#include <Node.h>

Inheritance diagram for sofa::simulation::Node:

Detailed Description

Implements the object (component) management of the core::Context. Contains objects in lists and provides accessors. The other nodes are not visible (unknown scene graph).

Author: The SOFA team </www.sofa-framework.org>

Public Attributes
NodeSequence< Node, true >	child

NodeSequence< sofa::core::objectmodel::BaseObject, true >	object

NodeSequence< sofa::core::BehaviorModel >	behaviorModel

NodeSequence< sofa::core::BaseMapping >	mapping

NodeSequence< sofa::core::behavior::OdeSolver >	solver

NodeSequence< sofa::core::behavior::ConstraintSolver >	constraintSolver

NodeSequence< sofa::core::behavior::BaseLinearSolver >	linearSolver

NodeSequence< sofa::core::topology::BaseTopologyObject >	topologyObject

NodeSequence< sofa::core::behavior::BaseForceField >	forceField

NodeSequence< sofa::core::behavior::BaseInteractionForceField >	interactionForceField

NodeSequence< sofa::core::behavior::BaseProjectiveConstraintSet >	projectiveConstraintSet

NodeSequence< sofa::core::behavior::BaseConstraintSet >	constraintSet

NodeSequence< sofa::core::objectmodel::ContextObject >	contextObject

NodeSequence< sofa::core::objectmodel::ConfigurationSetting >	configurationSetting

NodeSequence< sofa::core::visual::Shader >	shaders

NodeSequence< sofa::core::visual::VisualModel >	visualModel

NodeSequence< sofa::core::visual::VisualManager >	visualManager

NodeSequence< sofa::core::CollisionModel >	collisionModel

NodeSequence< sofa::core::objectmodel::BaseObject >	unsorted

NodeSingle< sofa::core::behavior::BaseAnimationLoop >	animationManager

NodeSingle< sofa::core::visual::VisualLoop >	visualLoop

NodeSingle< sofa::core::topology::Topology >	topology

NodeSingle< sofa::core::topology::BaseMeshTopology >	meshTopology

NodeSingle< sofa::core::BaseState >	state

NodeSingle< sofa::core::behavior::BaseMechanicalState >	mechanicalState

NodeSingle< sofa::core::BaseMapping >	mechanicalMapping

NodeSingle< sofa::core::behavior::BaseMass >	mass

NodeSingle< sofa::core::collision::Pipeline >	collisionPipeline

Public Attributes inherited from sofa::core::objectmodel::Base
std::vector< lifecycle::DeprecatedData * >	m_oldAttributes

Data< int >	d_messageLogCount

Data< std::string >	name
	Name of the object. More...

Data< bool >	f_printLog
	if true, emits extra messages at runtime. More...

Data< sofa::core::objectmodel::TagSet >	f_tags
	list of the subsets the object belongs to More...

Data< sofa::type::BoundingBox >	f_bbox
	this object bounding box More...

Data< sofa::core::objectmodel::ComponentState >	d_componentState
	The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). More...

std::string	m_definitionSourceFileName {""}

int	m_definitionSourceFilePos {-1}

std::string	m_instanciationSourceFileName {""}

int	m_instanciationSourceFilePos {-1}

Public Attributes inherited from sofa::core::objectmodel::Context
Data< bool >	is_activated
	To Activate a node. More...

Data< Vec3 >	worldGravity_
	Gravity in the world coordinate system. More...

Data< SReal >	dt_
	Time step. More...

Data< SReal >	time_
	Current time. More...

Data< bool >	animate_
	Animate the Simulation(applied at initialization only) More...

Data< bool >	d_isSleeping
	The node is sleeping, and thus ignored by visitors. More...

Data< bool >	d_canChangeSleepingState
	The node can change its sleeping state. More...

Protected Attributes
bool	debug_

bool	initialized

std::stack< Visitor * >	actionStack

BaseContext *	_context

type::vector< MutationListener * >	listener

Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallback >	m_internalEngine

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...

Protected Attributes inherited from sofa::core::objectmodel::BaseContext
ComponentNameHelper	m_nameHelper

Public Member Functions

SOFA_ABSTRACT_CLASS2 (Node, BaseNode, Context)

virtual Node::SPtr createChild (const std::string &nodeName)=0

Create, add, then return the new child of this Node. More...

virtual void removeControllers ()

Remove odesolvers and mastercontroler. More...

Node * getChild (const std::string &name) const

Find a child node given its name. More...

Node * getTreeNode (const std::string &name) const

Get a descendant node given its name. More...

Node * getNodeInGraph (const std::string &absolutePath) const

Get a node in the scene graph matching the given absolute path. More...

Children getChildren () const override

Get children nodes. More...

BaseContext * getRootContext () const override

Get the root context of the graph. More...

Node * setDebug (bool)

bool getDebug () const

void printComponents ()

const BaseContext * getContext () const override

Get this node context. More...

