esp::gfx::Simulator class
#include <esp/gfx/Simulator.h>

Contents

Derived classes

class esp::sim::SimulatorWithAgents

Constructors, destructors, conversion operators

Simulator(const SimulatorConfiguration& cfg) explicit
~Simulator() virtual
Simulator() protected

Public functions

void reconfigure(const SimulatorConfiguration& cfg) virtual
void reset() virtual
void seed(uint32_t newSeed) virtual
auto getRenderer() -> std::shared_ptr<Renderer>
auto getPhysicsManager() -> std::shared_ptr<physics::PhysicsManager>
auto getSemanticScene() -> std::shared_ptr<scene::SemanticScene>
auto getActiveSceneGraph() -> scene::SceneGraph&
auto getActiveSemanticSceneGraph() -> scene::SceneGraph&
void saveFrame(const std::string& filename)
auto gpuDevice() const -> int
The ID of the CUDA device of the OpenGL context owned by the simulator. This will only be nonzero if the simulator is built in –headless mode on linux.
auto addObject(const int objectLibIndex, const int sceneID = 0) -> int
Instance an object from a template index in esp::assets::ResourceManager::physicsObjectLibrary_. See esp::physics::PhysicsManager::addObject().
auto getPhysicsObjectLibrarySize() -> int
Get the current size of the physics object library. Objects [0,size) can be instanced with addObject.
auto removeObject(const int objectID, const int sceneID = 0) -> int
Remove an instanced object by ID. See esp::physics::PhysicsManager::removeObject().
auto getExistingObjectIDs(const int sceneID = 0) -> std::vector<int>
Get the IDs of the physics objects instanced in a physical scene. See esp::physics::PhysicsManager::getExistingObjectIDs.
auto getObjectMotionType(const int objectID, const int sceneID = 0) -> esp::physics::MotionType
Get the esp::physics::MotionType of an object. See esp::physics::PhysicsManager::getExistingObjectIDs.
auto setObjectMotionType(const esp::physics::MotionType& motionType, const int objectID, const int sceneID = 0) -> bool
Set the esp::physics::MotionType of an object. See esp::physics::PhysicsManager::getExistingObjectIDs.
void applyTorque(const Magnum::Vector3& tau, const int objectID, const int sceneID = 0)
Apply torque to an object. See esp::physics::PhysicsManager::applyTorque.
void applyForce(const Magnum::Vector3& force, const Magnum::Vector3& relPos, const int objectID, const int sceneID = 0)
Apply force to an object. See esp::physics::PhysicsManager::applyForce.
auto getTransformation(const int objectID, const int sceneID = 0) -> Magnum::Matrix4
Get the current 4x4 transformation matrix of an object. See esp::physics::PhysicsManager::getTransformation.
void setTransformation(const Magnum::Matrix4& transform, const int objectID, const int sceneID = 0)
Set the 4x4 transformation matrix of an object kinematically. See esp::physics::PhysicsManager::setTransformation.
void setTranslation(const Magnum::Vector3& translation, const int objectID, const int sceneID = 0)
Set the 3D position of an object kinematically. See esp::physics::PhysicsManager::setTranslation.
auto getTranslation(const int objectID, const int sceneID = 0) -> Magnum::Vector3
Get the current 3D position of an object. See esp::physics::PhysicsManager::getTranslation.
void setRotation(const Magnum::Quaternion& rotation, const int objectID, const int sceneID = 0)
Set the orientation of an object kinematically. See esp::physics::PhysicsManager::setRotation.
auto getRotation(const int objectID, const int sceneID = 0) -> Magnum::Quaternion
Get the current orientation of an object. See esp::physics::PhysicsManager::getRotation.
auto stepWorld(const double dt = 1.0/60.0) -> double
the physical world has a notion of time which passes during animation/simulation/action/etc... Step the physical world forward in time by a desired duration. Note that the actual duration of time passed by this step will depend on simulation time stepping mode (todo). See esp::physics::PhysicsManager::stepPhysics.
auto getWorldTime() -> double
Get the current time in the simulated world. This is always 0 if no esp::physics::PhysicsManager is initialized. See stepWorld. See esp::physics::PhysicsManager::getWorldTime.
auto recomputeNavMesh(nav::PathFinder& pathfinder, const nav::NavMeshSettings& navMeshSettings) -> bool
Compute the navmesh for the simulator's current active scene and assign it to the referenced nav::PathFinder.

