NodeData is a struct to exchange node information between the GUI and the simulation. More...

#include <NodeData.h>

Public Member Functions
void	init (const std::string &name=std::string(), const utils::Vector &position=utils::Vector::Zero(), const utils::Quaternion &orientation=utils::Quaternion::Identity())
	initialization is not done in the constructor directly to keep backwards compatibility with the NEW_NODE_STRUCT macro. More...

	NodeData (const std::string &name=std::string(), const utils::Vector &position=utils::Vector::Zero(), const utils::Quaternion &orientation=utils::Quaternion::Identity())
	default constructor that takes name, position and orientation arguments More...

void	initPrimitive (NodeType type, const utils::Vector &extents, sReal mass)
	initialize the nodestruct for a primitive type More...

bool	fromConfigMap (configmaps::ConfigMap config, std::string filenamePrefix, LoadCenter loadCenter=0)

void	toConfigMap (configmaps::ConfigMap *config, bool skipFilenamePrefix=false, bool exportDefault=false)

void	getFilesToSave (std::vector< std::string > *fileList)

Static Public Member Functions
static const char *	toString (const NodeType &type)

static NodeType	typeFromString (const std::string &str)

Public Attributes
std::string	name
	The name of the node. More...

std::string	origName
	The original object name; needed for importing objects from files (like wavefront object files). More...

std::string	filename
	The filename of the node to load the visual representation from. More...

int	groupID
	Several nodes can be grouped by setting the same `groupID`. More...

unsigned long	index
	The unique index of the node. More...

NodeType	physicMode
	This value holds the physical representation of a node. More...

utils::Vector	pos
	The position of the node. More...

utils::Vector	pivot
	The pivot point is set automatically by importing objects. More...

utils::Quaternion	rot
	This quaternion describes the orientation of the node. More...

bool	movable
	This boolean variable defines if the physical representation is fixed in the world or if it's a movable body. More...

bool	noPhysical
	This boolean variable defines if the node have a physical representation or if it's only part of the visualisation. More...

sReal	density
	Physical density of the node. More...

sReal	mass
	Physical mass of the node. More...

utils::Vector	ext
	The size of the node. More...

snmesh	mesh
	The mesh struct stores the poly information for a physical representation of a mesh. More...

MaterialData	material
	The material struct defines the visual material of the node. More...

std::map< ShaderType, std::string >	shaderSources
	Allows to explicitly set shader stages. More...

unsigned long	relative_id
	Currently the position of a node can be set relative to the position of the node with the id equal to the value of relative_id. More...

terrainStruct *	terrain
	If the physicMode is set to NODE_TYPE_TERRAIN, this pointer stores all information to create a physical representation of a height map. More...

utils::Vector	visual_offset_pos
	The visual representation of a node can have a different position as the physical representation. More...

utils::Quaternion	visual_offset_rot
	In the same way as the visual_offset_pos, this quaternion can be used to differentiate the orientation of the visual representation from the physical one. More...

utils::Vector	visual_size
	This vector is used to define the size of the bounding box of the visual representation of a node. More...

utils::Vector	visual_scale
	This vector is used to scale the bounding box of the visual representation of a node. More...

contact_params	c_params
	The contact params define the physical contact properties of the node. More...

bool	inertia_set
	Generally the inertia of the physical body is calculated by the physicMode and the mass of a node. More...

sReal	inertia [3][3]
	If the boolean NodeData::inertia_set is `true`, this array is used to define the inertia of the physical body of this node. More...

sReal	linear_damping
	This value defines a scalar that is multiplied to the linear velocity of the body in every timestep if the value is unequal 0.0. More...

sReal	angular_damping
	This value defines a scalar that is multiplied to the angular velocity of the body in every timestep if the value is unequal 0.0. More...

sReal	angular_treshold

sReal	angular_low

int	shadow_id

bool	isShadowCaster

bool	isShadowReceiver

NodeId	graphicsID1

NodeId	graphicsID2

configmaps::ConfigMap	map
	If the data is created from a ConfigMap map the original map is stored here. More...

