esp::physics::ArticulatedLink class

#include <esp/physics/ArticulatedLink.h>

Base classes

class RigidBase

This class specifies the functionality expected of rigid objects and stages, particularly with regard to dynamic simulation, if such a library, such as bullet, is available.

Derived classes

class BulletArticulatedLink

Constructors, destructors, conversion operators

ArticulatedLink(scene::SceneNode* bodyNode, int index, const assets::ResourceManager& resMgr)

~ArticulatedLink() defaulted override

Public functions

auto getIndex() const -> int

Get the link's index within its multibody.

auto initialize(metadata::attributes::AbstractObjectAttributes::ptr initAttributes) -> bool override

Initializes the link.

void initializeArticulatedLink(const std::string& _linkName, const Mn::Vector3& _scale)

auto finalizeObject() -> bool override

Finalize the creation of the link.

void setTransformation(const Magnum::Matrix4& transformation) override

void setTranslation(const Magnum::Vector3& vector) override

void setRotation(const Magnum::Quaternion& quaternion) override

void setRigidState(const core::RigidState& rigidState) override

void resetTransformation() override

void translate(const Magnum::Vector3& vector) override

void translateLocal(const Magnum::Vector3& vector) override

void rotate(const Magnum::Rad angleInRad, const Magnum::Vector3& normalizedAxis) override

void rotateLocal(const Magnum::Rad angleInRad, const Magnum::Vector3& normalizedAxis) override

void rotateX(const Magnum::Rad angleInRad) override

void rotateY(const Magnum::Rad angleInRad) override

void rotateZ(const Magnum::Rad angleInRad) override

void rotateXLocal(const Magnum::Rad angleInRad) override

void rotateYLocal(const Magnum::Rad angleInRad) override

void rotateZLocal(const Magnum::Rad angleInRad) override

void resetStateFromSceneInstanceAttr() override

Not used for articulated links. Set or reset the object's state using the object's specified sceneInstanceAttributes_.

template<class T>

void setOwningManagedAO(const std::shared_ptr<T>& owningManagedAO)

Set the ManagedArticulatedObject encapsulating this link's owning Articulated Object.

Public variables

std::vector<std::pair<esp::scene::SceneNode*, std::string>> visualAttachments_

std::string linkName

std::string linkJointName

Protected functions

template<class T>

auto getOwningManagedAOInternal() const -> std::shared_ptr<T>

Get the ManagedArticulatedObject encapsulating this link's owning Articulated Object.

Protected variables

int mbIndex_

Private functions

auto initialization_LibSpecific() -> bool override

Finalize the initialization of this link.

auto finalizeObject_LibSpecific() -> bool override

any physics-lib-specific finalization code that needs to be run after creation.

Function documentation

Variable documentation