Protected variables

WindowlessContext::uptr context_
std::shared_ptr<Renderer> renderer_
assets::ResourceManager resourceManager_
scene::SceneManager sceneManager_
int activeSceneID_
int activeSemanticSceneID_
std::vector<int> sceneID_
std::shared_ptr<scene::SemanticScene> semanticScene_
std::shared_ptr<physics::PhysicsManager> physicsManager_
core::Random random_
SimulatorConfiguration config_

Function documentation

int esp::gfx::Simulator::addObject(const int objectLibIndex, const int sceneID = 0)

Instance an object from a template index in esp::assets::ResourceManager::physicsObjectLibrary_. See esp::physics::PhysicsManager::addObject().

Parameters
objectLibIndex The index of the object's template in esp::assets::ResourceManager::physicsObjectLibrary_.
sceneID !! Not used currently !! Specifies which physical scene to add an object to.
Returns The ID assigned to new object which identifies it in esp::physics::PhysicsManager::existingObjects_ or esp::ID_UNDEFINED if instancing fails.

int esp::gfx::Simulator::getPhysicsObjectLibrarySize()

Get the current size of the physics object library. Objects [0,size) can be instanced with addObject.

Returns The current number of templates stored in esp::assets::ResourceManager::physicsObjectLibrary_.

int esp::gfx::Simulator::removeObject(const int objectID, const int sceneID = 0)

Remove an instanced object by ID. See esp::physics::PhysicsManager::removeObject().

Parameters
objectID The ID of the object identifying it in esp::physics::PhysicsManager::existingObjects_.
sceneID !! Not used currently !! Specifies which physical scene to remove the object from.
Returns The deallocated object ID previously idnetifying the removed object or esp::ID_UNDEFINED if failed.

std::vector<int> esp::gfx::Simulator::getExistingObjectIDs(const int sceneID = 0)

Get the IDs of the physics objects instanced in a physical scene. See esp::physics::PhysicsManager::getExistingObjectIDs.

Parameters
sceneID !! Not used currently !! Specifies which physical scene to query.
Returns A vector of ID keys into esp::physics::PhysicsManager::existingObjects_.

esp::physics::MotionType esp::gfx::Simulator::getObjectMotionType(const int objectID, const int sceneID = 0)

Get the esp::physics::MotionType of an object. See esp::physics::PhysicsManager::getExistingObjectIDs.

Parameters
objectID The ID of the object identifying it in esp::physics::PhysicsManager::existingObjects_.
sceneID !! Not used currently !! Specifies which physical scene to query.
Returns The esp::physics::MotionType of the object or esp::physics::MotionType::ERROR_MOTIONTYPE if query failed.

bool esp::gfx::Simulator::setObjectMotionType(const esp::physics::MotionType& motionType, const int objectID, const int sceneID = 0)

Set the esp::physics::MotionType of an object. See esp::physics::PhysicsManager::getExistingObjectIDs.

Parameters
motionType The desired motion type of the object
objectID The ID of the object identifying it in esp::physics::PhysicsManager::existingObjects_.
sceneID !! Not used currently !! Specifies which physical scene to query.
Returns whether or not the set was successful.

void esp::gfx::Simulator::applyTorque(const Magnum::Vector3& tau, const int objectID, const int sceneID = 0)

Apply torque to an object. See esp::physics::PhysicsManager::applyTorque.

Parameters
tau The desired torque to apply.
objectID The ID of the object identifying it in esp::physics::PhysicsManager::existingObjects_.
sceneID !! Not used currently !! Specifies which physical scene of the object.

void esp::gfx::Simulator::applyForce(const Magnum::Vector3& force, const Magnum::Vector3& relPos, const int objectID, const int sceneID = 0)

Apply force to an object. See esp::physics::PhysicsManager::applyForce.

