class terrainModel

Class for managing terrain and locomotor module objects.

Inheritance:

Public Fields

dynoContactor* dc

The dynoContactor being used for computing contacts

terrainMaterial* defaultSoil

default soil material

terrainMaterial* defaultRock

default rock material

double tol

Tolerance used by dc

char terrainFilename[200]

The filename containing terrain polyhedra

ptrList terrainRecs

A list of objects that are part of the terrain

int checkLinkCollisions

Indicates whether DYNO_CHECK_LINK_COLLISIONS should be set when adding locomotorModules to dynoContactor.

Public Methods

int addTerrainFromFile(const char* fname, terrainMaterial* m = NULL)

Reads terrain objects from a file, in the format used by daReadObstacles()

int addTerrainShape(mpoly* mp, double muS, double muD, terrainMaterial* m = NULL)

Adds an mpoly to the terrain

int removeTerrainShape(mpoly* mp)

Removes an mpoly from the terrain

int clearTerrain(void)

Removes all terrain objects

inline cdPolyhedronObstacle* getTerrainObj(int i)

Returns the cdPolyhedonObstacle corresponding to the i'th terrain object

inline cdRecord* getTerrainRec(int i)

Returns the cdRecord for the i'th terrain object

Inherited from d2kComponent:

Public Fields

d2kSimulator* sim

configuration* cfg

const char* label

int active

Public Methods

virtual int minCfgs(void) const

virtual int maxCfgs(void) const

virtual const char* getCfgName(int i)

virtual int readParams(paramParser* parser)

virtual int setVariables(const ptrList* taskParamRecs)

virtual int simInit(d2kSimulator* Sim)

virtual int init(ptrList* Cfgs)

virtual int forceCfgResolution(void)

virtual int cleanup(void)

virtual int update(int &violated)

virtual const cfgLabelRecord* getLabelRec(int i) const

Inherited from synObject:

Public Fields

static int staticClassID

int objectID

int verboseLevel

Public Methods

virtual const char* className(void) const

virtual synObject* copy(void) const

virtual int isOfType(int typeNum, int derivedOk)

static int setStaticClassID(void)

virtual int classID(void) const

Documentation

Class for managing terrain and locomotor module objects. The terrain model adds both terrain objects and locomotor module objects to a dynoContactor. locomotor modules have special callback functions for creating and updating contact influences and constraints, some of which depend on terrain properties. Thus, the terrain model also serves as a repository for terrain-specific information such as soil mechanical properties. The terrainGenerator only adds locomotor modules to the dynoContactor that computes contacts, via toolModule::addContactInfo. For more general-purpose collision checking and contact simulation, the collisionDetector class can be used.

dynoContactor* dc

The dynoContactor being used for computing contacts

terrainMaterial* defaultSoil

default soil material

terrainMaterial* defaultRock

default rock material

double tol

Tolerance used by dc

char terrainFilename[200]

The filename containing terrain polyhedra

ptrList terrainRecs

A list of objects that are part of the terrain

int checkLinkCollisions

Indicates whether DYNO_CHECK_LINK_COLLISIONS should be set when adding locomotorModules to dynoContactor. This is only used if there is no collisionDetector among the d2kSimulator's list of d2kComponents.

int addTerrainFromFile(const char* fname, terrainMaterial* m = NULL)

Reads terrain objects from a file, in the format used by daReadObstacles()

int addTerrainShape(mpoly* mp, double muS, double muD, terrainMaterial* m = NULL)

Adds an mpoly to the terrain

int removeTerrainShape(mpoly* mp)

Removes an mpoly from the terrain

int clearTerrain(void)

Removes all terrain objects

inline cdPolyhedronObstacle* getTerrainObj(int i)

Returns the cdPolyhedonObstacle corresponding to the i'th terrain object

inline cdRecord* getTerrainRec(int i)

Returns the cdRecord for the i'th terrain object

This class has no child classes.

See Also:

collisionDetector
dynoContactor
locomotion.h

Alphabetic index HTML hierarchy of classes or Java