| /dports/misc/dartsim/dart-6.11.1/dart/constraint/ |
| H A D | WeldJointConstraint.cpp | 212 if (mBodyNode1->getSkeleton() == mBodyNode2->getSkeleton()) in applyUnitImpulse()
220 mBodyNode1->getSkeleton()->updateBiasImpulse( in applyUnitImpulse()
228 mBodyNode1->getSkeleton()->updateBiasImpulse( in applyUnitImpulse()
236 mBodyNode2->getSkeleton()->updateBiasImpulse( in applyUnitImpulse()
253 mBodyNode1->getSkeleton()->updateBiasImpulse( in applyUnitImpulse()
261 mBodyNode2->getSkeleton()->updateBiasImpulse( in applyUnitImpulse()
272 mBodyNode1->getSkeleton()->updateBiasImpulse( in applyUnitImpulse()
274 mBodyNode1->getSkeleton()->updateVelocityChange(); in applyUnitImpulse()
314 mBodyNode1->getSkeleton()->setImpulseApplied(true); in excite()
320 mBodyNode2->getSkeleton()->setImpulseApplied(true); in excite()
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| H A D | BallJointConstraint.cpp | 189 if (mBodyNode1->getSkeleton() == mBodyNode2->getSkeleton()) in applyUnitImpulse()
197 mBodyNode1->getSkeleton()->updateBiasImpulse( in applyUnitImpulse()
205 mBodyNode1->getSkeleton()->updateBiasImpulse( in applyUnitImpulse()
213 mBodyNode2->getSkeleton()->updateBiasImpulse( in applyUnitImpulse()
229 mBodyNode1->getSkeleton()->updateBiasImpulse( in applyUnitImpulse()
237 mBodyNode2->getSkeleton()->updateBiasImpulse( in applyUnitImpulse()
248 mBodyNode1->getSkeleton()->updateBiasImpulse( in applyUnitImpulse()
250 mBodyNode1->getSkeleton()->updateVelocityChange(); in applyUnitImpulse()
295 mBodyNode1->getSkeleton()->setImpulseApplied(true); in excite()
301 mBodyNode2->getSkeleton()->setImpulseApplied(true); in excite()
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| H A D | SoftContactConstraint.cpp | 614 if (mBodyNode1->getSkeleton() == mBodyNode2->getSkeleton()) in applyUnitImpulse()
620 mBodyNode1->getSkeleton()->updateBiasImpulse( in applyUnitImpulse()
627 mBodyNode1->getSkeleton()->updateBiasImpulse( in applyUnitImpulse()
634 mBodyNode2->getSkeleton()->updateBiasImpulse( in applyUnitImpulse()
641 mBodyNode2->getSkeleton()->updateBiasImpulse( in applyUnitImpulse()
646 mBodyNode1->getSkeleton()->updateVelocityChange(); in applyUnitImpulse()
654 mBodyNode1->getSkeleton()->updateBiasImpulse( in applyUnitImpulse()
663 mBodyNode1->getSkeleton()->updateBiasImpulse( in applyUnitImpulse()
672 mBodyNode2->getSkeleton()->updateBiasImpulse( in applyUnitImpulse()
681 mBodyNode2->getSkeleton()->updateBiasImpulse( in applyUnitImpulse()
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| H A D | ContactConstraint.cpp | 200 assert(mBodyNodeA->getSkeleton()); in ContactConstraint()
201 assert(mBodyNodeB->getSkeleton()); in ContactConstraint()
202 mIsSelfCollision = (mBodyNodeA->getSkeleton() == mBodyNodeB->getSkeleton()); in ContactConstraint()
564 dynamics::Skeleton* skelA = mBodyNodeA->getSkeleton().get(); in applyUnitImpulse()
565 dynamics::Skeleton* skelB = mBodyNodeB->getSkeleton().get(); in applyUnitImpulse()
665 mBodyNodeA->getSkeleton()->setImpulseApplied(true); in excite()
668 mBodyNodeB->getSkeleton()->setImpulseApplied(true); in excite()
675 mBodyNodeA->getSkeleton()->setImpulseApplied(false); in unexcite()
678 mBodyNodeB->getSkeleton()->setImpulseApplied(false); in unexcite()
924 return mBodyNodeA->getSkeleton()->mUnionRootSkeleton.lock(); in getRootSkeleton()
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| H A D | JointCoulombFrictionConstraint.cpp | 127 double timeStep = mJoint->getSkeleton()->getTimeStep(); in update()
192 const dynamics::SkeletonPtr& skeleton = mJoint->getSkeleton(); in applyUnitImpulse()
228 if (mJoint->getSkeleton()->isImpulseApplied()) in getVelocityChange()
250 mJoint->getSkeleton()->setImpulseApplied(true); in excite()
256 mJoint->getSkeleton()->setImpulseApplied(false); in unexcite()