BaseContext * getContext () override

Get this node context. More...

virtual void updateContext ()

Update the whole context values, based on parent and local ContextObjects. More...

virtual void updateSimulationContext ()

Update the simulation context values(gravity, time...), based on parent and local ContextObjects. More...

virtual void initVisualContext ()

Called during initialization to correctly propagate the visual context to the children. More...

void propagateEvent (const sofa::core::ExecParams *params, sofa::core::objectmodel::Event *event) override

Propagate an event. More...

virtual void updateVisualContext ()

Update the visual context values, based on parent and local ContextObjects. More...

virtual void initialize ()

Must be called after each graph modification. Do not call it directly, apply an InitVisitor instead. More...

virtual void setDefaultVisualContextValue ()

Called after initialization to set the default value of the visual context. More...

virtual Node * findCommonParent (simulation::Node *node2)=0

return the smallest common parent between this and node2 (returns nullptr if separated sub-graphes) More...

void setSleeping (bool val) override

override context setSleeping to add notification. More...

virtual void addListener (MutationListener *obj)

virtual void removeListener (MutationListener *obj)

High-level interface

void parse (sofa::core::objectmodel::BaseObjectDescription *arg) override

Parse the given description to assign values to this object's fields and potentially other parameters. More...

void init (const sofa::core::ExecParams *params)

Initialize the components. More...

bool isInitialized () const

void reinit (const sofa::core::ExecParams *params)

Apply modifications to the components. More...

void draw (sofa::core::visual::VisualParams *params)

Draw the objects (using visual visitors) More...

Visitor handling

Parameters

precomputedOrder is not used by default but could allow optimization on certain Node specializations

Warning: when calling with precomputedOrder=true, the function "precomputeTraversalOrder" must be called before executing the visitor and the user must ensure by himself that the simulation graph has done been modified since the last call to "precomputeTraversalOrder"

virtual void doExecuteVisitor (Visitor *action, bool precomputedOrder=false)=0

Execute a recursive action starting from this node. More...

void executeVisitor (Visitor *action, bool precomputedOrder=false) override

Execute a recursive action starting from this node. More...

void execute (Visitor &action, bool precomputedOrder=false)

Execute a recursive action starting from this node. More...

void execute (Visitor *p, bool precomputedOrder=false)

Execute a recursive action starting from this node. More...

template<class Act , class Params >

void execute (const Params *params, bool precomputedOrder=false)

Execute a recursive action starting from this node. More...

template<class Act >

void execute (sofa::core::visual::VisualParams *vparams, bool precomputedOrder=false)

Execute a recursive action starting from this node. More...

virtual void precomputeTraversalOrder (const sofa::core::ExecParams *)

Possible optimization with traversal precomputation, not mandatory and does nothing by default. More...

Set/get objects

virtual void addChild (BaseNode::SPtr node) final

virtual void removeChild (BaseNode::SPtr node) final

Remove a child node. More...

virtual void moveChild (BaseNode::SPtr node, BaseNode::SPtr prev_parent) final

Move a node in this from another node. More...

virtual void moveChild (BaseNode::SPtr node) override=0

Move a node in this from another node. More...

virtual void doAddChild (BaseNode::SPtr node)=0

virtual void doRemoveChild (BaseNode::SPtr node)=0

Remove a child node. More...

virtual void doMoveChild (BaseNode::SPtr node, BaseNode::SPtr prev_parent)=0

Move a node from another node. More...

virtual bool addObject (sofa::core::objectmodel::BaseObject::SPtr obj, sofa::core::objectmodel::TypeOfInsertion insertionLocation=sofa::core::objectmodel::TypeOfInsertion::AtEnd) final

Add an object and return this. Detect the implemented interfaces and add the object to the corresponding lists. More...

virtual bool removeObject (sofa::core::objectmodel::BaseObject::SPtr obj) final

Remove an object. More...

virtual void moveObject (sofa::core::objectmodel::BaseObject::SPtr obj) final

Move an object from another node. More...

sofa::core::objectmodel::BaseObject * getObject (const std::string &name) const

Find an object given its name. More...

Base * findLinkDestClass (const sofa::core::objectmodel::BaseClass *destType, const std::string &path, const sofa::core::objectmodel::BaseLink *link) override

void * getObject (const sofa::core::objectmodel::ClassInfo &class_info, const sofa::core::objectmodel::TagSet &tags, SearchDirection dir=SearchUp) const override=0

void * getObject (const sofa::core::objectmodel::ClassInfo &class_info, SearchDirection dir=SearchUp) const override

void * getObject (const sofa::core::objectmodel::ClassInfo &class_info, const std::string &path) const override=0

void getObjects (const sofa::core::objectmodel::ClassInfo &class_info, GetObjectsCallBack &container, const sofa::core::objectmodel::TagSet &tags, SearchDirection dir=SearchUp) const override=0

void getObjects (const sofa::core::objectmodel::ClassInfo &class_info, GetObjectsCallBack &container, SearchDirection dir=SearchUp) const override

template<class Object , class Container >

void getNodeObjects (Container *list)

List all objects of this node deriving from a given class. More...

template<class Container >

Container * getNodeObjects (Container *result)

Returns a list of object of type passed as a parameter. More...

template<class Container >

Container & getNodeObjects (Container &result)

Returns a list of object of type passed as a parameter. More...

template<class Object = sofa::core::objectmodel::BaseObject>

std::vector< Object * > getNodeObjects ()

template<class Object >

void getNodeObject (Object *&result)

template<class Object >

Object * getNodeObject ()

template<class Object , class Container >

void getTreeObjects (Container *list)

List all objects of this node and sub-nodes deriving from a given class. More...

template<class Container >

Container * getTreeObjects (Container *result)

List all objects of this node and sub-nodes deriving from a given class. More...

template<class Container >

Container & getTreeObjects (Container &result)

List all objects of this node and sub-nodes deriving from a given class. More...

