Classes
class	BaseArraySensor

class	BaseCameraSensor

class	BaseConfig

class	BaseGridIntersectionSensor

class	BaseNodeSensor

class	BasePolarIntersectionSensor

class	BaseSensor

struct	camera_sensor_config

struct	cameraStruct
	this struct seems to be used to get information about a camera which can be accessed through the sensor interface. More...

struct	contact_params

class	ControlCenter
	The declaration of the ControlCenter. More...

class	ControllerData

class	ControllerInterface
	The Interface to load controller dynamically into the simulation. More...

class	ControllerManagerInterface
	"ControllerManagerInterface" declares the interfaces for all controller operations that are used for the communication between the simulation modules. More...

struct	core_objects_exchange
	core_objects_exchange is a struct to exchange core objects information between the modules of the simulation. More...

struct	draw_item
	draw_item is a struct that is used to draw elements directly to the gui More...

class	DrawInterface
	The interface DrawInterface is used for updating draw_item structs via an update function. More...

struct	drawStruct
	drawStruct connects a vector of draw_item objects with their update interface DrawInterface More...

class	EntityManagerInterface

class	EntitySubscriberInterface
	The interface for notifying components of changes in simulation entities. More...

class	GraphicData

class	GraphicsCameraInterface

class	GraphicsEventClient

class	GraphicsEventInterface

class	GraphicsGuiInterface
	Interface for the osgWidget functionality. More...

class	GraphicsManagerInterface

class	GraphicsUpdateInterface
	The Interface to load controller dynamically into the simulation. More...

class	GraphicsWindowInterface

class	GuiEventInterface

struct	hudElementStruct

struct	indexMaps_t

class	JointData
	JointData is a class to exchange joint information between the simulation modules. More...

class	JointInterface

class	JointManagerInterface
	Interface class for the node organization. More...

struct	jointStruct
	jointStruct is a struct to exchange joint information between the GUI and the simulation More...

class	LightData
	LightData is a struct to exchange light information between the Dialog_Add_Light, the MainWindow and the osg widget. More...

class	LoadCenter

class	LoadHeightmapInterface

class	LoadMeshInterface

class	LoadSceneInterface

struct	local_settings

class	MarsGuiInterface
	Sets up the main gui of the simulation and handles various generic gui options. More...

class	MarsPluginTemplate

class	MarsPluginTemplateGUI

class	MaterialData
	MaterialData is a struct to exchange material information of nodes. More...

class	MotorData
	MotorData is a struct to exchange motor information between the GUI and the simulation. More...

class	MotorManagerInterface
	"MotorManagerInterface" declares the interfaces for all motor operations that are used for the communication between the simulation modules. More...

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

class	NodeInterface
	Interface class for the physical layer. More...

class	NodeManagerInterface
	"NodeManagerInterface" declares the interfaces for all NodeOperations that are used for the communication between the simulation modules. More...

struct	nodeState
	A physical state of the node. More...

class	PhysicsInterface

class	PluginInterface
	The interface to load plugin dynamically into the simulation. More...

struct	pluginStruct

class	SceneParseException

class	SensorInterface

class	SensorManagerInterface
	"SensorManagerInterface" declares the interfaces for all sensor operations that are used for the communication between the simulation modules. More...

class	SimulatorInterface

struct	snmesh

struct	terrainStruct
	terrainStruct is a struct to exchange height maps between the GUI and the simulation More...

Typedefs
typedef unsigned long	NodeId

typedef unsigned long	JointId

typedef unsigned long	MotorId

typedef double	sReal

typedef sReal	mydVector3[4]

typedef sReal	mydVector2[4]

typedef ControllerInterface *	create_controller(void)

typedef void	destroy_controller(ControllerInterface *)

typedef void *	pDestroyPlugin(PluginInterface *sp)

typedef PluginInterface *	create_plugin(ControlCenter *control)

Enumerations
enum	DrawType { DRAW_UNKNOWN = 0, DRAW_LINE, DRAW_POINT, DRAW_ARROW, DRAW_TEXT, DRAW_RECTANGLE, DRAW_HUD_RECT, DRAW_TRIANGLE_SET, DRAW_POINTS, DRAW_CIRCLE, DRAW_LINE_STRIP, DRAW_LINES, DRAW_LAST }

enum	NodeType { NODE_TYPE_UNDEFINED =0, NODE_TYPE_MESH, NODE_TYPE_BOX, NODE_TYPE_SPHERE, NODE_TYPE_CAPSULE, NODE_TYPE_CYLINDER, NODE_TYPE_PLANE, NODE_TYPE_TERRAIN, NODE_TYPE_REFERENCE, NODE_TYPE_EMPTY, NUMBER_OF_NODE_TYPES }