Detailed Description

NodeData is a struct to exchange node information between the GUI and the simulation.

Example:
The following example code defines a box with a size of 1x1x1 meter, a density of 1 (default) and a mass of 0.5, and a position at (0.0, 0.0, 1.0).

Definition at line 52 of file NodeData.h.

Constructor & Destructor Documentation

◆ NodeData()

mars::interfaces::NodeData::NodeData	(	const std::string &	name = `std::string()`,
		const utils::Vector &	position = `utils::Vector::Zero()`,
		const utils::Quaternion &	orientation = `utils::Quaternion::Identity()`
	)

inlineexplicit

default constructor that takes name, position and orientation arguments

Definition at line 103 of file NodeData.h.

Member Function Documentation

◆ fromConfigMap()

bool mars::interfaces::NodeData::fromConfigMap	(	configmaps::ConfigMap *	config,
		std::string	filenamePrefix,
		LoadCenter *	loadCenter = `0`
	)

Definition at line 98 of file NodeData.cpp.

◆ getFilesToSave()

void mars::interfaces::NodeData::getFilesToSave ( std::vector< std::string > * fileList )

Definition at line 375 of file NodeData.cpp.

◆ init()

void mars::interfaces::NodeData::init	(	const std::string &	name = `std::string()`,
		const utils::Vector &	position = `utils::Vector::Zero()`,
		const utils::Quaternion &	orientation = `utils::Quaternion::Identity()`
	)

inline

initialization is not done in the constructor directly to keep backwards compatibility with the NEW_NODE_STRUCT macro.

Definition at line 58 of file NodeData.h.

◆ initPrimitive()

void mars::interfaces::NodeData::initPrimitive	(	NodeType	type,
		const utils::Vector &	extents,
		sReal	mass
	)

inline

initialize the nodestruct for a primitive type

only updates the fields relevant to the primitive type, and leaves the rest as it is.

Parameters

type	the type of node (e.g. box, sphere, etc)
extents	extents of the object
mass	the mass of the object

Definition at line 123 of file NodeData.h.

◆ toConfigMap()

void mars::interfaces::NodeData::toConfigMap	(	configmaps::ConfigMap *	config,
		bool	skipFilenamePrefix = `false`,
		bool	exportDefault = `false`
	)

Definition at line 284 of file NodeData.cpp.

◆ toString()

const char * mars::interfaces::NodeData::toString ( const NodeType & type )

static

Definition at line 71 of file NodeData.cpp.

◆ typeFromString()

NodeType mars::interfaces::NodeData::typeFromString ( const std::string & str )

static

Definition at line 81 of file NodeData.cpp.

Member Data Documentation

◆ angular_damping

sReal mars::interfaces::NodeData::angular_damping

This value defines a scalar that is multiplied to the angular velocity of the body in every timestep if the value is unequal 0.0.

Default value: 0.0

Definition at line 372 of file NodeData.h.

◆ angular_low

sReal mars::interfaces::NodeData::angular_low

Definition at line 374 of file NodeData.h.

◆ angular_treshold

sReal mars::interfaces::NodeData::angular_treshold

Definition at line 373 of file NodeData.h.

◆ c_params

contact_params mars::interfaces::NodeData::c_params

The contact params define the physical contact properties of the node.

The default created contact parameters can be used for a standard stable contact behaviour of the simulation. See contact_params for detailed information.

Default value: see contact_params

See also: contact_params

Definition at line 338 of file NodeData.h.

◆ density

sReal mars::interfaces::NodeData::density

Physical density of the node.

Default value: 1.0

Definition at line 225 of file NodeData.h.

◆ ext

utils::Vector mars::interfaces::NodeData::ext

The size of the node.

The ext vector is interpreted depending of the physicMode of the node:

mesh: ext defines the bounding box of the mesh
box: ext defines the size in x, y, and z
sphere: ext.x defines the radius
capsule: ext.x defines the radius and ext.y the length
cylinder: ext.x defines the radius and ext.y the length
plane: the plane is always infinite in x and y (ext is not used)
terrain: ext is not used, the size of the terrain is defined in the terrainStruct

Default value: (0.0, 0.0, 0.0)

Definition at line 247 of file NodeData.h.