template<class Object = sofa::core::objectmodel::BaseObject>

std::vector< Object * > getTreeObjects ()

template<class Object >

void getTreeObject (Object *&result)

template<class Object >

Object * getTreeObject ()

sofa::core::topology::Topology * getTopology () const override

Topology. More...

sofa::core::topology::BaseMeshTopology * getMeshTopologyLink (SearchDirection dir=SearchUp) const override

Mesh Topology (unified interface for both static and dynamic topologies) More...

sofa::core::BaseState * getState () const override

Degrees-of-Freedom. More...

sofa::core::behavior::BaseMechanicalState * getMechanicalState () const override

Mechanical Degrees-of-Freedom. More...

sofa::core::visual::Shader * getShader () const override

Shader. More...

virtual sofa::core::visual::Shader * getShader (const sofa::core::objectmodel::TagSet &t) const

Solvers and main algorithms

sofa::core::behavior::BaseAnimationLoop * getAnimationLoop () const override

sofa::core::behavior::OdeSolver * getOdeSolver () const override

sofa::core::collision::Pipeline * getCollisionPipeline () const override

sofa::core::visual::VisualLoop * getVisualLoop () const override

Public Member Functions inherited from sofa::core::objectmodel::BaseNode

SOFA_ABSTRACT_CLASS (BaseNode, Base)

virtual Parents getParents () const =0

virtual size_t getNbParents () const =0

returns number of parents More...

virtual BaseNode * getFirstParent () const =0

return the first parent (returns nullptr if no parent) More...

virtual BaseNode * getRoot () const

returns the root by following up the first parent for multinodes More...

virtual bool hasParent (const BaseNode *node) const =0

Test if the given node is a parent of this node. More...

virtual bool hasAncestor (const BaseNode *node) const =0

virtual void detachFromGraph ()=0

virtual std::string getPathName () const override

Return the full path name of this node. More...

virtual std::string getRootPath () const

Return the path from this node to the root node. More...

Public Member Functions inherited from sofa::core::objectmodel::Base

virtual const BaseClass * getClass () const

void addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)

void addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs)

void addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)

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...

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 final

Get the template type names (if any) used to instantiate this object. More...

std::string getNameSpaceName () 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

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::TagSet & getTags () 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...

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=" ")

BaseData * findData (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...

BaseLink * findLink (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 (::sofa::core::objectmodel::Data< T > *field, const char *name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)

Helper method used to initialize a data field containing a value of type T. 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 addAlias (BaseLink *link, const char *alias)

Add an alias to a Link. More...

const VecData & getDataFields () const

Accessor to the vector containing all the fields of this object. More...

const MapData & getDataAliases () const

Accessor to the map containing all the aliases of this object. More...

const VecLink & getLinks () const

Accessor to the vector containing all the fields of this object. More...

const MapLink & getLinkAliases () 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)

template<class T >

bool findLinkDest (T *&ptr, const std::string &path, const BaseLink *link)

Public Member Functions inherited from sofa::core::objectmodel::Context

SOFA_CLASS (Context, BaseContext)

void copyContext (const Context &c)

Copy the context variables from the given instance. More...

void copySimulationContext (const Context &c)

Copy the context variables of visualization from the given instance. More...

bool isActive () const override

The Context is active. More...

void setActive (bool val) override

State of the context. More...

bool isSleeping () const override

The Context is sleeping. More...

bool canChangeSleepingState () const override

The Context can change its sleeping state. More...

const Vec3 & getGravity () const override

Gravity in local coordinates. More...

void setGravity (const Vec3 &) override

Gravity in local coordinates. More...

SReal getDt () const override

Simulation timestep. More...

SReal getTime () const override

Simulation time. More...

bool getAnimate () const override

Animation flag. More...

void setDt (SReal dt) override

Simulation timestep. More...

virtual void setTime (SReal t)

Simulation time. More...

void setAnimate (bool val) override

Animation flag. More...

void setChangeSleepingState (bool val) override

Sleeping state change of the context. More...

virtual void setDisplayWorldGravity (bool val)

Display flags: Gravity. More...

Public Member Functions inherited from sofa::core::objectmodel::BaseContext

SOFA_CLASS (BaseContext, Base)

virtual bool hasAncestor (const BaseContext *) const

ComponentNameHelper & getNameHelper ()

Returns utilitary object to uniquely name objects in the context. More...

virtual core::topology::BaseMeshTopology * getMeshTopology (SearchDirection dir=SearchUp) const

Mesh Topology (unified interface for both static and dynamic topologies) More...

virtual core::behavior::BaseMass * getMass () const

Mass. More...

template<class Object , class Container >

void getObjects (Container *list, SearchDirection dir=SearchUp)

List all objects of this node deriving from a given class. More...

template<class Container >

Container * getObjects (Container *result, SearchDirection dir=SearchUp)

Returns a list of object of type passed as a parameter. More...

template<class Container >

Container & getObjects (Container &result, SearchDirection dir=SearchUp)

template<class Object = sofa::core::objectmodel::BaseObject>

std::vector< Object * > getObjects (SearchDirection dir=SearchUp)

template<class T >

T * get (SearchDirection dir=SearchUp) const

Generic object access template wrapper, possibly searching up or down from the current context. More...

template<class T >

void get (T *&ptr, SearchDirection dir=SearchUp) const

Generic object access template wrapper, possibly searching up or down from the current context. More...