281 return mJoint->getSkeleton()->mUnionRootSkeleton.lock(); in getRootSkeleton()
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| H A D | ServoMotorConstraint.cpp | 129 double timeStep = mJoint->getSkeleton()->getTimeStep(); in update()
194 const dynamics::SkeletonPtr& skeleton = mJoint->getSkeleton(); in applyUnitImpulse()
229 if (mJoint->getSkeleton()->isImpulseApplied()) in getVelocityChange()
251 mJoint->getSkeleton()->setImpulseApplied(true); in excite()
257 mJoint->getSkeleton()->setImpulseApplied(false); in unexcite()
283 return mJoint->getSkeleton()->mUnionRootSkeleton.lock(); in getRootSkeleton()
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| H A D | MimicMotorConstraint.cpp | 135 double timeStep = mJoint->getSkeleton()->getTimeStep(); in update()
203 const dynamics::SkeletonPtr& skeleton = mJoint->getSkeleton(); in applyUnitImpulse()
238 if (mJoint->getSkeleton()->isImpulseApplied()) in getVelocityChange()
260 mJoint->getSkeleton()->setImpulseApplied(true); in excite()
266 mJoint->getSkeleton()->setImpulseApplied(false); in unexcite()
292 return mJoint->getSkeleton()->mUnionRootSkeleton.lock(); in getRootSkeleton()
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| H A D | JointConstraint.cpp | 188 const double timeStep = mJoint->getSkeleton()->getTimeStep(); in update()
446 const dynamics::SkeletonPtr& skeleton = mJoint->getSkeleton(); in applyUnitImpulse()
485 if (mJoint->getSkeleton()->isImpulseApplied()) in getVelocityChange()
507 mJoint->getSkeleton()->setImpulseApplied(true); in excite()
513 mJoint->getSkeleton()->setImpulseApplied(false); in unexcite()
540 return mJoint->getSkeleton()->mUnionRootSkeleton.lock(); in getRootSkeleton()
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| /dports/misc/dartsim/dart-6.11.1/unittests/unit/ |
| H A D | test_MjcfParser.cpp | 113 auto bodySkel = world->getSkeleton("body0"); in TEST()
155 auto bodySkel = world->getSkeleton("body0"); in TEST()
190 auto antSkel = world->getSkeleton("torso"); in TEST()
216 auto invertedPendulumSkel = world->getSkeleton("cart"); in TEST()
239 auto invertedPendulumSkel = world->getSkeleton("cart"); in TEST()
266 auto reacherSkel = world->getSkeleton("body0"); in TEST()
273 auto targetSkel = world->getSkeleton("target"); in TEST()
303 auto objectSkel = world->getSkeleton("object"); in TEST()
306 auto goalSkel = world->getSkeleton("goal"); in TEST()
331 auto goalSkel = world->getSkeleton("goal"); in TEST()
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| H A D | test_SkelParser.cpp | 141 SkeletonPtr skel1 = world->getSkeleton("skeleton 1"); in TEST()
174 SkeletonPtr skel1 = world->getSkeleton("skeleton 1"); in TEST()
199 SkeletonPtr skel1 = world->getSkeleton("skeleton1"); in TEST()
459 skel = world->getSkeleton("ground skeleton"); in TEST()
463 skel = world->getSkeleton("box skeleton"); in TEST()
471 skel = world->getSkeleton("sphere skeleton"); in TEST()
479 skel = world->getSkeleton("ellipsoid skeleton"); in TEST()
487 skel = world->getSkeleton("cylinder skeleton"); in TEST()
496 skel = world->getSkeleton("capsule skeleton"); in TEST()
505 skel = world->getSkeleton("cone skeleton"); in TEST()
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| /dports/misc/dartsim/dart-6.11.1/dart/dynamics/detail/ |
| H A D | BodyNode.hpp | 49 return getSkeleton()->moveBodyNodeTree<JointType>( in moveTo()
50 this, getSkeleton(), nullptr, _joint); in moveTo()
52 return getSkeleton()->moveBodyNodeTree<JointType>( in moveTo()
53 this, _newParent->getSkeleton(), _newParent, _joint); in moveTo()
63 return getSkeleton()->moveBodyNodeTree<JointType>( in moveTo()
95 return getSkeleton()->cloneBodyNodeTree<JointType>( in copyTo()
96 this, getSkeleton(), nullptr, _joint, _recursive); in copyTo()
98 return getSkeleton()->cloneBodyNodeTree<JointType>( in copyTo()
