A rod is a rigid body. Length is defined by nodes, radius and density are defined by config.
Definition at line 43 of file tgRod.h.
| std::vector< tgSenseable * > tgModel::getSenseableDescendants |
( |
| ) |
const |
|
virtualinherited |
From tgSenseable: need to return all the children of this class. Since tgModels are tgSenseables, just return getDescendants().
- Returns
- a vector of tgModels, with pointers changed into pointers for tgSenseables.
For tgSenseable: just return the results of getDescendants here. This should be OK, since a vector of tgModel* is also a vector of tgSenseable*.
Reimplemented from tgSenseable.
Definition at line 191 of file tgModel.cpp.
| void tgModel::setup |
( |
tgWorld & |
world | ) |
|
|
virtualinherited |
Setup takes a tgWorld and passes it to any children for their own setup functions. All subclasses should call this at the appropriate time (usually end of setup) within their own setup function.
- Parameters
-
| [in] | world | - the tgWorld the models will exist in. |
Reimplemented in TensegrityModel, tgSpringCableActuator, tgCompressionSpringActuator, tgUnidirComprSprActuator, tgKinematicActuator, tgBlockField, tgStairs, DuCTTTestModel, VerticalSpineModel, NestedBoxTestModel, NestedStructureTestModel, tgPrismatic, FlemonsArmModel, T6Model, tgBoxAnchorDebugModel, pidTestRig, CraterDeep, PrismModel, tgCraterDeep, ContactCableDemo, SuperBallModel, Crater, ScarrArmModel, PrismModel, tsTestRig, tgCraterShallow, Wall, T6Model, T12SuperBallPayload, CaterpillarModel, T6SphereModel, BigPuppy, T6Model, T6Model, Escape_T6Model, EscapeModel, SingleRibModel, SingleRibModel, T6Model, hillyMuscleNP, simpleMuscleNP, Hilbert2DModel, tgBasicActuator, BigDoxie, BigDoxieNoFeet, BigDoxieSpirals, MountainGoat, MountainGoatAchilles, MountainGoatFM0, BigPuppySymmetricSpiral2, BigPuppySymmetricSpiral2, BigPuppyNoFeet, BigPuppyRigidFeet, BigPuppySpineOnly, BigPuppySpineOnlyStats, BigPuppySymmetric, BigPuppySymmetricArching, BigPuppySymmetricSpiral1, BigPuppySymmetricSpiral2, BigPuppySymmetricSpiralMetrics, BigPuppySymmetricSpiralSegments, MountainGoatNL2, BigPuppy, BigFoot, BigPuppy, BigPuppy, BigPuppy, ContactTestModel, RBStringTest, BaseQuadModelLearning, BaseSpineModelLearning, VerticalSpineModelCableCollision, TetraSpineStaticModel_hf, StructureTestModel, FlemonsSpineModelGoal, OctahedralComplex, BaseSpineModelGoal, TetraSpineKinematic, TetraSpineGoal, TetraSpineCollisions, ConnectorTestModel, TetraSpineStaticModel, TetraSpineLearningModel, BuildTestModel, FlemonsSpineModelContact, FlemonsSpineModelMixed, RibModelMixedContact, FlemonsSpineModelLearningCL, FlemonsSpineModelLearning, and RibModel.
Definition at line 57 of file tgModel.cpp.
| void tgModel::step |
( |
double |
dt | ) |
|
|
virtualinherited |
Advance the simulation.
- Parameters
-
| [in] | dt | the number of seconds since the previous call; std::invalid_argument is thrown if dt is not positive |
- Exceptions
-
| std::invalid_argument | if dt is not positive |
- Note
- This is not necessarily const for every child.
Reimplemented in TensegrityModel, tgSpringCableActuator, NestedStructureTestModel, tgCompressionSpringActuator, tgUnidirComprSprActuator, ConnectorTestModel, BuildTestModel, ContactTestModel, tgKinematicActuator, StructureTestModel, tgBlockField, tgStairs, DuCTTTestModel, VerticalSpineModel, FlemonsArmModel, T6Model, tgBoxAnchorDebugModel, pidTestRig, PrismModel, NestedBoxTestModel, NestedStructureTestModel, SuperBallModel, ScarrArmModel, PrismModel, tsTestRig, T6Model, T12SuperBallPayload, ContactCableDemo, CaterpillarModel, T6SphereModel, BigPuppy, T6Model, T6Model, Escape_T6Model, EscapeModel, T6Model, tgBasicActuator, CraterDeep, tgCraterDeep, tgPrismatic, hillyMuscleNP, simpleMuscleNP, BigDoxie, BigDoxieNoFeet, BigDoxieSpirals, MountainGoat, MountainGoatAchilles, MountainGoatFM0, BigPuppySymmetricSpiral2, BigPuppySymmetricSpiral2, BigPuppyNoFeet, BigPuppyRigidFeet, BigPuppySpineOnly, BigPuppySpineOnlyStats, BigPuppySymmetric, BigPuppySymmetricArching, BigPuppySymmetricSpiral1, BigPuppySymmetricSpiral2, BigPuppySymmetricSpiralMetrics, BigPuppySymmetricSpiralSegments, MountainGoatNL2, Crater, tgCraterShallow, Wall, BigPuppy, BigFoot, BigPuppy, BigPuppy, BigPuppy, RBStringTest, BaseQuadModelLearning, BaseSpineModelLearning, TetraSpineStaticModel_hf, FlemonsSpineModelGoal, VerticalSpineModelCableCollision, OctahedralComplex, BaseSpineModelGoal, TetraSpineKinematic, TetraSpineGoal, TetraSpineCollisions, TetraSpineStaticModel, TetraSpineLearningModel, FlemonsSpineModelContact, FlemonsSpineModelMixed, RibModelMixedContact, FlemonsSpineModelLearningCL, FlemonsSpineModelLearning, and RibModel.
Definition at line 84 of file tgModel.cpp.
1.8.6 