template<class T >

void get (sptr< T > &ptr, SearchDirection dir=SearchUp) const

Generic object access template wrapper, possibly searching up or down from the current context. More...

template<class T >

T * get (const Tag &tag, SearchDirection dir=SearchUp) const

Generic object access template wrapper, given a required tag, possibly searching up or down from the current context. More...

template<class T >

void get (T *&ptr, const Tag &tag, SearchDirection dir=SearchUp) const

Generic object access template wrapper, given a required tag, possibly searching up or down from the current context. More...

template<class T >

void get (sptr< T > &ptr, const Tag &tag, SearchDirection dir=SearchUp) const

Generic object access template wrapper, given a required tag, possibly searching up or down from the current context. More...

template<class T >

T * get (const TagSet &tags, SearchDirection dir=SearchUp) const

Generic object access template wrapper, given a set of required tags, possibly searching up or down from the current context. More...

template<class T >

void get (T *&ptr, const TagSet &tags, SearchDirection dir=SearchUp) const

Generic object access template wrapper, given a set of required tags, possibly searching up or down from the current context. More...

template<class T >

void get (sptr< T > &ptr, const TagSet &tags, SearchDirection dir=SearchUp) const

Generic object access template wrapper, given a set of required tags, possibly searching up or down from the current context. More...

template<class T >

T * get (const std::string &path) const

Generic object access template wrapper, given a path from the current context. More...

template<class T >

void get (T *&ptr, const std::string &path) const

Generic object access template wrapper, given a path from the current context. More...

template<class T >

void get (sptr< T > &ptr, const std::string &path) const

Generic object access template wrapper, given a path from the current context. More...

template<class T , class Container >

void get (Container *list, SearchDirection dir=SearchUp) const

Generic list of objects access template wrapper, possibly searching up or down from the current context. More...

template<class T , class Container >

void get (Container *list, const Tag &tag, SearchDirection dir=SearchUp) const

Generic list of objects access template wrapper, given a required tag, possibly searching up or down from the current context. More...

template<class T , class Container >

void get (Container *list, const TagSet &tags, SearchDirection dir=SearchUp) const

Generic list of objects access template wrapper, given a set of required tags, possibly searching up or down from the current context. More...

virtual void setMechanicalState (BaseObject *)

Mechanical Degrees-of-Freedom. More...

virtual void setTopology (BaseObject *)

Topology. More...

virtual bool addObject (sptr< BaseObject >, TypeOfInsertion=TypeOfInsertion::AtEnd)

Add an object, or return false if not supported. More...

virtual bool removeObject (sptr< BaseObject >)

Remove an object, or return false if not supported. More...

virtual void notifyAddSlave (core::objectmodel::BaseObject *master, core::objectmodel::BaseObject *slave)

virtual void notifyRemoveSlave (core::objectmodel::BaseObject *master, core::objectmodel::BaseObject *slave)

virtual void notifyMoveSlave (core::objectmodel::BaseObject *previousMaster, core::objectmodel::BaseObject *master, core::objectmodel::BaseObject *slave)

Static Public Member Functions
template<class RealObject >
static Node::SPtr	create (RealObject , sofa::core::objectmodel::BaseObjectDescription arg)

static Node::SPtr	create (const std::string &name)

Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const BaseClass *	GetClass ()

template<class T >
static std::string	shortName (const T ptr=nullptr, BaseObjectDescription =nullptr)

Static Public Member Functions inherited from sofa::core::objectmodel::BaseContext
static BaseContext *	getDefault ()

Protected Member Functions
	Node (const std::string &name="")

virtual	~Node () override

virtual bool	doAddObject (sofa::core::objectmodel::BaseObject::SPtr obj, sofa::core::objectmodel::TypeOfInsertion insertionLocation=sofa::core::objectmodel::TypeOfInsertion::AtEnd)
	Add an object. Detect the implemented interfaces and add the object to the corresponding lists. More...

virtual bool	doRemoveObject (sofa::core::objectmodel::BaseObject::SPtr obj)
	Remove an object. More...

virtual void	doMoveObject (sofa::core::objectmodel::BaseObject::SPtr sobj, Node *prev_parent)
	Remove an object. More...

Protected Member Functions inherited from sofa::core::objectmodel::BaseNode
	BaseNode ()

	~BaseNode () override

void	setObjectContext (BaseObject::SPtr obj)
	Set the context of an object to this. More...

void	clearObjectContext (BaseObject::SPtr obj)
	Reset the context of an object. More...

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...

Protected Member Functions inherited from sofa::core::objectmodel::Context
	Context ()

virtual	~Context () override

Protected Member Functions inherited from sofa::core::objectmodel::BaseContext
	BaseContext ()

	~BaseContext () override

Friends
class	VisitorScheduler

Attribute details

◆ _context

BaseContext* sofa::simulation::Node::_context

protected

◆ actionStack

std::stack<Visitor*> sofa::simulation::Node::actionStack

protected

◆ animationManager

NodeSingle<sofa::core::behavior::BaseAnimationLoop> sofa::simulation::Node::animationManager

◆ behaviorModel

NodeSequence<sofa::core::BehaviorModel> sofa::simulation::Node::behaviorModel

◆ child

NodeSequence<Node,true> sofa::simulation::Node::child

◆ collisionModel

NodeSequence<sofa::core::CollisionModel> sofa::simulation::Node::collisionModel

◆ collisionPipeline

NodeSingle<sofa::core::collision::Pipeline> sofa::simulation::Node::collisionPipeline

