SOFA API  4a493466
Open source framework for multi-physics simuation
sofa::simulation::Simulation Class Referenceabstract

#include <Simulation.h>

Inheritance diagram for sofa::simulation::Simulation:

Detailed Description

Main controller of the scene. Defines how the scene is inited at the beginning, and updated at each time step. Derives from Base in order to use smart pointers and model the parameters as Datas, which makes their edition easy in the GUI.

Static Public Attributes

static Simulation::SPtr theSimulation
 The (unique) simulation which controls the scene. More...
 

Public Member Functions

 SOFA_CLASS (Simulation, sofa::core::objectmodel::Base)
 
 Simulation ()
 
 ~Simulation () override
 
virtual void print (Node *root)
 Print all object in the graph. More...
 
virtual void init (Node *root)
 Initialize the objects. More...
 
virtual void initNode (Node *node)
 Init a node without changing the context of the simulation. More...
 
virtual void animate (Node *root, SReal dt=0.0)
 Execute one timestep. If dt is 0, the dt parameter in the graph will be used. More...
 
virtual void updateVisual (Node *root)
 Update the Visual Models: triggers the Mappings. More...
 
virtual void reset (Node *root)
 Reset to initial state. More...
 
virtual void initTextures (Node *root)
 Initialize the textures. More...
 
virtual void updateContext (Node *root)
 Update contexts. Required before drawing the scene if root flags are modified. More...
 
virtual void updateVisualContext (Node *root)
 Update contexts. Required before drawing the scene if root flags are modified. More...
 
virtual void computeBBox (Node *root, SReal *minBBox, SReal *maxBBox, bool init=true)
 Compute the bounding box of the scene. More...
 
virtual void computeTotalBBox (Node *root, SReal *minBBox, SReal *maxBBox)
 Compute the bounding box of the scene. More...
 
virtual void draw (sofa::core::visual::VisualParams *vparams, Node *root)
 Render the scene. More...
 
virtual void exportOBJ (Node *root, const char *filename, bool exportMTL=true)
 Export a scene to an OBJ 3D Scene. More...
 
virtual void exportXML (Node *root, const char *fileName=nullptr)
 Print all object in the graph in XML format. More...
 
virtual void exportGraph (Node *root, const char *filename=nullptr)
 Print all objects in the graph in the given file (format is given by the filename extension) More...
 
virtual void dumpState (Node *root, std::ofstream &out)
 Dump the current state in the given stream. More...
 
virtual Node::SPtr load (const std::string &, bool reload=false, const std::vector< std::string > &sceneArgs=std::vector< std::string >(0))
 Load a scene from a file. More...
 
virtual void unload (Node::SPtr root)
 Unload a scene from a Node. More...
 
virtual Node::SPtr createNewGraph (const std::string &name)=0
 create a new graph(or tree) and return its root node. More...
 
virtual Node::SPtr createNewNode (const std::string &name)=0
 creates and returns a new node. More...
 
virtual bool isDirectedAcyclicGraph ()=0
 Can the simulation handle a directed acyclic graph? More...
 
- Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClassgetClass () const
 
const std::string & getName () const
 Accessor to the object name. More...
 
void setName (const std::string &n)
 Set the name of this object. More...
 
void setName (const std::string &n, int counter)
 Set the name of this object, adding an integer counter. More...
 
virtual std::string getTypeName () const
 Get the type name of this object (i.e. class and template types) More...
 
virtual std::string getClassName () const
 Get the class name of this object. More...
 
virtual std::string getTemplateName () const
 Get the template type names (if any) used to instantiate this object. More...
 
void setDefinitionSourceFileName (const std::string &sourceFileName)
 Set the source filename (where the component is implemented) More...
 
const std::string & getDefinitionSourceFileName () const
 Get the source filename (where the component is implemented) More...
 
void setDefinitionSourceFilePos (const int)
 Set the source location (where the component is implemented) More...
 
int getDefinitionSourceFilePos () const
 Get the source location (where the component is implemented) More...
 
void setInstanciationSourceFileName (const std::string &sourceFileName)
 
const std::string & getInstanciationSourceFileName () const
 
void setInstanciationSourceFilePos (const int)
 
int getInstanciationSourceFilePos () const
 
const std::string getWarnings () const
 
const std::string getOutputs () const
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearWarnings ()
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearOutputs ()
 use clearLoggedMessages() instead More...
 
void processStream (std::ostream &out)
 use clearLoggedMessages() instead More...
 
void addMessage (const sofa::helper::logging::Message &m) const
 
size_t countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
const std::deque< sofa::helper::logging::Message > & getLoggedMessages () const
 
const std::string getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
void clearLoggedMessages () const
 
bool notMuted () const
 
const sofa::core::objectmodel::TagSetgetTags () const
 Represents the subsets the object belongs to. More...
 
bool hasTag (Tag t) const
 Return true if the object belong to the given subset. More...
 
void addTag (Tag t)
 Add a subset qualification to the object. More...
 
void removeTag (Tag t)
 Remove a subset qualification to the object. More...
 
