#include <Block.h>

Inheritance diagram for mvsim::Block:

Collaboration diagram for mvsim::Block:

[legend]

Public Types
using	Ptr = std::shared_ptr< Block >

Public Types inherited from mvsim::Simulable
using	Ptr = std::shared_ptr< Simulable >

Public Member Functions
virtual void	simul_pre_timestep (const TSimulContext &context) override

virtual void	simul_post_timestep (const TSimulContext &context) override

virtual void	apply_force (const mrpt::math::TVector2D &force, const mrpt::math::TPoint2D &applyPoint=mrpt::math::TPoint2D(0, 0)) override

virtual void	create_multibody_system (b2World &world)

virtual double	getMaxBlockRadius () const

virtual double	getMass () const

b2Body *	getBox2DBlockBody ()

mrpt::math::TPoint2D	getBlockCenterOfMass () const
	In local coordinates.

const mrpt::math::TPolygon2D &	blockShape () const

void	blockShape (const mrpt::math::TPolygon2D &p)

void	setBlockIndex (size_t idx)

size_t	getBlockIndex () const

	Block (World *parent)

double	ground_friction () const

void	ground_friction (double newValue)

double	mass () const

void	mass (double newValue)

bool	isStatic () const

void	setIsStatic (bool b)

const mrpt::img::TColor	block_color () const

void	block_color (const mrpt::img::TColor &c)

double	block_z_min () const

double	block_z_max () const

void	block_z_min (double v)

void	block_z_max (double v)

double	visual_scale () const

void	visual_scale (double v)

bool	default_block_z_min_max () const

VisualObject *	meAsVisualObject () override

std::optional< float >	getElevationAt (const mrpt::math::TPoint2D &worldXY) const override

Public Member Functions inherited from mvsim::VisualObject
	VisualObject (World *parent, bool insertCustomVizIntoViz=true, bool insertCustomVizIntoPhysical=true)

	VisualObject (const VisualObject &)=delete

VisualObject &	operator= (const VisualObject &)=delete

	VisualObject (VisualObject &&)=delete

VisualObject &	operator= (VisualObject &&)=delete

virtual void	guiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical)

World *	parent ()

const World *	parent () const

void	customVisualVisible (const bool visible)

bool	customVisualVisible () const

const std::optional< Shape2p5 > &	collisionShape () const

void	showCollisionShape (bool show)

Public Member Functions inherited from mvsim::Simulable
	Simulable (World *parent)

mrpt::math::TTwist2D	getRefVelocityLocal () const

mrpt::math::TTwist2D	getVelocityLocal () const

mrpt::math::TTwist2D	getRefVelocityGlobal () const

mrpt::math::TTwist2D	getComVelocityGlobal () const

mrpt::math::TPose3D	getPose () const

virtual mrpt::math::TPose3D	getRelativePose () const

mrpt::math::TPose3D	getPoseNoLock () const
	No thread-safe version. Used internally only.

mrpt::math::TVector3D	getLinearAcceleration () const

void	setPose (const mrpt::math::TPose3D &p, bool notifyChange=true) const

virtual void	setRelativePose (const mrpt::math::TPose3D &p)

void	setRefVelocityLocal (const mrpt::math::TTwist2D &dq)

mrpt::poses::CPose2D	getCPose2D () const
	Alternative to getPose()

mrpt::poses::CPose3D	getCPose3D () const
	Alternative to getPose()

const std::string &	getName () const

void	setName (const std::string &s)

bool	isInCollision () const

bool	hadCollision () const

void	resetCollisionFlag ()

virtual void	registerOnServer (mvsim::Client &c)

const b2Body *	b2d_body () const

b2Body *	b2d_body ()

World *	getSimulableWorldObject ()

const World *	getSimulableWorldObject () const

virtual void	freeOpenGLResources ()

virtual std::optional< float >	getElevationAt ([[maybe_unused]] const mrpt::math::TPoint2D &worldXY) const