◆ configurationSetting

NodeSequence<sofa::core::objectmodel::ConfigurationSetting> sofa::simulation::Node::configurationSetting

◆ constraintSet

NodeSequence<sofa::core::behavior::BaseConstraintSet> sofa::simulation::Node::constraintSet

◆ constraintSolver

NodeSequence<sofa::core::behavior::ConstraintSolver> sofa::simulation::Node::constraintSolver

◆ contextObject

NodeSequence<sofa::core::objectmodel::ContextObject> sofa::simulation::Node::contextObject

◆ debug_

bool sofa::simulation::Node::debug_

protected

◆ forceField

NodeSequence<sofa::core::behavior::BaseForceField> sofa::simulation::Node::forceField

◆ initialized

bool sofa::simulation::Node::initialized

protected

◆ interactionForceField

NodeSequence<sofa::core::behavior::BaseInteractionForceField> sofa::simulation::Node::interactionForceField

◆ linearSolver

NodeSequence<sofa::core::behavior::BaseLinearSolver> sofa::simulation::Node::linearSolver

◆ listener

type::vector<MutationListener*> sofa::simulation::Node::listener

protected

◆ mapping

NodeSequence<sofa::core::BaseMapping> sofa::simulation::Node::mapping

◆ mass

NodeSingle<sofa::core::behavior::BaseMass> sofa::simulation::Node::mass

◆ mechanicalMapping

NodeSingle<sofa::core::BaseMapping> sofa::simulation::Node::mechanicalMapping

◆ mechanicalState

NodeSingle<sofa::core::behavior::BaseMechanicalState> sofa::simulation::Node::mechanicalState

◆ meshTopology

NodeSingle<sofa::core::topology::BaseMeshTopology> sofa::simulation::Node::meshTopology

◆ object

NodeSequence<sofa::core::objectmodel::BaseObject,true> sofa::simulation::Node::object

◆ projectiveConstraintSet

NodeSequence<sofa::core::behavior::BaseProjectiveConstraintSet> sofa::simulation::Node::projectiveConstraintSet

◆ shaders

NodeSequence<sofa::core::visual::Shader> sofa::simulation::Node::shaders

◆ solver

NodeSequence<sofa::core::behavior::OdeSolver> sofa::simulation::Node::solver

◆ state

NodeSingle<sofa::core::BaseState> sofa::simulation::Node::state

◆ topology

NodeSingle<sofa::core::topology::Topology> sofa::simulation::Node::topology

◆ topologyObject

NodeSequence<sofa::core::topology::BaseTopologyObject> sofa::simulation::Node::topologyObject

◆ unsorted

NodeSequence<sofa::core::objectmodel::BaseObject> sofa::simulation::Node::unsorted

◆ visualLoop

NodeSingle<sofa::core::visual::VisualLoop> sofa::simulation::Node::visualLoop

◆ visualManager

NodeSequence<sofa::core::visual::VisualManager> sofa::simulation::Node::visualManager

◆ visualModel

NodeSequence<sofa::core::visual::VisualModel> sofa::simulation::Node::visualModel

Constructor details

◆ Node()

sofa::simulation::Node::Node ( const std::string & name = "" )

protected

◆ ~Node()

sofa::simulation::Node::~Node ( )

overrideprotectedvirtual

Function details

◆ addChild()

void sofa::simulation::Node::addChild ( BaseNode::SPtr node )

finalvirtual

Pure Virtual method from BaseNode Add a child node

Implements sofa::core::objectmodel::BaseNode.

◆ addListener()

void sofa::simulation::Node::addListener ( MutationListener * obj )

virtual

◆ addObject()

bool sofa::simulation::Node::addObject	(	sofa::core::objectmodel::BaseObject::SPtr	obj,
		sofa::core::objectmodel::TypeOfInsertion	insertionLocation = `sofa::core::objectmodel::TypeOfInsertion::AtEnd`
	)

finalvirtual

Add an object and return this. Detect the implemented interfaces and add the object to the corresponding lists.

Add an object. Detect the implemented interfaces and add the object to the corresponding lists.

Implements sofa::core::objectmodel::BaseNode.

◆ create() [1/2]

Node::SPtr sofa::simulation::Node::create ( const std::string & name )

static

◆ create() [2/2]

template<class RealObject >

Node::SPtr sofa::simulation::Node::create	(	RealObject *	,
		sofa::core::objectmodel::BaseObjectDescription *	arg
	)

static

◆ createChild()

virtual Node::SPtr sofa::simulation::Node::createChild ( const std::string & nodeName )

pure virtual

Create, add, then return the new child of this Node.

Implemented in sofa::simulation::graph::DAGNode.

◆ doAddChild()

virtual void sofa::simulation::Node::doAddChild ( BaseNode::SPtr node )

pure virtual

Delegate methods overridden in child classes Add a child node

Implemented in sofa::simulation::graph::DAGNode.

◆ doAddObject()

bool sofa::simulation::Node::doAddObject	(	sofa::core::objectmodel::BaseObject::SPtr	obj,
		sofa::core::objectmodel::TypeOfInsertion	insertionLocation = `sofa::core::objectmodel::TypeOfInsertion::AtEnd`
	)

protectedvirtual

Add an object. Detect the implemented interfaces and add the object to the corresponding lists.