◆ filename

std::string mars::interfaces::NodeData::filename

The filename of the node to load the visual representation from.

If no file is used the filename have to be set to PRIMITIVE and the origName have to be a number indicating the type of primitive to visualize.

Default value: "PRIMITIVE"

Definition at line 159 of file NodeData.h.

◆ graphicsID1

NodeId mars::interfaces::NodeData::graphicsID1

Definition at line 379 of file NodeData.h.

◆ graphicsID2

NodeId mars::interfaces::NodeData::graphicsID2

Definition at line 379 of file NodeData.h.

◆ groupID

int mars::interfaces::NodeData::groupID

Several nodes can be grouped by setting the same groupID.

If the node is not in a group the id have to be 0.

Default value: 0

Definition at line 166 of file NodeData.h.

◆ index

unsigned long mars::interfaces::NodeData::index

The unique index of the node.

This value is set by the simulation while adding a new node.

Default value: 0

Definition at line 172 of file NodeData.h.

◆ inertia

sReal mars::interfaces::NodeData::inertia[3][3]

If the boolean NodeData::inertia_set is true, this array is used to define the inertia of the physical body of this node.

Default value: (0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
0.0, 0.0, 0.0)

Definition at line 358 of file NodeData.h.

◆ inertia_set

bool mars::interfaces::NodeData::inertia_set

Generally the inertia of the physical body is calculated by the physicMode and the mass of a node.

In case of a mesh the inertia is calculated for a box with the size given by NodeData::extent. If this boolean is set to true, the inertia array (NodeData::inertia) is used instead.

Default value: false

Definition at line 347 of file NodeData.h.

◆ isShadowCaster

bool mars::interfaces::NodeData::isShadowCaster

Definition at line 377 of file NodeData.h.

◆ isShadowReceiver

bool mars::interfaces::NodeData::isShadowReceiver

Definition at line 378 of file NodeData.h.

◆ linear_damping

sReal mars::interfaces::NodeData::linear_damping

This value defines a scalar that is multiplied to the linear velocity of the body in every timestep if the value is unequal 0.0.

Default value: 0.0

Definition at line 365 of file NodeData.h.

◆ map

configmaps::ConfigMap mars::interfaces::NodeData::map

If the data is created from a ConfigMap map the original map is stored here.

Definition at line 384 of file NodeData.h.

◆ mass

sReal mars::interfaces::NodeData::mass

Physical mass of the node.

This value is ignored as long as the above density is not 0.0.

Default value: 0.0

Definition at line 231 of file NodeData.h.

◆ material

MaterialData mars::interfaces::NodeData::material

The material struct defines the visual material of the node.

Default value: see maerialStruct

See also: MaterialData

Definition at line 262 of file NodeData.h.

◆ mesh

snmesh mars::interfaces::NodeData::mesh

The mesh struct stores the poly information for a physical representation of a mesh.

This struct is automatically derived from the visual node by the simulation if the physicMode is set to NODE_TYPE_MESH.

Default value: see snmesh

See also: snmesh

Definition at line 255 of file NodeData.h.

◆ movable

bool mars::interfaces::NodeData::movable

This boolean variable defines if the physical representation is fixed in the world or if it's a movable body.

Default value: false

Definition at line 212 of file NodeData.h.

◆ name

std::string mars::interfaces::NodeData::name

The name of the node.

Default value: ""

Definition at line 143 of file NodeData.h.

◆ noPhysical

bool mars::interfaces::NodeData::noPhysical

This boolean variable defines if the node have a physical representation or if it's only part of the visualisation.

If the value is true no physical representation will be created for the node.

Default value: false

Definition at line 220 of file NodeData.h.

◆ origName

std::string mars::interfaces::NodeData::origName

The original object name; needed for importing objects from files (like wavefront object files).

This string stores also the type of a primitive if the node don't have have a file to load the visual representation from.

Default value: ""

Definition at line 151 of file NodeData.h.

