Class SceneLoader

• Defined in File SceneLoader.h

Nested Relationships

Nested Types

• Struct SceneLoader::BallJointData

• Struct SceneLoader::BallOnLineJointData

• Struct SceneLoader::DamperJointData

• Struct SceneLoader::DistanceJointData

• Struct SceneLoader::HingeJointData

• Struct SceneLoader::RigidBodyData

• Struct SceneLoader::RigidBodyParticleBallJointData

• Struct SceneLoader::RigidBodySpringData

• Struct SceneLoader::SceneData

• Struct SceneLoader::SliderJointData

• Struct SceneLoader::TargetAngleMotorHingeJointData

• Struct SceneLoader::TargetPositionMotorSliderJointData

• Struct SceneLoader::TargetVelocityMotorHingeJointData

• Struct SceneLoader::TargetVelocityMotorSliderJointData

• Struct SceneLoader::TetModelData

• Struct SceneLoader::TriangleModelData

• Struct SceneLoader::UniversalJointData

Class Documentation

class SceneLoader

Public Types

enum CollisionObjectTypes

Values:

enumerator No_Collision_Object

enumerator Sphere

enumerator Box

enumerator Cylinder

enumerator Torus

enumerator SDF

enumerator HollowSphere

enumerator HollowBox

Public Functions

inline virtual ~SceneLoader()

void readScene(const std::string &fileName, SceneData &sceneData)

void readSimulation(const nlohmann::json &child, const std::string &key, SceneData &sceneData)

void readRigidBodies(const nlohmann::json &child, const std::string &key, const std::string &basePath, SceneData &sceneData)

void readTriangleModels(const nlohmann::json &child, const std::string &key, const std::string &basePath, SceneData &sceneData)

void readTetModels(const nlohmann::json &child, const std::string &key, const std::string &basePath, SceneData &sceneData)

void readBallJoints(const nlohmann::json &child, const std::string &key, SceneData &sceneData)

void readBallOnLineJoints(const nlohmann::json &child, const std::string &key, SceneData &sceneData)

void readHingeJoints(const nlohmann::json &child, const std::string &key, SceneData &sceneData)

void readUniversalJoints(const nlohmann::json &child, const std::string &key, SceneData &sceneData)

void readSliderJoints(const nlohmann::json &child, const std::string &key, SceneData &sceneData)

void readRigidBodyParticleBallJoints(const nlohmann::json &child, const std::string &key, SceneData &sceneData)

void readTargetAngleMotorHingeJoints(const nlohmann::json &child, const std::string &key, SceneData &sceneData)

void readTargetVelocityMotorHingeJoints(const nlohmann::json &child, const std::string &key, SceneData &sceneData)

void readTargetPositionMotorSliderJoints(const nlohmann::json &child, const std::string &key, SceneData &sceneData)

void readTargetVelocityMotorSliderJoints(const nlohmann::json &child, const std::string &key, SceneData &sceneData)

void readRigidBodySprings(const nlohmann::json &j, const std::string &key, SceneData &sceneData)

void readDistanceJoints(const nlohmann::json &j, const std::string &key, SceneData &sceneData)

void readDamperJoints(const nlohmann::json &child, const std::string &key, SceneData &sceneData)

void readParameterObject(GenParam::ParameterObject *paramObj)

Public Static Functions

template<typename T>
static inline bool readValue(const nlohmann::json &j, const std::string &key, T &v)

template<typename T, int size>
static inline bool readVector(const nlohmann::json &j, const std::string &key, Eigen::Matrix<T, size, 1, Eigen::DontAlign> &vec)

template<>
static bool readValue(const nlohmann::json &j, const std::string &key, bool &v)

template<>
static bool readValue(const nlohmann::json &j, const std::string &key, bool &v)

Protected Attributes

nlohmann::json m_json

struct BallJointData

Public Members

unsigned int m_bodyID[2]

Vector3r m_position

struct BallOnLineJointData

Public Members

unsigned int m_bodyID[2]

Vector3r m_position

Vector3r m_axis

struct DamperJointData

Public Members

unsigned int m_bodyID[2]

Vector3r m_axis

Real m_stiffness

struct DistanceJointData

Public Members

unsigned int m_bodyID[2]

Vector3r m_position1

Vector3r m_position2

struct HingeJointData

Public Members

unsigned int m_bodyID[2]