enum	JointType { JOINT_TYPE_UNDEFINED =0, JOINT_TYPE_HINGE, JOINT_TYPE_HINGE2, JOINT_TYPE_SLIDER, JOINT_TYPE_BALL, JOINT_TYPE_UNIVERSAL, JOINT_TYPE_FIXED, JOINT_TYPE_ISTRUCT_SPINE, NUMBER_OF_JOINT_TYPES }

enum	MotorType { MOTOR_TYPE_UNDEFINED =0, MOTOR_TYPE_POSITION, MOTOR_TYPE_VELOCITY, MOTOR_TYPE_EFFORT, MOTOR_TYPE_PID, MOTOR_TYPE_DC, MOTOR_TYPE_PID_FORCE }

enum	SensorType { SENSOR_TYPE_UNDEFINED =0, SENSOR_TYPE_TORQUE_AVG, SENSOR_TYPE_LOAD, SENSOR_TYPE_POSITION, SENSOR_TYPE_ROTATION, SENSOR_TYPE_GROUND_CONTACT, SENSOR_TYPE_GROUND_CONTACT_FORCE, SENSOR_TYPE_GROUND_CENTER_OF_GRAVITY, SENSOR_TYPE_JOINT_POSITION, SENSOR_TYPE_CAMERA, SENSOR_TYPE_VELOCITY, SENSOR_TYPE_RAY, SENSOR_TYPE_RAY_GRID, SENSOR_TYPE_ANGULAR_VELOCITY, SENSOR_TYPE_MOTOR_CURRENT, SENSOR_TYPE_6DOF, SENSOR_TYPE_TORQUE, SENSOR_TYPE_MOTOR_POSITION, SENSOR_TYPE_JOINT_VELOCITY, SENSOR_TYPE_RAY2D }

enum	LightType { OMNILIGHT =1, SPOTLIGHT }

enum	MaterialFaceType { FACE_NONE =0, FACE_FRONT, FACE_BACK, FACE_BOTH }

enum	Command { COMMAND_NODE_POSITION = 1, COMMAND_NODE_ROTATION, COMMAND_NODE_APPLY_FORCE, COMMAND_NODE_APPLY_FORCE_AT, COMMAND_NODE_CONTACT_MOTION1, COMMAND_PARAM_ADD, COMMAND_MOTOR_POSITION, COMMAND_NODE_RELOAD_EXTENT, COMMAND_NODE_RELOAD_POSITION, COMMAND_NODE_RELOAD_ANGLE, COMMAND_JOINT_RELOAD_OFFSET, COMMAND_JOINT_RELOAD_AXIS, COMMAND_PHYSICS_PARAMETER, COMMAND_SIM_QUIT, COMMAND_CONTACT_NODE_PARAMETER, COMMAND_NODE_VELOCITY, COMMAND_NODES_CONNECT, COMMAND_NODES_DISCONNECT, COMMAND_MOTOR_PID, COMMAND_NODE_ANGULAR_VELOCITY, COMMAND_NODE_RELOAD_FRICTION, COMMAND_NODE_ANGULAR_DAMPING, COMMAND_NODE_RELOAD_QUATERNION, COMMAND_JOINT_RELOAD_ANCHOR, COMMAND_PHYSICS_GRAVITY, COMMAND_MOTOR_MAX_VELOCITY }

enum	ParameterType { WS_HSLIDER =1, WS_VSLIDER, WS_EDIT, WS_CBUTTON }

enum	PluginMode { PLUGIN_NO_MODE =0, PLUGIN_SIM_MODE, PLUGIN_GUI_MODE }

enum	IDMapType { MAP_TYPE_UNDEFINED =0, MAP_TYPE_NODE, MAP_TYPE_JOINT, MAP_TYPE_MOTOR, MAP_TYPE_SENSOR, MAP_TYPE_CONTROLLER }

enum	EditNodeMask { EDIT_NODE_POS = 1, EDIT_NODE_ROT = 2, EDIT_NODE_SIZE = 4, EDIT_NODE_TYPE = 8, EDIT_NODE_MASS = 16, EDIT_NODE_NAME = 32, EDIT_NODE_MOVABLE = 64, EDIT_NODE_MOVE_ALL = 128, EDIT_NODE_MATERIAL = 256, EDIT_NODE_CONTACT = 512, EDIT_NODE_GROUP = 1024, EDIT_NODE_PHYSICS = 2048 }