ComponentState getComponentState () const
 
bool isComponentStateValid () const
 
virtual bool parseField (const std::string &attribute, const std::string &value)
 Assign one field value (Data or Link) More...
 
virtual bool hasField (const std::string &attribute) const
 Check if a given Data field or Link exists. More...
 
virtual void parse (BaseObjectDescription *arg)
 Parse the given description to assign values to this object's fields and potentially other parameters. More...
 
void parseFields (const std::list< std::string > &str)
 Assign the field values stored in the given list of name + value pairs of strings. More...
 
virtual void parseFields (const std::map< std::string, std::string * > &str)
 Assign the field values stored in the given map of name -> value pairs. More...
 
void writeDatas (std::map< std::string, std::string * > &str)
 Write the current field values to the given map of name -> value pairs. More...
 
void writeDatas (std::ostream &out, const std::string &separator=" ")
 
BaseDatafindData (const std::string &name) const
 
std::vector< BaseData * > findGlobalField (const std::string &name) const
 Find data fields given a name: several can be found as we look into the alias map. More...
 
BaseLinkfindLink (const std::string &name) const
 
std::vector< BaseLink * > findLinks (const std::string &name) const
 Find link fields given a name: several can be found as we look into the alias map. More...
 
virtual void updateLinks (bool logErrors=true)
 Update pointers in case the pointed-to objects have appeared. More...
 
template<class T >
BaseData::BaseInitData initData (Data< T > *field, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
template<class T >
Data< T >::InitData initData (Data< T > *field, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
void addData (BaseData *f, const std::string &name)
 
void addData (BaseData *f)
 
void removeData (BaseData *f)
 Remove a data field. More...
 
void addAlias (BaseData *field, const char *alias)
 Add an alias to a Data. More...
 
void addLink (BaseLink *l)
 Add a link. More...
 
void removeLink (BaseLink *l)
 Remove a link. More...
 
void addAlias (BaseLink *link, const char *alias)
 Add an alias to a Link. More...
 
const VecDatagetDataFields () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapDatagetDataAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
const VecLinkgetLinks () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapLinkgetLinkAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
virtual bool findDataLinkDest (BaseData *&ptr, const std::string &path, const BaseLink *link)
 
virtual void * findLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link)
 
template<class T >
bool findLinkDest (T *&ptr, const std::string &path, const BaseLink *link)
 
virtual void copyAspect (int destAspect, int srcAspect)
 Copy the source aspect to the destination aspect for each Data in the component. More...
 
virtual void releaseAspect (int aspect)
 Release memory allocated for the specified aspect. More...
 

Additional Inherited Members

- Public Attributes inherited from sofa::core::objectmodel::Base
helper::system::SofaOStream< helper::logging::Message::Warningserr
 
helper::system::SofaOStream< helper::logging::Message::Infosout
 
helper::system::SofaEndl< Basesendl
 runs the stream processing More...
 
Data< std::string > name
 Name of the object. More...
 
Data< boolf_printLog
 if true, emits extra messages at runtime. More...
 
Data< sofa::core::objectmodel::TagSetf_tags
 list of the subsets the objet belongs to More...
 
Data< sofa::defaulttype::BoundingBoxf_bbox
 this object bounding box More...
 
Data< ComponentStated_componentstate
 the object state More...
 
Data< ComponentState > & m_componentstate {d_componentstate}
 TODO bruno: uncomment once c++17 is enabled in SOFA. More...
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 
- Protected Attributes inherited from sofa::core::objectmodel::Base
VecData m_vecData
 List of fields (Data instances) More...
 
MapData m_aliasData
 name -> Data multi-map (includes names and aliases) More...
 
VecLink m_vecLink
 List of links. More...
 
MapLink m_aliasLink
 name -> Link multi-map (includes names and aliases) More...
 
- Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const MyClassGetClass ()
 
template<class T >
static void dynamicCast (T *&ptr, Base *b)
 
template<class T >
static std::string typeName (const T *ptr=nullptr)
 
template<class T >
static std::string className (const T *ptr=nullptr)
 
template<class T >
static std::string namespaceName (const T *ptr=nullptr)
 
template<class T >
static std::string templateName (const T *ptr=nullptr)
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 
- Protected Member Functions inherited from sofa::core::objectmodel::Base
 Base ()
 
virtual ~Base ()
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used by initData() More...
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, BaseData::DataFlags dataFlags)
 Helper method used by initData() More...
 
template<class T >
void initData0 (Data< T > *field, typename Data< T >::InitData &res, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used by initData() More...
 