Vector3r m_position

Vector3r m_axis

struct RigidBodyData

Public Members

unsigned int m_id

std::string m_modelFile

bool m_flatShading

bool m_isDynamic

Real m_density

Vector3r m_x

Quaternionr m_q

Vector3r m_scale

Vector3r m_v

Vector3r m_omega

Real m_restitutionCoeff

Real m_frictionCoeff

int m_collisionObjectType

std::string m_collisionObjectFileName

bool m_testMesh

Vector3r m_collisionObjectScale

bool m_invertSDF

Real m_thicknessSDF

Eigen::Matrix<unsigned int, 3, 1, Eigen::DontAlign> m_resolutionSDF

nlohmann::json m_json

struct RigidBodyParticleBallJointData

Public Members

unsigned int m_bodyID[2]

struct RigidBodySpringData

Public Members

unsigned int m_bodyID[2]

Vector3r m_position1

Vector3r m_position2

Real m_stiffness

struct SceneData

Public Members

std::string m_sceneName

Vector3r m_camPosition

Vector3r m_camLookat

Real m_timeStepSize

Vector3r m_gravity

std::vector<RigidBodyData> m_rigidBodyData

std::vector<TriangleModelData> m_triangleModelData

std::vector<TetModelData> m_tetModelData

std::vector<BallJointData> m_ballJointData

std::vector<BallOnLineJointData> m_ballOnLineJointData

std::vector<HingeJointData> m_hingeJointData

std::vector<UniversalJointData> m_universalJointData

std::vector<SliderJointData> m_sliderJointData

std::vector<RigidBodyParticleBallJointData> m_rigidBodyParticleBallJointData

std::vector<TargetAngleMotorHingeJointData> m_targetAngleMotorHingeJointData

std::vector<TargetVelocityMotorHingeJointData> m_targetVelocityMotorHingeJointData

std::vector<TargetPositionMotorSliderJointData> m_targetPositionMotorSliderJointData

std::vector<TargetVelocityMotorSliderJointData> m_targetVelocityMotorSliderJointData

std::vector<DamperJointData> m_damperJointData

std::vector<RigidBodySpringData> m_rigidBodySpringData

std::vector<DistanceJointData> m_distanceJointData

struct SliderJointData

Public Members

unsigned int m_bodyID[2]

Vector3r m_axis

struct TargetAngleMotorHingeJointData

Public Members

unsigned int m_bodyID[2]

Vector3r m_position

Vector3r m_axis

Real m_target

std::vector<Real> m_targetSequence

bool m_repeat

struct TargetPositionMotorSliderJointData

Public Members

unsigned int m_bodyID[2]

Vector3r m_axis

Real m_target

std::vector<Real> m_targetSequence

bool m_repeat

struct TargetVelocityMotorHingeJointData

Public Members

unsigned int m_bodyID[2]

Vector3r m_position

Vector3r m_axis

Real m_target

std::vector<Real> m_targetSequence

bool m_repeat

struct TargetVelocityMotorSliderJointData

Public Members

unsigned int m_bodyID[2]

Vector3r m_axis

Real m_target

std::vector<Real> m_targetSequence

bool m_repeat

struct TetModelData

Public Members

unsigned int m_id

std::string m_modelFileTet

std::string m_modelFileNodes

std::string m_modelFileElements

std::string m_modelFileVis

Vector3r m_x

Quaternionr m_q

Vector3r m_scale

std::vector<unsigned int> m_staticParticles

Real m_restitutionCoeff

Real m_frictionCoeff

int m_collisionObjectType

std::string m_collisionObjectFileName

bool m_testMesh

Vector3r m_collisionObjectScale

bool m_invertSDF

Real m_thicknessSDF

Eigen::Matrix<unsigned int, 3, 1, Eigen::DontAlign> m_resolutionSDF

nlohmann::json m_json

struct TriangleModelData

Public Members

unsigned int m_id

std::string m_modelFile

Vector3r m_x

Quaternionr m_q

Vector3r m_scale

std::vector<unsigned int> m_staticParticles

Real m_restitutionCoeff

Real m_frictionCoeff

nlohmann::json m_json

struct UniversalJointData

Public Members

unsigned int m_bodyID[2]

Vector3r m_position

Vector3r m_axis[2]