enum	PreviewType { PREVIEW_CREATE = 1, PREVIEW_MOVE, PREVIEW_CLOSE, PREVIEW_EDIT, PREVIEW_COLOR }

enum	OpenMode { OPEN_INITIAL = 1, OPEN_ACTUAL, OPEN_RELATIVE }

enum	AnchorMode { ANCHOR_NODE1 = 1, ANCHOR_NODE2, ANCHOR_CENTER, ANCHOR_CUSTOM }

enum	ShaderType { SHADER_TYPE_FRAGMENT, SHADER_TYPE_GEOMETRY, SHADER_TYPE_VERTEX, SHADER_TYPE_FFP }

enum	PhysicsError { PHYSICS_NO_ERROR = 0, PHYSICS_DEBUG, PHYSICS_ERROR, PHYSICS_UNKNOWN }

Functions
void	ZERO_JOINT_STRUCT (jointStruct &a)

void	ZERO_NODE_STRUCT (NodeData &a)

void	destroy_plugin (PluginInterface *sp)

void	getAbsFromRel (const NodeData &node1, NodeData *node2)
	get the absolute position of a new node by its relative position More...

void	getRelFromAbs (const NodeData &node1, NodeData *node2)

const char *	getJointTypeString (JointType type)
	Return a string for the joint-type. More...

JointType	getJointType (const std::string &text)
	Helper function to get type-id from string in scene file. More...

Variables
const sReal	MARS_PI = 3.1415926535897932384626433832795

const sReal	MARS_PI2 = 6.283185307179586476925286766559

const sReal	DTR = 0.017453292519943295769236907685

const sReal	RTD = 57.295779513082320876798154814105

const unsigned int	COLLIDE_MASK_SENSOR = 32768

static const char *	sTypeNames [NUMBER_OF_NODE_TYPES]

static const char *	sJointTypeStrings [NUMBER_OF_JOINT_TYPES]

Typedef Documentation

◆ create_controller

typedef ControllerInterface* mars::interfaces::create_controller(void)

Definition at line 58 of file ControllerInterface.h.

◆ create_plugin

typedef PluginInterface* mars::interfaces::create_plugin(ControlCenter *control)

Definition at line 64 of file PluginInterface.h.

◆ destroy_controller

typedef void mars::interfaces::destroy_controller(ControllerInterface *)

Definition at line 59 of file ControllerInterface.h.

◆ JointId

typedef unsigned long mars::interfaces::JointId

Definition at line 46 of file MARSDefs.h.

◆ MotorId

typedef unsigned long mars::interfaces::MotorId

Definition at line 47 of file MARSDefs.h.

◆ mydVector2

typedef sReal mars::interfaces::mydVector2[4]

Definition at line 51 of file MARSDefs.h.

◆ mydVector3

typedef sReal mars::interfaces::mydVector3[4]

Definition at line 50 of file MARSDefs.h.

◆ NodeId

typedef unsigned long mars::interfaces::NodeId

Definition at line 45 of file MARSDefs.h.

◆ pDestroyPlugin

typedef void* mars::interfaces::pDestroyPlugin(PluginInterface *sp)

Definition at line 63 of file PluginInterface.h.

◆ sReal

typedef double mars::interfaces::sReal

Definition at line 49 of file MARSDefs.h.

Enumeration Type Documentation

◆ AnchorMode

enum mars::interfaces::AnchorMode

Enumerator
ANCHOR_NODE1
ANCHOR_NODE2
ANCHOR_CENTER
ANCHOR_CUSTOM

Definition at line 233 of file MARSDefs.h.

◆ Command

enum mars::interfaces::Command

Enumerator
COMMAND_NODE_POSITION
COMMAND_NODE_ROTATION
COMMAND_NODE_APPLY_FORCE
COMMAND_NODE_APPLY_FORCE_AT
COMMAND_NODE_CONTACT_MOTION1
COMMAND_PARAM_ADD
COMMAND_MOTOR_POSITION
COMMAND_NODE_RELOAD_EXTENT
COMMAND_NODE_RELOAD_POSITION
COMMAND_NODE_RELOAD_ANGLE
COMMAND_JOINT_RELOAD_OFFSET
COMMAND_JOINT_RELOAD_AXIS
COMMAND_PHYSICS_PARAMETER
COMMAND_SIM_QUIT
COMMAND_CONTACT_NODE_PARAMETER
COMMAND_NODE_VELOCITY
COMMAND_NODES_CONNECT
COMMAND_NODES_DISCONNECT
COMMAND_MOTOR_PID
COMMAND_NODE_ANGULAR_VELOCITY
COMMAND_NODE_RELOAD_FRICTION
COMMAND_NODE_ANGULAR_DAMPING
COMMAND_NODE_RELOAD_QUATERNION
COMMAND_JOINT_RELOAD_ANCHOR
COMMAND_PHYSICS_GRAVITY
COMMAND_MOTOR_MAX_VELOCITY

Definition at line 150 of file MARSDefs.h.