◆ doExecuteVisitor()

virtual void sofa::simulation::Node::doExecuteVisitor	(	Visitor *	action,
		bool	precomputedOrder = `false`
	)

pure virtual

Execute a recursive action starting from this node.

Implemented in sofa::simulation::graph::DAGNode.

◆ doMoveChild()

virtual void sofa::simulation::Node::doMoveChild	(	BaseNode::SPtr	node,
		BaseNode::SPtr	prev_parent
	)

pure virtual

Move a node from another node.

Implemented in sofa::simulation::graph::DAGNode.

◆ doMoveObject()

void sofa::simulation::Node::doMoveObject	(	sofa::core::objectmodel::BaseObject::SPtr	sobj,
		Node *	prev_parent
	)

protectedvirtual

Remove an object.

◆ doRemoveChild()

virtual void sofa::simulation::Node::doRemoveChild ( BaseNode::SPtr node )

pure virtual

Remove a child node.

Implemented in sofa::simulation::graph::DAGNode.

◆ doRemoveObject()

bool sofa::simulation::Node::doRemoveObject ( sofa::core::objectmodel::BaseObject::SPtr obj )

protectedvirtual

Remove an object.

◆ draw()

void sofa::simulation::Node::draw ( sofa::core::visual::VisualParams * params )

Draw the objects (using visual visitors)

◆ execute() [1/4]

template<class Act , class Params >

void sofa::simulation::Node::execute	(	const Params *	params,
		bool	precomputedOrder = `false`
	)

inline

Execute a recursive action starting from this node.

◆ execute() [2/4]

template<class Act >

void sofa::simulation::Node::execute	(	sofa::core::visual::VisualParams *	vparams,
		bool	precomputedOrder = `false`
	)

inline

Execute a recursive action starting from this node.

◆ execute() [3/4]

void sofa::simulation::Node::execute	(	Visitor &	action,
		bool	precomputedOrder = `false`
	)

inline

Execute a recursive action starting from this node.

◆ execute() [4/4]

void sofa::simulation::Node::execute	(	Visitor *	p,
		bool	precomputedOrder = `false`
	)

inline

Execute a recursive action starting from this node.

◆ executeVisitor()

void sofa::simulation::Node::executeVisitor	(	Visitor *	action,
		bool	precomputedOrder = `false`
	)

overridevirtual

Execute a recursive action starting from this node.

Reimplemented from sofa::core::objectmodel::BaseContext.

◆ findCommonParent()

virtual Node* sofa::simulation::Node::findCommonParent ( simulation::Node * node2 )

pure virtual

return the smallest common parent between this and node2 (returns nullptr if separated sub-graphes)

Implemented in sofa::simulation::graph::DAGNode.

◆ findLinkDestClass()

sofa::core::objectmodel::Base * sofa::simulation::Node::findLinkDestClass	(	const sofa::core::objectmodel::BaseClass *	destType,
		const std::string &	path,
		const sofa::core::objectmodel::BaseLink *	link
	)

overridevirtual

Implements sofa::core::objectmodel::BaseNode.

◆ getAnimationLoop()

core::behavior::BaseAnimationLoop * sofa::simulation::Node::getAnimationLoop ( ) const

overridevirtual

Reimplemented from sofa::core::objectmodel::BaseNode.

◆ getChild()

Node * sofa::simulation::Node::getChild ( const std::string & name ) const

Find a child node given its name.

◆ getChildren()

sofa::core::objectmodel::BaseNode::Children sofa::simulation::Node::getChildren ( ) const

overridevirtual

Get children nodes.

Get parent node (or nullptr if no hierarchy or for root node)

Implements sofa::core::objectmodel::BaseNode.

◆ getCollisionPipeline()

core::collision::Pipeline * sofa::simulation::Node::getCollisionPipeline ( ) const

overridevirtual

Reimplemented from sofa::core::objectmodel::BaseNode.

◆ getContext() [1/2]

const core::objectmodel::BaseContext * sofa::simulation::Node::getContext ( ) const

overridevirtual

Get this node context.

Implements sofa::core::objectmodel::BaseNode.

◆ getContext() [2/2]

core::objectmodel::BaseContext * sofa::simulation::Node::getContext ( )

overridevirtual

Get this node context.

Implements sofa::core::objectmodel::BaseNode.

◆ getDebug()

bool sofa::simulation::Node::getDebug ( ) const

◆ getMechanicalState()

core::behavior::BaseMechanicalState * sofa::simulation::Node::getMechanicalState ( ) const

overridevirtual

Mechanical Degrees-of-Freedom.

Reimplemented from sofa::core::objectmodel::BaseContext.

◆ getMeshTopologyLink()

core::topology::BaseMeshTopology * sofa::simulation::Node::getMeshTopologyLink ( SearchDirection dir = SearchUp ) const

overridevirtual

Mesh Topology (unified interface for both static and dynamic topologies)

Reimplemented from sofa::core::objectmodel::BaseContext.

Reimplemented in sofa::simulation::graph::DAGNode.

◆ getNodeInGraph()

Node * sofa::simulation::Node::getNodeInGraph ( const std::string & absolutePath ) const

Get a node in the scene graph matching the given absolute path.

◆ getNodeObject() [1/2]

template<class Object >

Object* sofa::simulation::Node::getNodeObject ( )

inline

◆ getNodeObject() [2/2]

template<class Object >

void sofa::simulation::Node::getNodeObject ( Object *& result )

inline

Return an object of this node deriving from a given class, or nullptr if not found. Note that only the first object is returned.

