#include <HumanActor.h>

Inheritance diagram for mvsim::HumanActor:

Collaboration diagram for mvsim::HumanActor:

[legend]

Classes
struct	Waypoint

Public Types
enum class	AnimationState { Idle , Walking , Running , Turning , Custom }

using	Ptr = std::shared_ptr< HumanActor >

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

Public Member Functions
	HumanActor (World *parent)

	HumanActor (const HumanActor &)=delete

HumanActor &	operator= (const HumanActor &)=delete

	HumanActor (HumanActor &&)=delete

HumanActor &	operator= (HumanActor &&)=delete

void	simul_pre_timestep (const TSimulContext &context) override

void	simul_post_timestep (const TSimulContext &context) override

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

void	setPath (const std::vector< Waypoint > &waypoints, bool loop=true)

void	clearPath ()

AnimationState	getAnimationState () const

void	setAnimation (const std::string &animationName)

void	setAutomaticAnimation ()

double	getWalkingSpeed () const

void	setWalkingSpeed (double speed)

double	getRunningSpeed () const

void	setRunningSpeed (double speed)

double	getHeight () const

void	setHeight (double h)

double	getCollisionRadius () const

double	getCollisionHeight () const

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)

virtual VisualObject *	meAsVisualObject ()

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 void	register_actor_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
void	internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, bool childrenOnly) override

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
double	walkingSpeed_ = 1.4
	m/s (typical human walking speed)

double	runningSpeed_ = 3.5
	m/s

double	height_ = 1.75
	meters

double	collisionRadius_ = 0.3

double	collisionHeight_ = 1.7

std::string	animNameIdle_ = "idle"

std::string	animNameWalk_ = "walk"

std::string	animNameRun_ = "run"

const TParameterDefinitions	params_

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 walking human actor with skeletal animation support.

Actors follow predefined paths (waypoints) and play appropriate animations (idle, walk, run) based on movement speed. They are purely kinematic: they do not respond to external forces.

XML usage example:

<actor:class name="pedestrian">
    <walking_speed>1.4</walking_speed>
    <animation_walk>walk</animation_walk>
    <animation_idle>idle</animation_idle>
    <visual>
        <model_uri>https://example.com/human.glb</model_uri>
    </visual>
</actor:class>
 
<actor name="person1" class="pedestrian">
    <init_pose>5 10 0</init_pose>
    <path type="waypoints" loop="true">
        <waypoint>0 0 0</waypoint>
        <waypoint>10 0 0</waypoint>
        <waypoint>10 10 90</waypoint>
    </path>
</actor>

Member Enumeration Documentation

◆ AnimationState

enum mvsim::HumanActor::AnimationState

strong

Animation state machine states

Member Function Documentation

◆ apply_force()

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

inlineoverridevirtual

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.

◆ clearPath()

void mvsim::HumanActor::clearPath ( )

Clear current path.

◆ factory()

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

static

Class factory: Creates an actor from XML "<actor>...</actor>"

◆ getAnimationState()

AnimationState mvsim::HumanActor::getAnimationState ( ) const

inline

Get current animation state.

◆ register_actor_class()

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

static

Register a new actor class from "<actor:class name='xxx'>...</actor:class>"

◆ setAnimation()

void mvsim::HumanActor::setAnimation ( const std::string & animationName )

Manually set animation (overrides automatic selection).

◆ setAutomaticAnimation()

void mvsim::HumanActor::setAutomaticAnimation ( )

Return to automatic animation selection based on movement.

◆ setPath()

void mvsim::HumanActor::setPath	(	const std::vector< Waypoint > &	waypoints,
		bool	loop = `true`
	)

Set waypoint-based path.

◆ simul_post_timestep()

void mvsim::HumanActor::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()

void mvsim::HumanActor::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

◆ params_

const TParameterDefinitions mvsim::HumanActor::params_

protected

Initial value:

= {
        {"walking_speed", {"%lf", &walkingSpeed_}},
        {"running_speed", {"%lf", &runningSpeed_}},
        {"height", {"%lf", &height_}},
        {"collision_radius", {"%lf", &collisionRadius_}},
        {"collision_height", {"%lf", &collisionHeight_}},
        {"animation_idle", {"%s", &animNameIdle_}},
        {"animation_walk", {"%s", &animNameWalk_}},
        {"animation_run", {"%s", &animNameRun_}},
    }

XML-parseable parameter table, follows the Block pattern. Addresses point to the member variables above.

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/HumanActor.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ AnimationState

Member Function Documentation

◆ apply_force()

◆ clearPath()

◆ factory()

◆ getAnimationState()

◆ register_actor_class()

◆ setAnimation()

◆ setAutomaticAnimation()

◆ setPath()

◆ simul_post_timestep()

◆ simul_pre_timestep()

Member Data Documentation

◆ params_