◆ DrawType

enum mars::interfaces::DrawType

Enumerator
DRAW_UNKNOWN
DRAW_LINE
DRAW_POINT
DRAW_ARROW
DRAW_TEXT
DRAW_RECTANGLE
DRAW_HUD_RECT
DRAW_TRIANGLE_SET
DRAW_POINTS
DRAW_CIRCLE
DRAW_LINE_STRIP
DRAW_LINES
DRAW_LAST

Definition at line 59 of file draw_structs.h.

◆ EditNodeMask

enum mars::interfaces::EditNodeMask

Enumerator
EDIT_NODE_POS
EDIT_NODE_ROT
EDIT_NODE_SIZE
EDIT_NODE_TYPE
EDIT_NODE_MASS
EDIT_NODE_NAME
EDIT_NODE_MOVABLE
EDIT_NODE_MOVE_ALL
EDIT_NODE_MATERIAL
EDIT_NODE_CONTACT
EDIT_NODE_GROUP
EDIT_NODE_PHYSICS

Definition at line 204 of file MARSDefs.h.

◆ IDMapType

enum mars::interfaces::IDMapType

Enumerator
MAP_TYPE_UNDEFINED
MAP_TYPE_NODE
MAP_TYPE_JOINT
MAP_TYPE_MOTOR
MAP_TYPE_SENSOR
MAP_TYPE_CONTROLLER

Definition at line 195 of file MARSDefs.h.

◆ JointType

enum mars::interfaces::JointType

Enumerator
JOINT_TYPE_UNDEFINED
JOINT_TYPE_HINGE
JOINT_TYPE_HINGE2
JOINT_TYPE_SLIDER
JOINT_TYPE_BALL
JOINT_TYPE_UNIVERSAL
JOINT_TYPE_FIXED
JOINT_TYPE_ISTRUCT_SPINE
NUMBER_OF_JOINT_TYPES

Definition at line 75 of file MARSDefs.h.

◆ LightType

enum mars::interfaces::LightType

Enumerator
OMNILIGHT
SPOTLIGHT

Definition at line 123 of file MARSDefs.h.

◆ MaterialFaceType

enum mars::interfaces::MaterialFaceType

Enumerator
FACE_NONE
FACE_FRONT
FACE_BACK
FACE_BOTH

Definition at line 129 of file MARSDefs.h.

◆ MotorType

enum mars::interfaces::MotorType

Enumerator
MOTOR_TYPE_UNDEFINED
MOTOR_TYPE_POSITION
MOTOR_TYPE_VELOCITY
MOTOR_TYPE_EFFORT
MOTOR_TYPE_PID
MOTOR_TYPE_DC
MOTOR_TYPE_PID_FORCE

Definition at line 88 of file MARSDefs.h.

◆ NodeType

enum mars::interfaces::NodeType

Enumerator
NODE_TYPE_UNDEFINED
NODE_TYPE_MESH
NODE_TYPE_BOX
NODE_TYPE_SPHERE
NODE_TYPE_CAPSULE
NODE_TYPE_CYLINDER
NODE_TYPE_PLANE
NODE_TYPE_TERRAIN
NODE_TYPE_REFERENCE
NODE_TYPE_EMPTY
NUMBER_OF_NODE_TYPES

Definition at line 60 of file MARSDefs.h.

◆ OpenMode

enum mars::interfaces::OpenMode

Enumerator
OPEN_INITIAL
OPEN_ACTUAL
OPEN_RELATIVE

Definition at line 227 of file MARSDefs.h.

◆ ParameterType

enum mars::interfaces::ParameterType

Enumerator
WS_HSLIDER
WS_VSLIDER
WS_EDIT
WS_CBUTTON

Definition at line 179 of file MARSDefs.h.

◆ PhysicsError

enum mars::interfaces::PhysicsError

Enumerator
PHYSICS_NO_ERROR
PHYSICS_DEBUG
PHYSICS_ERROR
PHYSICS_UNKNOWN

Definition at line 45 of file PhysicsInterface.h.