99 this, _newParent->getSkeleton(), _newParent, _joint, _recursive); in copyTo()
110 return getSkeleton()->cloneBodyNodeTree<JointType>( in copyTo()
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| /dports/misc/dartsim/dart-6.11.1/unittests/comprehensive/ |
| H A D | test_World.cpp | 126 EXPECT_TRUE(skeleton1 == world->getSkeleton(s1name)); in TEST()
127 EXPECT_TRUE(skeleton2 == world->getSkeleton(s2name)); in TEST()
135 EXPECT_TRUE(skeleton1 == world->getSkeleton(s1name)); in TEST()
136 EXPECT_FALSE(skeleton2 == world->getSkeleton(s2name)); in TEST()
137 EXPECT_TRUE(world->getSkeleton(s2name) == nullptr); in TEST()
152 EXPECT_TRUE(skeleton3 == world->getSkeleton(s3name)); in TEST()
153 EXPECT_TRUE(skeleton4 == world->getSkeleton(s4name)); in TEST()
165 EXPECT_TRUE(world->getSkeleton(s1name) == nullptr); in TEST()
174 EXPECT_TRUE(world->getSkeleton(s3name) == nullptr); in TEST()
177 EXPECT_TRUE(world->getSkeleton(s4name) == nullptr); in TEST()
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| /dports/misc/dartsim/dart-6.11.1/examples/deprecated_examples/glut_joint_constraints/ |
| H A D | MyWindow.cpp | 45 mWorld->getSkeleton(1)->getBodyNode("h_spine")->addExtForce(mForce); in timeStepping()
49 mWorld->getSkeleton(1)->getPositions(), in timeStepping()
50 mWorld->getSkeleton(1)->getVelocities()); in timeStepping()
51 mWorld->getSkeleton(1)->setForces(mController->getTorques()); in timeStepping()
67 drawSkeleton(mWorld->getSkeleton(i).get()); in drawSkels()
73 = mWorld->getSkeleton(1)->getBodyNode("h_spine")->getTransform() in drawSkels()
141 BodyNode* bd = mWorld->getSkeleton(1)->getBodyNode("h_pelvis"); in keyboard()
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| /dports/misc/dartsim/dart-6.11.1/dart/collision/ |
| H A D | DistanceFilter.cpp | 62 if (bodyNode1->getSkeleton() == bodyNode2->getSkeleton()) in needDistance()
64 auto skeleton = bodyNode1->getSkeleton(); in needDistance()
87 assert(bodyNode1->getSkeleton() == bodyNode2->getSkeleton()); in areAdjacentBodies()
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| H A D | CollisionFilter.cpp | 138 const auto& skel1 = bodyNode1->getSkeleton(); in ignoresCollision()
139 const auto& skel2 = bodyNode2->getSkeleton(); in ignoresCollision()
170 assert(bodyNode1->getSkeleton() == bodyNode2->getSkeleton()); in areAdjacentBodies()
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| /dports/misc/dartsim/dart-6.11.1/examples/deprecated_examples/glut_biped_stand/ |
| H A D | MyWindow.cpp | 50 mWorld->getSkeleton(1)->getBodyNode("h_spine")->addExtForce(mForce); in timeStepping()
75 = mWorld->getSkeleton(1)->getBodyNode("h_spine")->getTransform() in drawWorld()
159 mWorld->getSkeleton(1)->setPositions(pose); in plotCOMX()
160 data[i] = mWorld->getSkeleton(1)->getCOM()[0]; in plotCOMX()
165 mWorld->getSkeleton(1)->setPositions(pose); in plotCOMX()
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| /dports/misc/dartsim/dart-6.11.1/dart/dynamics/ |
| H A D | Node.cpp | 125 std::shared_ptr<Skeleton> Node::getSkeleton() in getSkeleton() function in dart::dynamics::Node
127 return mBodyNode->getSkeleton(); in getSkeleton()
131 std::shared_ptr<const Skeleton> Node::getSkeleton() const in getSkeleton() function in dart::dynamics::Node
133 return mBodyNode->getSkeleton(); in getSkeleton()
170 const SkeletonPtr& skel = mBodyNode->getSkeleton(); in registerNameChange()
231 const SkeletonPtr& skel = mBodyNode->getSkeleton(); in attach()
289 const SkeletonPtr& skel = mBodyNode->getSkeleton(); in stageForRemoval()
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| H A D | BodyNode.cpp | 428 const SkeletonPtr& skel = getSkeleton(); in setName()
513 const SkeletonPtr& skel = getSkeleton(); in setMass()
573 const SkeletonPtr& skel = getSkeleton(); in setInertia()