Static Public Member Functions
static Ptr	factory (World parent, const rapidxml::xml_node< char > xml_node)

static Ptr	factory (World *parent, const std::string &xml_text)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

static void	register_block_class (const World &parent, const rapidxml::xml_node< char > *xml_node)

Static Public Member Functions inherited from mvsim::VisualObject
static void	FreeOpenGLResources ()

Protected Member Functions
virtual void	internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, bool childrenOnly) override

void	updateMaxRadiusFromPoly ()

Protected Member Functions inherited from mvsim::VisualObject
bool	parseVisual (const rapidxml::xml_node< char > &rootNode)
	Returns true if there is at least one `<visual>...</visual>` entry.

bool	parseVisual (const JointXMLnode<> &rootNode)

void	addCustomVisualization (const mrpt::opengl::CRenderizable::Ptr &glModel, const mrpt::poses::CPose3D &modelPose={}, const float modelScale=1.0f, const std::string &modelName="group", const std::optional< std::string > &modelURI=std::nullopt, const bool initialShowBoundingBox=false, const std::optional< double > &scaleOverride=std::nullopt)

void	setCollisionShape (const Shape2p5 &cs)

Protected Attributes
size_t	blockIndex_ = 0

std::vector< b2FrictionJoint * >	friction_joints_

double	mass_ = 30.0

bool	isStatic_ = false

mrpt::math::TPolygon2D	block_poly_

double	maxRadius_

double	block_z_min_ = std::numeric_limits<double>::quiet_NaN()

double	block_z_max_ = std::numeric_limits<double>::quiet_NaN()

mrpt::img::TColor	block_color_ {0x00, 0x00, 0xff}

mrpt::math::TPoint2D	block_com_ {.0, .0}
	In local coordinates.

double	lateral_friction_ = 0.5
	Default: 0.5.

double	groundFriction_ = 0.5
	Default: 0.5.

double	restitution_ = 0.01
	Default: 0.01.

float	linear_damping_ = 0.1

float	angular_damping_ = 0.1

bool	intangible_ = false

double	visual_scale_ = std::numeric_limits<double>::quiet_NaN()

const TParameterDefinitions	params_

b2Fixture *	fixture_block_

Protected Attributes inherited from mvsim::VisualObject
World *	world_

std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCustomVisual_

std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCollision_

int32_t	glCustomVisualId_ = -1

const bool	insertCustomVizIntoViz_ = true

const bool	insertCustomVizIntoPhysical_ = true

Protected Attributes inherited from mvsim::Simulable
std::string	name_

Additional Inherited Members
Static Public Attributes inherited from mvsim::VisualObject
static double	GeometryEpsilon

Detailed Description

A non-vehicle "actor" for the simulation, typically obstacle blocks.

Member Function Documentation

◆ apply_force()

virtual void mvsim::Block::apply_force	(	const mrpt::math::TVector2D &	force,
		const mrpt::math::TPoint2D &	applyPoint = `mrpt::math::TPoint2D(0, 0)`
	)

overridevirtual

Override to register external forces exerted by other WorldElements. Force is (fx,fy) in global coordinates. Application point is (local_ptx,local_pty) in the body local frame

Reimplemented from mvsim::Simulable.

◆ blockShape()

const mrpt::math::TPolygon2D& mvsim::Block::blockShape ( ) const

inline

Get the 2D shape of the block, as set from the config file (only used for collision detection)

◆ create_multibody_system()

virtual void mvsim::Block::create_multibody_system ( b2World & world )

virtual

Create bodies, fixtures, etc. for the dynamical simulation. May be overrided by derived classes

◆ default_block_z_min_max()

bool mvsim::Block::default_block_z_min_max ( ) const

returns true if none of the min/max block z limits has been set explicitly yet. Used while parsing the shape_from_visual tag.

◆ factory()

static Ptr mvsim::Block::factory	(	World *	parent,
		const rapidxml::xml_node< char > *	xml_node
	)

static

Class factory: Creates a block from XML description of type "<block>...</block>".