◆ PluginMode

enum mars::interfaces::PluginMode

Enumerator
PLUGIN_NO_MODE
PLUGIN_SIM_MODE
PLUGIN_GUI_MODE

Definition at line 186 of file MARSDefs.h.

◆ PreviewType

enum mars::interfaces::PreviewType

Enumerator
PREVIEW_CREATE
PREVIEW_MOVE
PREVIEW_CLOSE
PREVIEW_EDIT
PREVIEW_COLOR

Definition at line 219 of file MARSDefs.h.

◆ SensorType

enum mars::interfaces::SensorType

Enumerator
SENSOR_TYPE_UNDEFINED
SENSOR_TYPE_TORQUE_AVG
SENSOR_TYPE_LOAD
SENSOR_TYPE_POSITION
SENSOR_TYPE_ROTATION
SENSOR_TYPE_GROUND_CONTACT
SENSOR_TYPE_GROUND_CONTACT_FORCE
SENSOR_TYPE_GROUND_CENTER_OF_GRAVITY
SENSOR_TYPE_JOINT_POSITION
SENSOR_TYPE_CAMERA
SENSOR_TYPE_VELOCITY
SENSOR_TYPE_RAY
SENSOR_TYPE_RAY_GRID
SENSOR_TYPE_ANGULAR_VELOCITY
SENSOR_TYPE_MOTOR_CURRENT
SENSOR_TYPE_6DOF
SENSOR_TYPE_TORQUE
SENSOR_TYPE_MOTOR_POSITION
SENSOR_TYPE_JOINT_VELOCITY
SENSOR_TYPE_RAY2D

Definition at line 99 of file MARSDefs.h.

◆ ShaderType

enum mars::interfaces::ShaderType

Enumerator
SHADER_TYPE_FRAGMENT
SHADER_TYPE_GEOMETRY
SHADER_TYPE_VERTEX
SHADER_TYPE_FFP

Definition at line 240 of file MARSDefs.h.

Function Documentation

◆ destroy_plugin()

void mars::interfaces::destroy_plugin ( PluginInterface * sp )

◆ getAbsFromRel()

void mars::interfaces::getAbsFromRel	(	const NodeData &	node1,
		NodeData *	node2
	)

get the absolute position of a new node by its relative position

Definition at line 43 of file utils.cpp.

◆ getJointType()

JointType mars::interfaces::getJointType ( const std::string & text )

Helper function to get type-id from string in scene file.

Returns: the found id or JOINT_TYPE_UNDEFINED on error.

Definition at line 77 of file utils.cpp.

◆ getJointTypeString()

const char * mars::interfaces::getJointTypeString ( JointType type )

Return a string for the joint-type.

Returns: NULL on error.

Definition at line 65 of file utils.cpp.

◆ getRelFromAbs()

void mars::interfaces::getRelFromAbs	(	const NodeData &	node1,
		NodeData *	node2
	)

Definition at line 48 of file utils.cpp.

◆ ZERO_JOINT_STRUCT()

void mars::interfaces::ZERO_JOINT_STRUCT ( jointStruct & a )

inline

Definition at line 104 of file jointStruct.h.

◆ ZERO_NODE_STRUCT()

void mars::interfaces::ZERO_NODE_STRUCT ( NodeData & a )

inline

Definition at line 387 of file NodeData.h.

Variable Documentation

◆ COLLIDE_MASK_SENSOR

const unsigned int mars::interfaces::COLLIDE_MASK_SENSOR = 32768

Definition at line 193 of file MARSDefs.h.

◆ DTR

const sReal mars::interfaces::DTR = 0.017453292519943295769236907685

Definition at line 56 of file MARSDefs.h.

◆ MARS_PI

const sReal mars::interfaces::MARS_PI = 3.1415926535897932384626433832795

Definition at line 53 of file MARSDefs.h.

◆ MARS_PI2

const sReal mars::interfaces::MARS_PI2 = 6.283185307179586476925286766559

Definition at line 54 of file MARSDefs.h.

◆ RTD

const sReal mars::interfaces::RTD = 57.295779513082320876798154814105

Definition at line 57 of file MARSDefs.h.

◆ sJointTypeStrings

const char* mars::interfaces::sJointTypeStrings[NUMBER_OF_JOINT_TYPES]

static

Initial value:

= {
      "undefined",
      "hinge",
      "hinge2",
      "slider",
      "ball",
      "universal",
      "fixed",
      "istruct-spine"
    }

Definition at line 54 of file utils.cpp.

◆ sTypeNames

const char* mars::interfaces::sTypeNames[NUMBER_OF_NODE_TYPES]