ArticulatedObjectManager class
Class template defining responsibilities and functionality shared for managing all esp::
Base classes
-
template<class T>class PhysicsObjectBaseManager<ManagedArticulatedObject>
- Class template defining responsibilities and functionality for managineg object wrappers specializing esp::
physics:: AbstractManagedPhysicsObject template.
Constructors, destructors, conversion operators
- ArticulatedObjectManager() explicit
Public functions
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auto addArticulatedObjectFromURDF(const std::
string& filepath, bool fixedBase = false, float globalScale = 1.0, float massScale = 1.0, bool forceReload = false, bool maintainLinkOrder = false, bool intertiaFromURDF = false, const std:: string& lightSetup = DEFAULT_ LIGHTING_ KEY) -> std:: shared_ptr<ManagedArticulatedObject> - Load, parse, and import a URDF file instantiating an BulletArticulatedObject in the world. This version does not require drawables to be specified.
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auto addBulletArticulatedObjectFromURDF(const std::
string& filepath, bool fixedBase = false, float globalScale = 1.0, float massScale = 1.0, bool forceReload = false, bool maintainLinkOrder = false, bool intertiaFromURDF = false, const std:: string& lightSetup = DEFAULT_ LIGHTING_ KEY) -> std:: shared_ptr<ManagedArticulatedObject> - Cast to BulletArticulatedObject version. Load, parse, and import a URDF file instantiating an BulletArticulatedObject in the world. This version does not require drawables to be specified.
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auto addArticulatedObjectByHandle(const std::
string& attributesHandle, bool forceReload = false, const std:: string& lightSetup = DEFAULT_ LIGHTING_ KEY) -> std:: shared_ptr<ManagedArticulatedObject> - Instance an ArticulatedObject from an esp::
metadata:: attributes:: ArticulatedObjectAttributes retrieved from the esp:: metadata:: managers:: AOAttributesManager by the given attributesHandle. -
auto addBulletArticulatedObjectByHandle(const std::
string& attributesHandle, bool forceReload = false, const std:: string& lightSetup = DEFAULT_ LIGHTING_ KEY) -> std:: shared_ptr<ManagedArticulatedObject> - Cast to BulletArticulatedObject version. Instance an ArticulatedObject from an esp::
metadata:: attributes:: ArticulatedObjectAttributes retrieved from the esp:: metadata:: managers:: AOAttributesManager by the given attributesHandle. -
auto addArticulatedObjectByID(int attributesID,
bool forceReload = false,
const std::
string& lightSetup = DEFAULT_ LIGHTING_ KEY) -> std:: shared_ptr<ManagedArticulatedObject> - Instance an ArticulatedObject from an esp::
metadata:: attributes:: ArticulatedObjectAttributes retrieved from the esp:: metadata:: managers:: AOAttributesManager by the given attributesID. -
auto addBulletArticulatedObjectByID(int attributesID,
bool forceReload = false,
const std::
string& lightSetup = DEFAULT_ LIGHTING_ KEY) -> std:: shared_ptr<ManagedArticulatedObject> - Cast to BulletArticulatedObject version. Instance an ArticulatedObject from an esp::
metadata:: attributes:: ArticulatedObjectAttributes retrieved from the esp:: metadata:: managers:: AOAttributesManager by the given attributesID.
Protected functions
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void deleteObjectInternalFinalize(int objectID,
const std::
string& objectHandle) override - This method will remove articulated objects from physics manager. The wrapper has already been removed by the time this method is called (this is called from esp::
core:: managedContainers:: ManagedContainerBase:: deleteObjectInternal)
Function documentation
std::
Load, parse, and import a URDF file instantiating an BulletArticulatedObject in the world. This version does not require drawables to be specified.
| Parameters | |
|---|---|
| filepath | The fully-qualified filename for the URDF file describing the model the articulated object is to be built from. |
| fixedBase | Whether the base of the ArticulatedObject should be fixed. |
| globalScale | A scale multiplier to be applied uniformly in 3 dimensions to the entire ArticulatedObject. |
| massScale | A scale multiplier to be applied to the mass of the all the components of the ArticulatedObject. |
| forceReload | If true, reload the source URDF from file, replacing the cached model. |
| maintainLinkOrder | If true, maintain the order of link definitions from the URDF file as the link indices. |
| intertiaFromURDF | If true, load the link inertia matrices from the URDF file instead of computing automatically from collision shapes. |
| lightSetup | The string name of the desired lighting setup to use. |
| Returns | A reference to the created ArticulatedObject |
std::
Cast to BulletArticulatedObject version. Load, parse, and import a URDF file instantiating an BulletArticulatedObject in the world. This version does not require drawables to be specified.
| Parameters | |
|---|---|
| filepath | The fully-qualified filename for the URDF file describing the model the articulated object is to be built from. |
| fixedBase | Whether the base of the ArticulatedObject should be fixed. |
| globalScale | A scale multiplier to be applied uniformly in 3 dimensions to the entire ArticulatedObject. |
| massScale | A scale multiplier to be applied to the mass of the all the components of the ArticulatedObject. |
| forceReload | If true, reload the source URDF from file, replacing the cached model. |
| maintainLinkOrder | If true, maintain the order of link definitions from the URDF file as the link indices. |
| intertiaFromURDF | If true, load the link inertia matrices from the URDF file instead of computing automatically from collision shapes. |
| lightSetup | The string name of the desired lighting setup to use. |
| Returns | A reference to the created ArticulatedObject |
std::
Instance an ArticulatedObject from an esp::attributesHandle .
| Parameters | |
|---|---|
| attributesHandle | The handle of the ArticulatedObjectAttributes to use to create the desired ArticulatedObject |
| forceReload | If true, reload the source URDF from file, replacing the cached model. |
| lightSetup | The string name of the desired lighting setup to use. |
| Returns | The instanced ArticulatedObject 's ID, mapping to the articulated object in PhysicsManager:: |
std::
Cast to BulletArticulatedObject version. Instance an ArticulatedObject from an esp::attributesHandle .
| Parameters | |
|---|---|
| attributesHandle | The handle of the ArticulatedObjectAttributes to use to create the desired ArticulatedObject |
| forceReload | If true, reload the source URDF from file, replacing the cached model. |
| lightSetup | The string name of the desired lighting setup to use. |
| Returns | The instanced ArticulatedObject 's ID, mapping to the articulated object in PhysicsManager:: |
std::
Instance an ArticulatedObject from an esp::attributesID .
| Parameters | |
|---|---|
| attributesID | The ID of the ArticulatedObjectAttributes to use to create the desired ArticulatedObject |
| forceReload | If true, reload the source URDF from file, replacing the cached model. |
| lightSetup | The string name of the desired lighting setup to use. |
| Returns | The instanced ArticulatedObject 's ID, mapping to the articulated object in PhysicsManager:: |
std::
Cast to BulletArticulatedObject version. Instance an ArticulatedObject from an esp::attributesID .
| Parameters | |
|---|---|
| attributesID | The ID of the ArticulatedObjectAttributes to use to create the desired ArticulatedObject |
| forceReload | If true, reload the source URDF from file, replacing the cached model. |
| lightSetup | The string name of the desired lighting setup to use. |
| Returns | The instanced ArticulatedObject 's ID, mapping to the articulated object in PhysicsManager:: |
void esp::
This method will remove articulated objects from physics manager. The wrapper has already been removed by the time this method is called (this is called from esp::
| Parameters | |
|---|---|
| objectID | the ID of the managed object to remove |
| objectHandle | the string key of the managed object to remove. |