#include <VerticalPlane.h>

Inheritance diagram for mvsim::VerticalPlane:

[legend]

Collaboration diagram for mvsim::VerticalPlane:

[legend]

Classes
struct	Opening

Public Member Functions
	VerticalPlane (World parent, const rapidxml::xml_node< char > root)

virtual void	loadConfigFrom (const rapidxml::xml_node< char > *root) override

void	simul_pre_timestep (const TSimulContext &context) override

void	simul_post_timestep (const TSimulContext &context) override

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

	WorldElementBase (const WorldElementBase &)=delete

	WorldElementBase (WorldElementBase &&)=delete

WorldElementBase &	operator= (const WorldElementBase &)=delete

WorldElementBase &	operator= (WorldElementBase &&)=delete

virtual std::optional< std::any >	queryProperty ([[maybe_unused]] const std::string &propertyName, [[maybe_unused]] const mrpt::math::TPoint3D &worldXYZ) 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 void	apply_force (const mrpt::math::TVector2D &force, const mrpt::math::TPoint2D &applyPoint=mrpt::math::TPoint2D(0, 0))

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

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	createPhysicsBodies ()

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

void	renderWallFace (const mrpt::math::TPoint2Df &p0, const mrpt::math::TPoint2Df &p1, const mrpt::math::TPoint2Df &normal_offset, bool is_front_face, const mrpt::img::CImage *texture=nullptr)

void	renderWallEdges (const mrpt::math::TPoint2Df &p0, const mrpt::math::TPoint2Df &p1, const mrpt::math::TPoint2Df &w_inner, const mrpt::math::TPoint2Df &w_outer, const mrpt::img::CImage *texture=nullptr)

void	renderOpeningReveals (const mrpt::math::TPoint2Df &p0, const mrpt::math::TPoint2Df &p1, const mrpt::math::TPoint2Df &dir, const mrpt::math::TPoint2Df &w_inner, const mrpt::math::TPoint2Df &w_outer, float wall_length, const mrpt::img::CImage *texture=nullptr)

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
float	x0_ = -10

float	x1_ = -10

float	y0_ = -10

float	y1_ = 10

mrpt::img::TColor	color_ = {0xa0, 0xa0, 0xa0, 0xff}

bool	enableShadows_ = true

float	thickness_ = 0.02f

std::string	textureFileName_

double	textureSizeX_ = 1.0

double	textureSizeY_ = 1.0

float	z_ = .0f

float	height_ = 3.0f

std::string	cull_faces_ = "NONE"

mrpt::opengl::CTexturedPlane::Ptr	gl_plane_

mrpt::opengl::CSetOfTexturedTriangles::Ptr	gl_plane_text_

mrpt::opengl::CSetOfObjects::Ptr	glGroup_

b2Body *	b2dBody_ = nullptr

double	restitution_ = 0.01
	Default: 0.01.

std::vector< b2Fixture * >	fixtures_

std::vector< Opening >	openings_

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

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

Static Public Member Functions inherited from mvsim::WorldElementBase
static Ptr	factory (World parent, const rapidxml::xml_node< char > xml_node, const char *class_name=nullptr)

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

Static Public Attributes inherited from mvsim::VisualObject
static double	GeometryEpsilon

Detailed Description

A vertical plane (or wall with thickness) visible from one or both sides (see "cull_faces"), conveniently defined by starting and end points (x0,y0)-(x1,y1). Supports doors and windows with proper collision handling and rendering.

Member Function Documentation

◆ createPhysicsBodies()

void mvsim::VerticalPlane::createPhysicsBodies ( )

protected

Create Box2D physics bodies for the wall segments

◆ createVisualRepresentation()

void mvsim::VerticalPlane::createVisualRepresentation	(	const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	viz,
		const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	physical
	)

protected

Create visual representation with proper segmentation for openings

◆ renderOpeningReveals()

void mvsim::VerticalPlane::renderOpeningReveals	(	const mrpt::math::TPoint2Df &	p0,
		const mrpt::math::TPoint2Df &	p1,
		const mrpt::math::TPoint2Df &	dir,
		const mrpt::math::TPoint2Df &	w_inner,
		const mrpt::math::TPoint2Df &	w_outer,
		float	wall_length,
		const mrpt::img::CImage *	texture = `nullptr`
	)

protected

Render the reveals (inner edges) around door and window openings

◆ renderWallEdges()

void mvsim::VerticalPlane::renderWallEdges	(	const mrpt::math::TPoint2Df &	p0,
		const mrpt::math::TPoint2Df &	p1,
		const mrpt::math::TPoint2Df &	w_inner,
		const mrpt::math::TPoint2Df &	w_outer,
		const mrpt::img::CImage *	texture = `nullptr`
	)

protected

Render top/bottom/side edges of thick wall

◆ renderWallFace()

void mvsim::VerticalPlane::renderWallFace	(	const mrpt::math::TPoint2Df &	p0,
		const mrpt::math::TPoint2Df &	p1,
		const mrpt::math::TPoint2Df &	normal_offset,
		bool	is_front_face,
		const mrpt::img::CImage *	texture = `nullptr`
	)

protected

Render a front/back face of the wall

◆ simul_post_timestep()

void mvsim::VerticalPlane::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::VerticalPlane::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

◆ b2dBody_

b2Body* mvsim::VerticalPlane::b2dBody_ = nullptr

protected

Box2D body for the wall (may be split into multiple fixtures)

◆ fixtures_

std::vector<b2Fixture*> mvsim::VerticalPlane::fixtures_

protected

Multiple fixtures for wall segments (to exclude door openings)

◆ openings_

std::vector<Opening> mvsim::VerticalPlane::openings_

protected

List of openings (doors and windows) in this wall

◆ textureFileName_

std::string mvsim::VerticalPlane::textureFileName_

protected

If defined, it overrides the plain color in color_

◆ thickness_

float mvsim::VerticalPlane::thickness_ = 0.02f

protected

Wall thickness (default: 0.02m - thin wall, can be increased for thick walls)

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/WorldElements/VerticalPlane.h

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ createPhysicsBodies()

◆ createVisualRepresentation()

◆ renderOpeningReveals()

◆ renderWallEdges()

◆ renderWallFace()

◆ simul_post_timestep()

◆ simul_pre_timestep()

Member Data Documentation

◆ b2dBody_

◆ fixtures_

◆ openings_

◆ textureFileName_

◆ thickness_