Parameters
force The desired linear force to apply.
relPos The desired location relative to the object origin at which to apply the force.
objectID The ID of the object identifying it in esp::physics::PhysicsManager::existingObjects_.
sceneID !! Not used currently !! Specifies which physical scene of the object.

Magnum::Matrix4 esp::gfx::Simulator::getTransformation(const int objectID, const int sceneID = 0)

Get the current 4x4 transformation matrix of an object. See esp::physics::PhysicsManager::getTransformation.

Parameters
objectID The object ID and key identifying the object in esp::physics::PhysicsManager::existingObjects_.
sceneID !! Not used currently !! Specifies which physical scene of the object.
Returns The 4x4 transform of the object.

void esp::gfx::Simulator::setTransformation(const Magnum::Matrix4& transform, const int objectID, const int sceneID = 0)

Set the 4x4 transformation matrix of an object kinematically. See esp::physics::PhysicsManager::setTransformation.

Parameters
transform The desired 4x4 transform of the object.
objectID The object ID and key identifying the object in esp::physics::PhysicsManager::existingObjects_.
sceneID !! Not used currently !! Specifies which physical scene of the object.

void esp::gfx::Simulator::setTranslation(const Magnum::Vector3& translation, const int objectID, const int sceneID = 0)

Set the 3D position of an object kinematically. See esp::physics::PhysicsManager::setTranslation.

Parameters
translation The desired 3D position of the object.
objectID The object ID and key identifying the object in esp::physics::PhysicsManager::existingObjects_.
sceneID !! Not used currently !! Specifies which physical scene of the object.

Magnum::Vector3 esp::gfx::Simulator::getTranslation(const int objectID, const int sceneID = 0)

Get the current 3D position of an object. See esp::physics::PhysicsManager::getTranslation.

Parameters
objectID The object ID and key identifying the object in esp::physics::PhysicsManager::existingObjects_.
sceneID !! Not used currently !! Specifies which physical scene of the object.
Returns The 3D position of the object.

void esp::gfx::Simulator::setRotation(const Magnum::Quaternion& rotation, const int objectID, const int sceneID = 0)

Set the orientation of an object kinematically. See esp::physics::PhysicsManager::setRotation.

Parameters
rotation The desired orientation of the object.
objectID The object ID and key identifying the object in esp::physics::PhysicsManager::existingObjects_.
sceneID !! Not used currently !! Specifies which physical scene of the object.

Magnum::Quaternion esp::gfx::Simulator::getRotation(const int objectID, const int sceneID = 0)

Get the current orientation of an object. See esp::physics::PhysicsManager::getRotation.

Parameters
objectID The object ID and key identifying the object in esp::physics::PhysicsManager::existingObjects_.
sceneID !! Not used currently !! Specifies which physical scene of the object.
Returns A quaternion representation of the object's orientation.

double esp::gfx::Simulator::stepWorld(const double dt = 1.0/60.0)

the physical world has a notion of time which passes during animation/simulation/action/etc... Step the physical world forward in time by a desired duration. Note that the actual duration of time passed by this step will depend on simulation time stepping mode (todo). See esp::physics::PhysicsManager::stepPhysics.

Parameters
dt The desired amount of time to advance the physical world.
Returns The new world time after stepping. See esp::physics::PhysicsManager::worldTime_.

double esp::gfx::Simulator::getWorldTime()

Get the current time in the simulated world. This is always 0 if no esp::physics::PhysicsManager is initialized. See stepWorld. See esp::physics::PhysicsManager::getWorldTime.

Returns The amount of time, esp::physics::PhysicsManager::worldTime_, by which the physical world has advanced.

bool esp::gfx::Simulator::recomputeNavMesh(nav::PathFinder& pathfinder, const nav::NavMeshSettings& navMeshSettings)

Compute the navmesh for the simulator's current active scene and assign it to the referenced nav::PathFinder.

Parameters
pathfinder The pathfinder object to which the recomputed navmesh will be assigned.
navMeshSettings The nav::NavMeshSettings instance to parameterize the navmesh construction.
Returns Whether or not the navmesh recomputation succeeded.