Blender
V3.3
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#include <Scene.hpp>
Public Types | |
enum | SceneParam { MIN_TIMESTEP = 0 , MAX_TIMESTEP , COUNT } |
Public Member Functions | |
Scene () | |
virtual | ~Scene () |
bool | addObject (const std::string &name, Object *object, UncontrolledObject *base=&Object::world, const std::string &baseFrame="") |
bool | addConstraintSet (const std::string &name, ConstraintSet *task, const std::string &object1, const std::string &object2, const std::string &ee1="", const std::string &ee2="") |
bool | addSolver (Solver *_solver) |
bool | addCache (Cache *_cache) |
bool | initialize () |
bool | update (double timestamp, double timestep, unsigned int numsubstep=1, bool reiterate=false, bool cache=true, bool interpolate=true) |
bool | setParam (SceneParam paramId, double value) |
Friends | |
class | SceneLock |
enum iTaSC::Scene::SceneParam |
bool Scene::addConstraintSet | ( | const std::string & | name, |
ConstraintSet * | task, | ||
const std::string & | object1, | ||
const std::string & | object2, | ||
const std::string & | ee1 = "" , |
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const std::string & | ee2 = "" |
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) |
Definition at line 180 of file Scene.cpp.
References result, and blender::compositor::task.
bool Scene::addObject | ( | const std::string & | name, |
Object * | object, | ||
UncontrolledObject * | base = &Object::world , |
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const std::string & | baseFrame = "" |
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) |
Definition at line 111 of file Scene.cpp.
References iTaSC::Object::addEndEffector(), iTaSC::Object::Controlled, iTaSC::Object::finalize(), iTaSC::Object::getNrOfCoordinates(), iTaSC::UncontrolledObject::getNrOfCoordinates(), iTaSC::Object::getType(), result, iTaSC::Object::UnControlled, and iTaSC::Object::world.
Definition at line 232 of file Scene.cpp.
References count, e_zero_matrix, e_zero_vector, iTaSC::Solver::init(), NULL, iTaSC::project(), and result.
bool Scene::setParam | ( | SceneParam | paramId, |
double | value | ||
) |
Definition at line 96 of file Scene.cpp.
References MAX_TIMESTEP, and MIN_TIMESTEP.
bool Scene::update | ( | double | timestamp, |
double | timestep, | ||
unsigned int | numsubstep = 1 , |
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bool | reiterate = false , |
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bool | cache = true , |
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bool | interpolate = true |
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) |
Definition at line 309 of file Scene.cpp.
References iTaSC::Timestamp::cache, iTaSC::changeBase(), iTaSC::Object::Controlled, e_matrix, e_scalar, e_vector6, e_zero_vector, KDL::epsilon, blender::math::floor(), iTaSC::Timestamp::interpolate, blender::length_parameterize::interpolate(), iTaSC::Timestamp::numstep, iTaSC::project(), iTaSC::Timestamp::realTimestamp, iTaSC::Timestamp::realTimestep, iTaSC::Timestamp::reiterate, iTaSC::setCacheTimestamp(), iTaSC::SceneLock::setRange(), iTaSC::Solver::solve(), iTaSC::Timestamp::substep, KDL::svd_eigen_HH(), iTaSC::Object::UnControlled, and iTaSC::Timestamp::update.
Referenced by execute_scene().