◆ getNodeObjects() [1/4]

template<class Object = sofa::core::objectmodel::BaseObject>

std::vector<Object*> sofa::simulation::Node::getNodeObjects ( )

inline

Returns a list of object of type passed as a parameter. This function is return object by copy but should be compatible with Return Value Optimization so the copy should be removed by the compiler. Eg: for( BaseObject* o : node->getNodeObjects() ) { ... } for( VisualModel* v : node->getNodeObjects<VisualModel>() ) { ... }

◆ getNodeObjects() [2/4]

template<class Container >

Container& sofa::simulation::Node::getNodeObjects ( Container & result )

inline

Returns a list of object of type passed as a parameter.

◆ getNodeObjects() [3/4]

template<class Object , class Container >

void sofa::simulation::Node::getNodeObjects ( Container * list )

inline

List all objects of this node deriving from a given class.

◆ getNodeObjects() [4/4]

template<class Container >

Container* sofa::simulation::Node::getNodeObjects ( Container * result )

inline

Returns a list of object of type passed as a parameter.

◆ getObject() [1/4]

void* sofa::simulation::Node::getObject	(	const sofa::core::objectmodel::ClassInfo &	class_info,
		const sofa::core::objectmodel::TagSet &	tags,
		SearchDirection	dir = `SearchUp`
	)		const

overridepure virtual

Generic object access, given a set of required tags, possibly searching up or down from the current context

Note that the template wrapper method should generally be used to have the correct return type,

Reimplemented from sofa::core::objectmodel::BaseContext.

Implemented in sofa::simulation::graph::DAGNode.

◆ getObject() [2/4]

void* sofa::simulation::Node::getObject	(	const sofa::core::objectmodel::ClassInfo &	class_info,
		const std::string &	path
	)		const

overridepure virtual

Generic object access, given a path from the current context

Note that the template wrapper method should generally be used to have the correct return type,

Reimplemented from sofa::core::objectmodel::BaseContext.

Implemented in sofa::simulation::graph::DAGNode.

◆ getObject() [3/4]

void* sofa::simulation::Node::getObject	(	const sofa::core::objectmodel::ClassInfo &	class_info,
		SearchDirection	dir = `SearchUp`
	)		const

inlineoverridevirtual

Generic object access, possibly searching up or down from the current context

Note that the template wrapper method should generally be used to have the correct return type,

Reimplemented from sofa::core::objectmodel::BaseContext.

◆ getObject() [4/4]

core::objectmodel::BaseObject * sofa::simulation::Node::getObject ( const std::string & name ) const

Find an object given its name.

◆ getObjects() [1/2]

void sofa::simulation::Node::getObjects	(	const sofa::core::objectmodel::ClassInfo &	class_info,
		GetObjectsCallBack &	container,
		const sofa::core::objectmodel::TagSet &	tags,
		SearchDirection	dir = `SearchUp`
	)		const

overridepure virtual

Generic list of objects access, given a set of required tags, possibly searching up or down from the current context

Note that the template wrapper method should generally be used to have the correct return type,

Reimplemented from sofa::core::objectmodel::BaseContext.

Implemented in sofa::simulation::graph::DAGNode.

◆ getObjects() [2/2]

void sofa::simulation::Node::getObjects	(	const sofa::core::objectmodel::ClassInfo &	class_info,
		GetObjectsCallBack &	container,
		SearchDirection	dir = `SearchUp`
	)		const

inlineoverridevirtual

Generic list of objects access, possibly searching up or down from the current context

Note that the template wrapper method should generally be used to have the correct return type,

Reimplemented from sofa::core::objectmodel::BaseContext.

◆ getOdeSolver()

core::behavior::OdeSolver * sofa::simulation::Node::getOdeSolver ( ) const

overridevirtual

Reimplemented from sofa::core::objectmodel::BaseNode.

◆ getRootContext()

BaseContext* sofa::simulation::Node::getRootContext ( ) const

inlineoverridevirtual

Get the root context of the graph.

Reimplemented from sofa::core::objectmodel::BaseContext.

◆ getShader() [1/2]

core::visual::Shader * sofa::simulation::Node::getShader ( ) const

overridevirtual

Shader.

Reimplemented from sofa::core::objectmodel::BaseContext.

◆ getShader() [2/2]

core::visual::Shader * sofa::simulation::Node::getShader ( const sofa::core::objectmodel::TagSet & t ) const

virtual

◆ getState()

core::BaseState * sofa::simulation::Node::getState ( ) const

overridevirtual

Degrees-of-Freedom.

Reimplemented from sofa::core::objectmodel::BaseContext.

◆ getTopology()

core::topology::Topology * sofa::simulation::Node::getTopology ( ) const

overridevirtual

Topology.

Reimplemented from sofa::core::objectmodel::BaseContext.

◆ getTreeNode()

Node * sofa::simulation::Node::getTreeNode ( const std::string & name ) const

Get a descendant node given its name.

◆ getTreeObject() [1/2]

template<class Object >

Object* sofa::simulation::Node::getTreeObject ( )

inline

◆ getTreeObject() [2/2]

template<class Object >

void sofa::simulation::Node::getTreeObject ( Object *& result )

inline

Return an object of this node and sub-nodes deriving from a given class, or nullptr if not found. Note that only the first object is returned.