Attribute details

Simulation::SPtr sofa::simulation::Simulation::theSimulation
static

The (unique) simulation which controls the scene.

Warning
this singleton has one limitation: it is easy to create several types of simulations at the same time (e.g. DAGSimulation + TreeSimulation) but it does not sound like a huge limitation

Constructor details

sofa::simulation::Simulation::Simulation ( )
sofa::simulation::Simulation::~Simulation ( )
override

Function details

void sofa::simulation::Simulation::animate ( Node root,
SReal  dt = 0.0 
)
virtual

Execute one timestep. If dt is 0, the dt parameter in the graph will be used.

Execute one timestep. If do is 0, the dt parameter in the graph will be used.

Reimplemented in sofa::simulation::tree::SMPSimulation.

void sofa::simulation::Simulation::computeBBox ( Node root,
SReal minBBox,
SReal maxBBox,
bool  init = true 
)
virtual

Compute the bounding box of the scene.

Compute the bounding box of the scene. If init is set to "true", then minBBox and maxBBox will be initialised to a default value

Warning
MechanicalObjects with showObject member set to false are ignored
See also
computeTotalBBox(Node* root, SReal* minBBox, SReal* maxBBox)
void sofa::simulation::Simulation::computeTotalBBox ( Node root,
SReal minBBox,
SReal maxBBox 
)
virtual

Compute the bounding box of the scene.

Compute the bounding box of the scene. Includes all objects, may they be displayed or not.

See also
computeBBox(Node* root, SReal* minBBox, SReal* maxBBox, bool init=true)
virtual Node::SPtr sofa::simulation::Simulation::createNewGraph ( const std::string &  name)
pure virtual

create a new graph(or tree) and return its root node.

Implemented in sofa::simulation::tree::SMPSimulation, sofa::simulation::graph::DAGSimulation, and sofa::simulation::tree::TreeSimulation.

virtual Node::SPtr sofa::simulation::Simulation::createNewNode ( const std::string &  name)
pure virtual
void sofa::simulation::Simulation::draw ( sofa::core::visual::VisualParams vparams,
Node root 
)
virtual

Render the scene.

void sofa::simulation::Simulation::dumpState ( Node root,
std::ofstream &  out 
)
virtual

Dump the current state in the given stream.

void sofa::simulation::Simulation::exportGraph ( Node root,
const char *  filename = nullptr 
)
virtual

Print all objects in the graph in the given file (format is given by the filename extension)

Print all object in the graph.

void sofa::simulation::Simulation::exportOBJ ( Node root,
const char *  filename,
bool  exportMTL = true 
)
virtual

Export a scene to an OBJ 3D Scene.

void sofa::simulation::Simulation::exportXML ( Node root,
const char *  fileName = nullptr 
)
virtual

Print all object in the graph in XML format.

Print all object in the graph.

void sofa::simulation::Simulation::init ( Node root)
virtual

Initialize the objects.

Initialize the scene.

Reimplemented in sofa::simulation::tree::SMPSimulation.

void sofa::simulation::Simulation::initNode ( Node node)
virtual

Init a node without changing the context of the simulation.

void sofa::simulation::Simulation::initTextures ( Node root)
virtual

Initialize the textures.

virtual bool sofa::simulation::Simulation::isDirectedAcyclicGraph ( )
pure virtual

Can the simulation handle a directed acyclic graph?

Implemented in sofa::simulation::tree::SMPSimulation, sofa::simulation::graph::DAGSimulation, and sofa::simulation::tree::TreeSimulation.

Node::SPtr sofa::simulation::Simulation::load ( const std::string &  filename,
bool  reload = false,
const std::vector< std::string > &  sceneArgs = std::vector<std::string>(0) 
)
virtual

Load a scene from a file.

void sofa::simulation::Simulation::print ( Node root)
virtual

Print all object in the graph.

void sofa::simulation::Simulation::reset ( Node root)
virtual

Reset to initial state.

sofa::simulation::Simulation::SOFA_CLASS ( Simulation  ,
sofa::core::objectmodel::Base   
)
void sofa::simulation::Simulation::unload ( Node::SPtr  root)
virtual

Unload a scene from a Node.

Delete a scene from memory. After this call the pointer is invalid.

void sofa::simulation::Simulation::updateContext ( Node root)
virtual

Update contexts. Required before drawing the scene if root flags are modified.

void sofa::simulation::Simulation::updateVisual ( Node root)
virtual

Update the Visual Models: triggers the Mappings.

void sofa::simulation::Simulation::updateVisualContext ( Node root)
virtual

Update contexts. Required before drawing the scene if root flags are modified.

Update only Visual contexts. Required before drawing the scene if root flags are modified.( can filter by specifying a specific element)