788 return getSkeleton()->moveBodyNodeTree( in moveTo()
791 return getSkeleton()->moveBodyNodeTree( in moveTo()
801 return getSkeleton()->moveBodyNodeTree( in moveTo()
823 return getSkeleton()->cloneBodyNodeTree( in copyTo()
858 SkeletonPtr BodyNode::getSkeleton() in getSkeleton() function in dart::dynamics::BodyNode
1515 const SkeletonPtr& skel = getSkeleton(); in dirtyTransform()
1548 const SkeletonPtr& skel = getSkeleton(); in dirtyVelocity()
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| /dports/misc/dartsim/dart-6.11.1/examples/deprecated_examples/glut_rigid_loop/ |
| H A D | Main.cpp | 57 int dof = myWorld->getSkeleton(0)->getNumDofs(); in main()
65 myWorld->getSkeleton(0)->setPositions(initPose); in main()
68 BodyNode* bd1 = myWorld->getSkeleton(0)->getBodyNode("link 6"); in main()
69 BodyNode* bd2 = myWorld->getSkeleton(0)->getBodyNode("link 10"); in main()
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| H A D | MyWindow.cpp | 38 mWorld->getSkeleton(0)->setForces(damping); in timeStepping()
44 int nDof = mWorld->getSkeleton(0)->getNumDofs(); in computeDamping()
46 Eigen::VectorXd damping = -0.01 * mWorld->getSkeleton(0)->getVelocities(); in computeDamping()
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| /dports/misc/dartsim/dart-6.11.1/examples/deprecated_examples/glut_human_joint_limits/ |
| H A D | HumanLegJointLimitConstraint.cpp | 86 assert(mThighNode->getSkeleton() == mLowerLegNode->getSkeleton()); in HumanLegJointLimitConstraint()
87 assert(mLowerLegNode->getSkeleton() == mFootNode->getSkeleton()); in HumanLegJointLimitConstraint()
353 const dynamics::SkeletonPtr& skeleton = mHipJoint->getSkeleton(); in applyUnitImpulse()
391 if (mHipJoint->getSkeleton()->isImpulseApplied()) in getVelocityChange()
416 mHipJoint->getSkeleton()->setImpulseApplied(true); in excite()
422 mHipJoint->getSkeleton()->setImpulseApplied(false); in unexcite()
451 return mHipJoint->getSkeleton()->mUnionRootSkeleton.lock(); in getRootSkeleton()
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| H A D | HumanArmJointLimitConstraint.cpp | 77 assert(mUArmNode->getSkeleton() == mLArmNode->getSkeleton()); in HumanArmJointLimitConstraint()
344 const dynamics::SkeletonPtr& skeleton = mShldJoint->getSkeleton(); in applyUnitImpulse()
374 if (mShldJoint->getSkeleton()->isImpulseApplied()) in getVelocityChange()
396 mShldJoint->getSkeleton()->setImpulseApplied(true); in excite()
402 mShldJoint->getSkeleton()->setImpulseApplied(false); in unexcite()
426 return mShldJoint->getSkeleton()->mUnionRootSkeleton.lock(); in getRootSkeleton()
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| /dports/misc/dartsim/dart-6.11.1/examples/deprecated_examples/glut_rigid_chain/ |
| H A D | MyWindow.cpp | 46 mWorld->getSkeleton(0)->setForces(damping); in timeStepping()
53 int nDof = mWorld->getSkeleton(0)->getNumDofs(); in computeDamping()
55 Eigen::VectorXd damping = -0.01 * mWorld->getSkeleton(0)->getVelocities(); in computeDamping()
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| /dports/misc/dartsim/dart-6.11.1/examples/deprecated_examples/glut_atlas_simbicon/ |
| H A D | MyWindow.cpp | 55 mWorld->getSkeleton("drc_skeleton") in timeStepping()
81 drawSkeleton(mWorld->getSkeleton(i).get()); in drawSkels()
86 Eigen::Vector3d poa = mWorld->getSkeleton("drc_skeleton") in drawSkels()
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| /dports/misc/dartsim/dart-6.11.1/examples/deprecated_examples/glut_soft_bodies/ |
| H A D | MyWindow.cpp | 59 dart::dynamics::SkeletonPtr Skeleton = mWorld->getSkeleton(1); in timeStepping()
82 drawSkeleton(mWorld->getSkeleton(0).get(), color, false); in drawWorld()
88 = static_cast<dart::dynamics::SkeletonPtr>(mWorld->getSkeleton(1)); in drawWorld()
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