tgSimViewGraphics Class Reference

Inheritance diagram for tgSimViewGraphics:

Collaboration diagram for tgSimViewGraphics:

Public Member Functions
	tgSimViewGraphics (tgWorld &world, double stepSize=1.0/120.0, double renderRate=1.0/60.0)
void	run ()
void	setup ()
void	teardown ()
void	render ()
virtual void	run (int steps)
void	reset ()
void	initPhysics ()
void	exitPhysics ()
virtual void	clientMoveAndDisplay ()
virtual void	displayCallback ()
virtual void	clientResetScene ()
tgWorld &	world ()
virtual void	render () const
virtual void	render (const tgModelVisitor &r) const
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

Detailed Description

Definition at line 53 of file tgSimViewGraphics.h.

Constructor & Destructor Documentation

tgSimViewGraphics::tgSimViewGraphics	(	tgWorld &	world,
		double	stepSize = 1.0/120.0,
		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

Todo:

figure out a good time to delete this

Definition at line 36 of file tgSimViewGraphics.cpp.

Member Function Documentation

void tgSimView::bindToSimulation ( tgSimulation &  simulation )

protectedinherited

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 )

protectedinherited

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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void tgSimViewGraphics::clientMoveAndDisplay ( )

virtual

Requried by tgDemoApplication. Handles Rendering

Definition at line 140 of file tgSimViewGraphics.cpp.

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void tgSimViewGraphics::clientResetScene ( )

virtual

Called when the space bar is pressed. Calls reset, then updates the pointers to the world and glDebugDrawer

Definition at line 175 of file tgSimViewGraphics.cpp.

void tgSimViewGraphics::displayCallback ( )

virtual

Contains a smaller set of rendering functions than clientMoveAndDisplay

Definition at line 159 of file tgSimViewGraphics.cpp.

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double tgSimView::getRenderRate ( ) const

inlineinherited

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

inlineinherited

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

inlineprotectedinherited

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 ( )

protectedinherited

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

virtualinherited

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

virtualinherited

Send the tgModelVisitor that was passed in to the simulation

Definition at line 170 of file tgSimView.cpp.

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void tgSimViewGraphics::render

(

)

Clears the openGL buffer and dispatches a tgBulletRenderer to the world

Definition at line 85 of file tgSimViewGraphics.cpp.

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void tgSimViewGraphics::reset ( )

virtual

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

Reimplemented from tgSimView.

Definition at line 133 of file tgSimViewGraphics.cpp.

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void tgSimViewGraphics::run ( )

inlinevirtual

Run until user stops - currently the same as run(steps) due to use of GLUT

Reimplemented from tgSimView.

Definition at line 79 of file tgSimViewGraphics.h.

void tgSimViewGraphics::run ( int  steps )

virtual

Run for a specified number of steps. Currently performs the role of run() at this level

Todo:

doesn't work until FreeGLUT or another rendering engine is implemented

Reimplemented from tgSimView.

Definition at line 104 of file tgSimViewGraphics.cpp.

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void tgSimView::setRenderRate ( double  renderRate )

inherited

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 )

inherited

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 tgSimViewGraphics::setup ( )

virtual

Gives us a pointer to the world, sets up the debug drawer for the dynamics world and sets up a new tgBulletRenderer

Todo:

Can this pointer become invalid if a reset occurs?

Reimplemented from tgSimView.

Definition at line 56 of file tgSimViewGraphics.cpp.

void tgSimViewGraphics::teardown ( )

virtual

Nullifies the pointer to the dynamics world, calls tgSimView::teardown()

Reimplemented from tgSimView.

Definition at line 78 of file tgSimViewGraphics.cpp.

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tgWorld& tgSimView::world ( )

inlineinherited

Return a reference to the tgWorld being simulated.

Returns

a reference to the tgWorld being simulated

Definition at line 65 of file tgSimView.h.

Member Data Documentation

tgModelVisitor* tgSimView::m_pModelVisitor

protectedinherited

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

protectedinherited

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

protectedinherited

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

protectedinherited

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

protectedinherited

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.

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

• core/tgSimViewGraphics.h
• core/tgSimViewGraphics.cpp