◆ physicMode

NodeType mars::interfaces::NodeData::physicMode

This value holds the physical representation of a node.

Valid values are:

NODE_TYPE_MESH
NODE_TYPE_BOX
NODE_TYPE_SPHERE
NODE_TYPE_CAPSULE
NODE_TYPE_CYLINDER
NODE_TYPE_PLANE
NODE_TYPE_TERRAIN

Default value: NODE_TYPE_UNDEFINED

Definition at line 186 of file NodeData.h.

◆ pivot

utils::Vector mars::interfaces::NodeData::pivot

The pivot point is set automatically by importing objects.

Default value: (0.0, 0.0, 0.0)

Definition at line 198 of file NodeData.h.

◆ pos

utils::Vector mars::interfaces::NodeData::pos

The position of the node.

Default value: (0.0, 0.0, 0.0)

Definition at line 192 of file NodeData.h.

◆ relative_id

unsigned long mars::interfaces::NodeData::relative_id

Currently the position of a node can be set relative to the position of the node with the id equal to the value of relative_id.

If the node has its own position the value of relative_id have to be 0.

Default value: 0

Definition at line 288 of file NodeData.h.

◆ rot

utils::Quaternion mars::interfaces::NodeData::rot

This quaternion describes the orientation of the node.

Default value: (0.0, 0.0, 0.0, 1.0)

See also: Quaternion

Definition at line 205 of file NodeData.h.

◆ shaderSources

std::map<ShaderType, std::string> mars::interfaces::NodeData::shaderSources

Allows to explicitly set shader stages.

Shaders are programs running on the GPU, written in GLSL. OpenGL uses a rendering pipeline, some pipeline stages are programmable. OpenGL<3.0 provides a fixed function pipeline with some bloated, all containing, shader stages. With this list you have some influence on the programmable part of the pipeline.

If the map is empty, all shaders will be generated. If there is a item with ShaderType=SHADER_TYPE_FFP in the map, fixed function pipeline will be used. Else each item in the list defines a shader stage.

Default value: empty list

Definition at line 280 of file NodeData.h.

◆ shadow_id

int mars::interfaces::NodeData::shadow_id

Definition at line 375 of file NodeData.h.

◆ terrain

terrainStruct* mars::interfaces::NodeData::terrain

If the physicMode is set to NODE_TYPE_TERRAIN, this pointer stores all information to create a physical representation of a height map.

Default value: 0

See also: terrainStruct

Definition at line 297 of file NodeData.h.

◆ visual_offset_pos

utils::Vector mars::interfaces::NodeData::visual_offset_pos

The visual representation of a node can have a different position as the physical representation.

This vector defines a relative direction and distance to the physical position of the node.

Default value: (0.0, 0.0, 0.0)

Definition at line 305 of file NodeData.h.

◆ visual_offset_rot

utils::Quaternion mars::interfaces::NodeData::visual_offset_rot

In the same way as the visual_offset_pos, this quaternion can be used to differentiate the orientation of the visual representation from the physical one.

Default value: (0.0, 0.0, 0.0, 1.0)

See also: NodeData::visual_offset_pos

Definition at line 313 of file NodeData.h.

◆ visual_scale

utils::Vector mars::interfaces::NodeData::visual_scale

This vector is used to scale the bounding box of the visual representation of a node.

Default value: (1.0, 1.0, 1.0)

Definition at line 329 of file NodeData.h.

◆ visual_size

utils::Vector mars::interfaces::NodeData::visual_size

This vector is used to define the size of the bounding box of the visual representation of a node.

The visual object is scaled to fit into it's bounding box and can be set independently of the physical extent. If the vector is zero the original size of the loaded mesh is used.

Default value: (0.0, 0.0, 0.0)

Definition at line 322 of file NodeData.h.

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

/Developer/bob-learning-dev/simulation/mars/interfaces/src/NodeData.h
/Developer/bob-learning-dev/simulation/mars/interfaces/src/NodeData.cpp

Public Member Functions

Static Public Member Functions

Public Attributes