1b462e5a51
2.8x branch added bContext arg in many places, pass eval-context instead since its not simple to reason about what what nested functions do when they can access and change almost anything. Also use const to prevent unexpected modifications. This fixes crash loading files with shadows, since off-screen buffers use a NULL context for rendering.
105 lines
2.9 KiB
C++
105 lines
2.9 KiB
C++
/*
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* Scene.hpp
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*
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* Created on: Jan 5, 2009
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* Author: rubensmits
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*/
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#ifndef SCENE_HPP_
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#define SCENE_HPP_
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#include "eigen_types.hpp"
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#include "WorldObject.hpp"
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#include "ConstraintSet.hpp"
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#include "Solver.hpp"
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#include <map>
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namespace iTaSC {
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class SceneLock;
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class Scene {
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friend class SceneLock;
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public:
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enum SceneParam {
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MIN_TIMESTEP = 0,
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MAX_TIMESTEP,
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COUNT
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};
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Scene();
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virtual ~Scene();
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bool addObject(const std::string& name, Object* object, UncontrolledObject* base=&Object::world, const std::string& baseFrame="");
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bool addConstraintSet(const std::string& name, ConstraintSet* task,const std::string& object1,const std::string& object2,const std::string& ee1="",const std::string& ee2="");
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bool addSolver(Solver* _solver);
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bool addCache(Cache* _cache);
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bool initialize();
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bool update(const struct EvaluationContext *eval_ctx, double timestamp, double timestep, unsigned int numsubstep=1, bool reiterate=false, bool cache=true, bool interpolate=true);
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bool setParam(SceneParam paramId, double value);
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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private:
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e_matrix m_A,m_B,m_Atemp,m_Wq,m_Jf,m_Jq,m_Ju,m_Cf,m_Cq,m_Jf_inv;
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e_matrix6 m_Vf,m_Uf;
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e_vector m_Wy,m_ydot,m_qdot,m_xdot;
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e_vector6 m_Sf,m_tempf;
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double m_minstep;
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double m_maxstep;
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unsigned int m_ncTotal,m_nqTotal,m_nuTotal,m_nsets;
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std::vector<bool> m_ytask;
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Solver* m_solver;
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Cache* m_cache;
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struct Object_struct{
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Object* object;
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UncontrolledObject* base;
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unsigned int baseFrameIndex;
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Range constraintrange;
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Range jointrange;
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Range coordinaterange; // Xu range of base when object is controlled
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// Xu range of object when object is uncontrolled
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Object_struct(Object* _object,UncontrolledObject* _base,unsigned int _baseFrameIndex,Range nq_range,Range nc_range,Range nu_range):
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object(_object),base(_base),baseFrameIndex(_baseFrameIndex),constraintrange(nc_range),jointrange(nq_range),coordinaterange(nu_range)
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{};
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};
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typedef std::map<std::string,Object_struct*> ObjectMap;
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struct ConstraintSet_struct{
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ConstraintSet* task;
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ObjectMap::iterator object1;
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ObjectMap::iterator object2;
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Range constraintrange;
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Range featurerange;
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unsigned int ee1index;
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unsigned int ee2index;
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ConstraintSet_struct(ConstraintSet* _task,
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ObjectMap::iterator _object1,unsigned int _ee1index,
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ObjectMap::iterator _object2,unsigned int _ee2index,
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Range nc_range,Range coord_range):
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task(_task),
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object1(_object1),object2(_object2),
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constraintrange(nc_range),featurerange(coord_range),
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ee1index(_ee1index), ee2index(_ee2index)
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{};
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};
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typedef std::map<std::string,ConstraintSet_struct*> ConstraintMap;
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ObjectMap objects;
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ConstraintMap constraints;
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static bool getConstraintPose(ConstraintSet* constraint, void *_param, KDL::Frame& _pose);
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};
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}
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#endif /* SCENE_HPP_ */
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