◆ getBlockIndex()

size_t mvsim::Block::getBlockIndex ( ) const

inline

Get the block index in the World

◆ getMass()

virtual double mvsim::Block::getMass ( ) const

inlinevirtual

Get the block mass

◆ getMaxBlockRadius()

virtual double mvsim::Block::getMaxBlockRadius ( ) const

inlinevirtual

Get (an approximation of) the max radius of the block, from its point of reference (in meters)

◆ register_block_class()

static void mvsim::Block::register_block_class	(	const World &	parent,
		const rapidxml::xml_node< char > *	xml_node
	)

static

Register a new class of blocks from XML description of type "<block:class name='name'>...</block:class>".

◆ setBlockIndex()

void mvsim::Block::setBlockIndex ( size_t idx )

inline

Set the block index in the World

◆ simul_post_timestep()

virtual void mvsim::Block::simul_post_timestep ( const TSimulContext & context )

overridevirtual

Override to do any required process right after the integration of dynamic equations for each timestep. IMPORTANT: Reimplementations MUST also call this base method, since it is in charge of important tasks (e.g. update q_, dq_)

Reimplemented from mvsim::Simulable.

◆ simul_pre_timestep()

virtual void mvsim::Block::simul_pre_timestep ( const TSimulContext & context )

overridevirtual

Process right before the integration of dynamic equations for each timestep: set action forces from motors, update friction models, etc.

Reimplemented from mvsim::Simulable.

Member Data Documentation

◆ angular_damping_

float mvsim::Block::angular_damping_ = 0.1

protected

Damping ("c" viscous friction coefficient) for angular velocities of the chassis on world

◆ blockIndex_

size_t mvsim::Block::blockIndex_ = 0

protected

user-supplied index number: must be set/get'ed with setblockIndex() getblockIndex() (default=0)

◆ intangible_

bool mvsim::Block::intangible_ = false

protected

If intangible, a block will be rendered visually but will be neither detected by sensors, nor collide

◆ linear_damping_

float mvsim::Block::linear_damping_ = 0.1

protected

Damping ("c" viscous friction coefficient) for linear velocities of the chassis on world

◆ maxRadius_

double mvsim::Block::maxRadius_

protected

Automatically computed from block_poly_ upon each change via updateMaxRadiusFromPoly()

◆ params_

const TParameterDefinitions mvsim::Block::params_

protected

Initial value:

= {
        {"mass", {"%lf", &mass_}},
        {"zmin", {"%lf", &block_z_min_}},
        {"zmax", {"%lf", &block_z_max_}},
        {"ground_friction", {"%lf", &groundFriction_}},
        {"lateral_friction", {"%lf", &lateral_friction_}},
        {"restitution", {"%lf", &restitution_}},
        {"color", {"%color", &block_color_}},
        {"intangible", {"%bool", &intangible_}},
        {"static", {"%bool", &isStatic_}},
        {"visual_scale", {"%lf", &visual_scale_}},
        {"linear_damping", {"%f", &linear_damping_}},
        {"angular_damping", {"%f", &angular_damping_}}
        
    }

◆ visual_scale_

double mvsim::Block::visual_scale_ = std::numeric_limits<double>::quiet_NaN()

protected

Per-instance visual scale override. If NaN, uses the scale from the visual model definition

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

/home/docs/checkouts/readthedocs.org/user_builds/mvsimulator/checkouts/stable/modules/simulator/include/mvsim/Block.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ apply_force()

◆ blockShape()

◆ create_multibody_system()

◆ default_block_z_min_max()

◆ factory()

◆ getBlockIndex()

◆ getMass()

◆ getMaxBlockRadius()

◆ register_block_class()

◆ setBlockIndex()

◆ simul_post_timestep()

◆ simul_pre_timestep()

Member Data Documentation

◆ angular_damping_

◆ blockIndex_

◆ intangible_

◆ linear_damping_

◆ maxRadius_

◆ params_

◆ visual_scale_