulated.
[in]	stepSize	the time interval for advancing the simulation; std::invalid_argument is thrown if not positive
[in]	renderRate	the time interval for updating the graphics; std::invalid_argument is thrown if less than stepSize

Exceptions

std::invalid_argument if stepSize is not positive or renderRate is less than stepSize

Definition at line 36 of file tgSimView.cpp.

Member Function Documentation

void tgSimView::bindToSimulation ( tgSimulation & simulation )

protected

Called by a constructor of friend class tgSimulation when an instance of this class is passed as argument to the constructor. Cache a back pointer to the tgSimulation

Parameters

[in,out] simulation a reference to the tgSimulation being constructed

Exceptions

std::invalid_argument if the tgSimView already has a back pointer.

Definition at line 77 of file tgSimView.cpp.

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void tgSimView::bindToWorld ( tgWorld & world )

protected

When bound to a tgSimulation, a tgWorld becomes available for the first time.

Parameters

[in,out] world a reference to a newly-available tgWorld

Definition at line 105 of file tgSimView.cpp.

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double tgSimView::getRenderRate ( ) const

inline

Return the interval in seconds at which the graphics are rendered.

Returns: the interval in seconds at which the graphics are rendered

Definition at line 118 of file tgSimView.h.

double tgSimView::getStepSize ( ) const

inline

Return the interval in seconds at which the graphics are rendered.

Returns: the interval in seconds at which the graphics are rendered

Definition at line 133 of file tgSimView.h.

bool tgSimView::isInitialzed ( ) const

inlineprotected

Todo:: Get rid of this. May only be possible once we're no longer using GLUT

Definition at line 162 of file tgSimView.h.

void tgSimView::releaseFromSimulation ( )

protected

Called by the destructor of friend class tgSimulation. Assure that m_pView has a NULL back pointer to its tgSimulation. This allows the tgSimView to be re-used.

Definition at line 96 of file tgSimView.cpp.

void tgSimView::render ( ) const

virtual

Send the tgModelVisitor to the simulation

Definition at line 161 of file tgSimView.cpp.

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void tgSimView::render ( const tgModelVisitor & r ) const

virtual

Send the tgModelVisitor that was passed in to the simulation

Definition at line 170 of file tgSimView.cpp.

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void tgSimView::reset ( )

virtual

Resets the simulation using simulation->reset() the simulation will call setup and teardown on this as appropreate

Reimplemented in tgSimViewGraphics.

Definition at line 179 of file tgSimView.cpp.

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void tgSimView::run ( )

virtual

Run until stopped by user

Reimplemented in tgSimViewGraphics.

Definition at line 132 of file tgSimView.cpp.

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void tgSimView::run ( int steps )

virtual

Run for a specific number of steps

Reimplemented in tgSimViewGraphics.

Definition at line 138 of file tgSimView.cpp.

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void tgSimView::setRenderRate ( double renderRate )

Set the interval in seconds at which the graphics are to be rendered. It is set to the minimum of the renderRate argument and the current step size.

Parameters

[in] renderRate the interval in seconds at which the graphics are to be rendered

Definition at line 188 of file tgSimView.cpp.

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void tgSimView::setStepSize ( double stepSize )

Set the interval in seconds at which the simulation is advanced. The render rate is adjusted to be no less than stepSize.

Parameters

[in] stepSize the interval in seconds at which the simulation is advanced; std::invalid_argument is thrown if stepSize is not positive

Exceptions

std::invalid_argument if stepSize is not positive

Definition at line 196 of file tgSimView.cpp.

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void tgSimView::setup ( )

virtual

Sets m_initialized to true. Proxy for higher level functions in tgSimViewGraphics

Reimplemented in tgSimViewGraphics.

Definition at line 109 of file tgSimView.cpp.

void tgSimView::teardown ( )

virtual

Sets m_initialized to false. Proxy for higher level functions in tgSimViewGraphics

Reimplemented in tgSimViewGraphics.

Definition at line 121 of file tgSimView.cpp.

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tgWorld& tgSimView::world ( )

inline

Return a reference to the tgWorld being simulated.

Returns: a reference to the tgWorld being simulated

Definition at line 65 of file tgSimView.h.

Friends And Related Function Documentation

friend class tgSimulation

friend

Allow tgSimulation to set tgSimView::m_pSimulation to be a back pointer to itself when the tgSimView is passed to the tgSimulation.

Definition at line 41 of file tgSimView.h.

Member Data Documentation

tgModelVisitor* tgSimView::m_pModelVisitor

protected

An object that knows how to visit the various models for rendering or data logging.

Note: This is a pointer to avoid #including the header file.

Definition at line 179 of file tgSimView.h.

tgSimulation* tgSimView::m_pSimulation

protected

A back pointer to the simulation that owns this view. Made protected to allow tgSimulatorWithGraphics to inherit it. The constructor initializes it to NULL and it becomes non-NULL when added to a simulation.

Definition at line 172 of file tgSimView.h.

double tgSimView::m_renderRate

protected

The interval in seconds at which the graphics are rendered. It must be be greater than or equal to m_stepSize. Note that Bullet is set to render at 60 hz (60 fps), so changing this from 60 may cause the simulation to run faster or slower than real time.

Todo:: See about maintaining real time simulation with a different rendering rate

Definition at line 199 of file tgSimView.h.

double tgSimView::m_renderTime

protected

The time in seconds when the next render should be. It must be non-negative.

Definition at line 205 of file tgSimView.h.

double tgSimView::m_stepSize

protected

The interval in seconds at which the simulation is advanced. It must be positive and it must be less than or equal to m_renderRate. Typically between 1/1000 and 1/4000 will run close to real time. Slower simulations will run faster but be less accurate.

Definition at line 188 of file tgSimView.h.

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

core/tgSimView.h
core/tgSimView.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation