Public Member Functions
	PhysicsManagerState ()
	Constructor.

	~PhysicsManagerState ()
	Destructor.

void	setRepresentations (const std::vector< std::shared_ptr< Representation >> &val)
	Sets the physics representations for the state, these are the basis for all the computations. More...

const std::vector< std::shared_ptr< Representation > > &	getRepresentations ()
	Gets the physics representations. More...

void	setActiveRepresentations (const std::vector< std::shared_ptr< Representation >> &activeRepresentations)
	Set the list of representations into the active representations list. More...

const std::vector< std::shared_ptr< Representation > > &	getActiveRepresentations () const
	Gets the active physics representations. More...

void	setCollisionRepresentations (const std::vector< std::shared_ptr< SurgSim::Collision::Representation >> &val)
	Sets the collision representations for the state. More...

const std::vector< std::shared_ptr< SurgSim::Collision::Representation > > &	getCollisionRepresentations ()
	Gets the collision representations. More...

void	setActiveCollisionRepresentations (const std::vector< std::shared_ptr< SurgSim::Collision::Representation >> &val)
	Sets the active collision representations for the state. More...

const std::vector< std::shared_ptr< SurgSim::Collision::Representation > > &	getActiveCollisionRepresentations ()
	Gets the list of active collision representations. More...

void	setParticleRepresentations (const std::vector< std::shared_ptr< SurgSim::Particles::Representation >> &val)
	Sets the particle representations for the state. More...

const std::vector< std::shared_ptr< SurgSim::Particles::Representation > > &	getParticleRepresentations ()
	Gets the particle representations. More...

void	setActiveParticleRepresentations (const std::vector< std::shared_ptr< SurgSim::Particles::Representation >> &val)
	Sets the active particle representations for the state. More...

const std::vector< std::shared_ptr< SurgSim::Particles::Representation > > &	getActiveParticleRepresentations ()
	Gets the list of active particle representations. More...

void	setConstraintComponents (const std::vector< std::shared_ptr< ConstraintComponent >> &val)
	Sets the list of constraint components. More...

const std::vector< std::shared_ptr< ConstraintComponent > > &	getConstraintComponents ()
	Gets the constraint components. More...

const std::unordered_map< std::shared_ptr< SurgSim::Collision::Representation >, std::shared_ptr< SurgSim::Physics::Representation > > &	getCollisionToPhysicsMap () const

void	setCollisionPairs (const std::vector< std::shared_ptr< SurgSim::Collision::CollisionPair >> &val)
	Sets collision pairs that should be considered, while this is not being verified the collision pairs should only be from the list of representations that are in this state. More...

const std::vector< std::shared_ptr< SurgSim::Collision::CollisionPair > > &	getCollisionPairs ()
	Gets collision pairs. More...

void	setContactFilters (const std::vector< std::shared_ptr< SurgSim::Collision::ContactFilter >> &val)
	Set the list of contact filters. More...

std::vector< std::shared_ptr< SurgSim::Collision::ContactFilter > >	getContactFilters () const

void	setConstraintGroup (ConstraintGroupType type, const std::vector< std::shared_ptr< Constraint >> &constraints)
	Sets the group of constraints to a given value, the grouping indicates what type of constraint we are dealing with. More...

const std::vector< std::shared_ptr< Constraint > > &	getConstraintGroup (int type) const
	Gets constraint group. More...

void	setActiveConstraints (const std::vector< std::shared_ptr< Constraint >> &activeConstraints)
	Filter the map of constraints into the active constraints list. More...

const std::vector< std::shared_ptr< Constraint > > &	getActiveConstraints () const

MlcpPhysicsProblem &	getMlcpProblem ()
	Gets the Mlcp problem. More...

const MlcpPhysicsProblem &	getMlcpProblem () const
	Gets the Mlcp problem. More...

MlcpPhysicsSolution &	getMlcpSolution ()
	Gets the Mlcp solution. More...

const MlcpPhysicsSolution &	getMlcpSolution () const
	Gets the Mlcp solution. More...

const MlcpMapping< Representation > &	getRepresentationsMapping () const
	Gets the representations mapping. More...

void	setRepresentationsMapping (const MlcpMapping< Representation > &representationsMapping)
	Set the representations mapping. More...

const MlcpMapping< Constraint > &	getConstraintsMapping () const
	Gets the constraints mapping. More...

void	setConstraintsMapping (const MlcpMapping< Constraint > &constraintsMapping)
	Set the constraints mapping. More...

void	setTimeOfImpact (double timeOfImpact)
	Set the time of impact. More...

double	getTimeOfImpact ()

bool	shouldAbortGroup () const

void	setAbortGroup (bool val)
	Set whether to abort the current grouped computation. More...

Member Function Documentation

§ getActiveCollisionRepresentations()

const std::vector< std::shared_ptr< SurgSim::Collision::Representation > > & SurgSim::Physics::PhysicsManagerState::getActiveCollisionRepresentations ( )

Gets the list of active collision representations.

Returns: The active collision representations that are known to the state.

§ getActiveConstraints()

const std::vector< std::shared_ptr< Constraint > > & SurgSim::Physics::PhysicsManagerState::getActiveConstraints ( ) const

Returns: The list of all active constraints.

§ getActiveParticleRepresentations()

const std::vector< std::shared_ptr< Particles::Representation > > & SurgSim::Physics::PhysicsManagerState::getActiveParticleRepresentations ( )

Gets the list of active particle representations.

Returns: The active particle representations that are known to the state.

§ getActiveRepresentations()

const std::vector< std::shared_ptr< Representation > > & SurgSim::Physics::PhysicsManagerState::getActiveRepresentations ( ) const

Gets the active physics representations.

Returns: The active physics representations that are known to the state.

§ getCollisionPairs()

const std::vector< std::shared_ptr< SurgSim::Collision::CollisionPair > > & SurgSim::Physics::PhysicsManagerState::getCollisionPairs ( )

Gets collision pairs.

Returns: The collision pairs.

§ getCollisionRepresentations()

const std::vector< std::shared_ptr< SurgSim::Collision::Representation > > & SurgSim::Physics::PhysicsManagerState::getCollisionRepresentations ( )

Gets the collision representations.

Returns: The collision representations that are known to the state.

§ getCollisionToPhysicsMap()

const std::unordered_map< std::shared_ptr< SurgSim::Collision::Representation >, std::shared_ptr< SurgSim::Physics::Representation > > & SurgSim::Physics::PhysicsManagerState::getCollisionToPhysicsMap ( ) const

Returns: A map that associates collision representations with physics representations where map[physicsRep->getCollisionRepresentation] = physicsRep

§ getConstraintComponents()

const std::vector< std::shared_ptr< ConstraintComponent > > & SurgSim::Physics::PhysicsManagerState::getConstraintComponents ( )

Gets the constraint components.

Returns: The constraint components known to the state

§ getConstraintGroup()

const std::vector< std::shared_ptr< Constraint > > & SurgSim::Physics::PhysicsManagerState::getConstraintGroup ( int type ) const

Gets constraint group.

Parameters

type The type.

Returns: The constraint group.

§ getConstraintsMapping()

const MlcpMapping< Constraint > & SurgSim::Physics::PhysicsManagerState::getConstraintsMapping ( ) const

Gets the constraints mapping.

Returns: The constraints mapping (mapping between the constraints and the mlcp) Each constraint has an index in the mlcp. This mapping is about this index.

§ getContactFilters()

std::vector< std::shared_ptr< SurgSim::Collision::ContactFilter > > SurgSim::Physics::PhysicsManagerState::getContactFilters ( ) const

Returns: the list of contact filters

§ getMlcpProblem() [1/2]

MlcpPhysicsProblem & SurgSim::Physics::PhysicsManagerState::getMlcpProblem ( )

Gets the Mlcp problem.

Returns: The Mlcp problem for this physics manager state (read/write access).

§ getMlcpProblem() [2/2]

const MlcpPhysicsProblem & SurgSim::Physics::PhysicsManagerState::getMlcpProblem ( ) const

Gets the Mlcp problem.

Returns: The Mlcp problem for this physics manager state (const).

§ getMlcpSolution() [1/2]

MlcpPhysicsSolution & SurgSim::Physics::PhysicsManagerState::getMlcpSolution ( )

Gets the Mlcp solution.

Returns: The Mlcp solution for this physics manager state (read/write access).

§ getMlcpSolution() [2/2]

const MlcpPhysicsSolution & SurgSim::Physics::PhysicsManagerState::getMlcpSolution ( ) const

Gets the Mlcp solution.

Returns: The Mlcp solution for this physics manager state (const).

§ getParticleRepresentations()

const std::vector< std::shared_ptr< Particles::Representation > > & SurgSim::Physics::PhysicsManagerState::getParticleRepresentations ( )

Gets the particle representations.

Returns: The particle representations that are known to the state.

§ getRepresentations()

const std::vector< std::shared_ptr< Representation > > & SurgSim::Physics::PhysicsManagerState::getRepresentations ( )

Gets the physics representations.

Returns: The physics representations that are known to the state.

§ getRepresentationsMapping()

const MlcpMapping< Representation > & SurgSim::Physics::PhysicsManagerState::getRepresentationsMapping ( ) const

Gets the representations mapping.

Returns: The representations mapping (mapping between the representation and the mlcp) Each representation has an index in the mlcp. This mapping is about this index.

§ getTimeOfImpact()

double SurgSim::Physics::PhysicsManagerState::getTimeOfImpact ( )

Returns: the last time of impact when a CCD calculation ran

§ setAbortGroup()

void SurgSim::Physics::PhysicsManagerState::setAbortGroup ( bool val )

Set whether to abort the current grouped computation.

Parameters

val	set to true to signal to an above computation to abort

§ setActiveCollisionRepresentations()

void SurgSim::Physics::PhysicsManagerState::setActiveCollisionRepresentations ( const std::vector< std::shared_ptr< SurgSim::Collision::Representation >> & val )

Sets the active collision representations for the state.

Parameters

val	collection of all active collision representations.

§ setActiveConstraints()

void SurgSim::Physics::PhysicsManagerState::setActiveConstraints ( const std::vector< std::shared_ptr< Constraint >> & activeConstraints )

Filter the map of constraints into the active constraints list.

Parameters

activeConstraints The list of active constraints.

§ setActiveParticleRepresentations()

void SurgSim::Physics::PhysicsManagerState::setActiveParticleRepresentations ( const std::vector< std::shared_ptr< SurgSim::Particles::Representation >> & val )

Sets the active particle representations for the state.

Parameters

val	collection of all active particle representations.

§ setActiveRepresentations()

void SurgSim::Physics::PhysicsManagerState::setActiveRepresentations ( const std::vector< std::shared_ptr< Representation >> & activeRepresentations )

Set the list of representations into the active representations list.

Parameters

activeRepresentations The active physics representations that are known to the state.

§ setCollisionPairs()

void SurgSim::Physics::PhysicsManagerState::setCollisionPairs ( const std::vector< std::shared_ptr< SurgSim::Collision::CollisionPair >> & val )

Sets collision pairs that should be considered, while this is not being verified the collision pairs should only be from the list of representations that are in this state.

Parameters

val	The list of collision pairs.

§ setCollisionRepresentations()

void SurgSim::Physics::PhysicsManagerState::setCollisionRepresentations ( const std::vector< std::shared_ptr< SurgSim::Collision::Representation >> & val )

Sets the collision representations for the state.

Parameters

val	collection of all collision representations.

§ setConstraintComponents()

void SurgSim::Physics::PhysicsManagerState::setConstraintComponents ( const std::vector< std::shared_ptr< ConstraintComponent >> & val )

Sets the list of constraint components.

Parameters

val	collection of all constraint components

§ setConstraintGroup()

void SurgSim::Physics::PhysicsManagerState::setConstraintGroup	(	ConstraintGroupType	type,
		const std::vector< std::shared_ptr< Constraint >> &	constraints
	)

Sets the group of constraints to a given value, the grouping indicates what type of constraint we are dealing with.

Parameters

type	The type of constraint grouping e.g. Contact Constraints.
constraints	The constraints.

§ setConstraintsMapping()

void SurgSim::Physics::PhysicsManagerState::setConstraintsMapping ( const MlcpMapping< Constraint > & constraintsMapping )

Set the constraints mapping.

Parameters

constraintsMapping The constraints mapping (mapping between the constraints and the mlcp)

§ setContactFilters()

void SurgSim::Physics::PhysicsManagerState::setContactFilters ( const std::vector< std::shared_ptr< SurgSim::Collision::ContactFilter >> & val )

Set the list of contact filters.

Parameters

val	the list of contact filters

§ setParticleRepresentations()

void SurgSim::Physics::PhysicsManagerState::setParticleRepresentations ( const std::vector< std::shared_ptr< SurgSim::Particles::Representation >> & val )

Sets the particle representations for the state.

Parameters

val	collection of all particle representations.

§ setRepresentations()

void SurgSim::Physics::PhysicsManagerState::setRepresentations ( const std::vector< std::shared_ptr< Representation >> & val )

Sets the physics representations for the state, these are the basis for all the computations.

Parameters

val	The list of representations.

§ setRepresentationsMapping()

void SurgSim::Physics::PhysicsManagerState::setRepresentationsMapping ( const MlcpMapping< Representation > & representationsMapping )

Set the representations mapping.

Parameters

representationsMapping The representations mapping (mapping between the representation and the mlcp)

§ setTimeOfImpact()

void SurgSim::Physics::PhysicsManagerState::setTimeOfImpact ( double timeOfImpact )

Set the time of impact.

Parameters

timeOfImpact the time of impact for CCD

§ shouldAbortGroup()

bool SurgSim::Physics::PhysicsManagerState::shouldAbortGroup ( ) const

Returns: whether to abort a grouped computation by the calling group

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

SurgSim/Physics/PhysicsManagerState.h
SurgSim/Physics/PhysicsManagerState.cpp

Public Member Functions

Member Function Documentation

§ getActiveCollisionRepresentations()

§ getActiveConstraints()

§ getActiveParticleRepresentations()

§ getActiveRepresentations()

§ getCollisionPairs()

§ getCollisionRepresentations()

§ getCollisionToPhysicsMap()

§ getConstraintComponents()

§ getConstraintGroup()

§ getConstraintsMapping()

§ getContactFilters()

§ getMlcpProblem() [1/2]

§ getMlcpProblem() [2/2]

§ getMlcpSolution() [1/2]

§ getMlcpSolution() [2/2]

§ getParticleRepresentations()

§ getRepresentations()

§ getRepresentationsMapping()

§ getTimeOfImpact()

§ setAbortGroup()

§ setActiveCollisionRepresentations()

§ setActiveConstraints()

§ setActiveParticleRepresentations()

§ setActiveRepresentations()

§ setCollisionPairs()

§ setCollisionRepresentations()

§ setConstraintComponents()

§ setConstraintGroup()

§ setConstraintsMapping()

§ setContactFilters()

§ setParticleRepresentations()

§ setRepresentations()

§ setRepresentationsMapping()

§ setTimeOfImpact()

§ shouldAbortGroup()