◆ getTreeObjects() [1/4]

template<class Object = sofa::core::objectmodel::BaseObject>

std::vector<Object*> sofa::simulation::Node::getTreeObjects ( )

inline

List all objects of this node and sub-nodes deriving from a given class This function is return a std::vector by copy but should be compatible with Return Value Optimization so the copy should be removed by the compiler. Eg: for( BaseObject* o : node->getTreeObjects() ) { ... } for( VisualModel* v : node->getTreeObjects<VisualModel>() ) { ... }

◆ getTreeObjects() [2/4]

template<class Container >

Container& sofa::simulation::Node::getTreeObjects ( Container & result )

inline

List all objects of this node and sub-nodes deriving from a given class.

◆ getTreeObjects() [3/4]

template<class Object , class Container >

void sofa::simulation::Node::getTreeObjects ( Container * list )

inline

List all objects of this node and sub-nodes deriving from a given class.

◆ getTreeObjects() [4/4]

template<class Container >

Container* sofa::simulation::Node::getTreeObjects ( Container * result )

inline

List all objects of this node and sub-nodes deriving from a given class.

◆ getVisualLoop()

core::visual::VisualLoop * sofa::simulation::Node::getVisualLoop ( ) const

overridevirtual

Reimplemented from sofa::core::objectmodel::BaseNode.

◆ init()

void sofa::simulation::Node::init ( const sofa::core::ExecParams * params )

Initialize the components.

Initialize the components of this node and all the nodes which depend on it.

◆ initialize()

void sofa::simulation::Node::initialize ( )

virtual

Must be called after each graph modification. Do not call it directly, apply an InitVisitor instead.

◆ initVisualContext()

virtual void sofa::simulation::Node::initVisualContext ( )

inlinevirtual

Called during initialization to correctly propagate the visual context to the children.

Reimplemented in sofa::simulation::graph::DAGNode.

◆ isInitialized()

bool sofa::simulation::Node::isInitialized ( ) const

inline

◆ moveChild() [1/2]

virtual void sofa::simulation::Node::moveChild ( BaseNode::SPtr node )

overridepure virtual

Move a node in this from another node.

Implements sofa::core::objectmodel::BaseNode.

Implemented in sofa::simulation::graph::DAGNode.

◆ moveChild() [2/2]

void sofa::simulation::Node::moveChild	(	BaseNode::SPtr	node,
		BaseNode::SPtr	prev_parent
	)

finalvirtual

Move a node in this from another node.

Move a node from another node.

Implements sofa::core::objectmodel::BaseNode.

◆ moveObject()

void sofa::simulation::Node::moveObject ( sofa::core::objectmodel::BaseObject::SPtr obj )

finalvirtual

Move an object from another node.

Implements sofa::core::objectmodel::BaseNode.

◆ parse()

void sofa::simulation::Node::parse ( sofa::core::objectmodel::BaseObjectDescription * arg )

overridevirtual

Parse the given description to assign values to this object's fields and potentially other parameters.

Reimplemented from sofa::core::objectmodel::Base.

◆ precomputeTraversalOrder()

virtual void sofa::simulation::Node::precomputeTraversalOrder ( const sofa::core::ExecParams * )

inlinevirtual

Possible optimization with traversal precomputation, not mandatory and does nothing by default.

Reimplemented in sofa::simulation::graph::DAGNode.

◆ printComponents()

void sofa::simulation::Node::printComponents ( )

◆ propagateEvent()

void sofa::simulation::Node::propagateEvent	(	const sofa::core::ExecParams *	params,
		sofa::core::objectmodel::Event *	event
	)

overridevirtual

Propagate an event.

Reimplemented from sofa::core::objectmodel::BaseContext.

◆ reinit()

void sofa::simulation::Node::reinit ( const sofa::core::ExecParams * params )

Apply modifications to the components.

ReInitialize the components of this node and all the nodes which depend on it.

◆ removeChild()

void sofa::simulation::Node::removeChild ( BaseNode::SPtr node )

finalvirtual

Remove a child node.

Remove a child.

Implements sofa::core::objectmodel::BaseNode.

◆ removeControllers()

void sofa::simulation::Node::removeControllers ( )

virtual

Remove odesolvers and mastercontroler.

◆ removeListener()

void sofa::simulation::Node::removeListener ( MutationListener * obj )

virtual

◆ removeObject()

bool sofa::simulation::Node::removeObject ( sofa::core::objectmodel::BaseObject::SPtr obj )

finalvirtual

Remove an object.

Implements sofa::core::objectmodel::BaseNode.

◆ setDebug()

Node * sofa::simulation::Node::setDebug ( bool b )

◆ setDefaultVisualContextValue()

void sofa::simulation::Node::setDefaultVisualContextValue ( )

virtual

Called after initialization to set the default value of the visual context.

◆ setSleeping()

void sofa::simulation::Node::setSleeping ( bool val )

overridevirtual

override context setSleeping to add notification.

Reimplemented from sofa::core::objectmodel::Context.

◆ SOFA_ABSTRACT_CLASS2()

sofa::simulation::Node::SOFA_ABSTRACT_CLASS2	(	Node	,
		BaseNode	,
		Context
	)

◆ updateContext()

void sofa::simulation::Node::updateContext ( )

virtual

Update the whole context values, based on parent and local ContextObjects.

Reimplemented in sofa::simulation::graph::DAGNode.

◆ updateSimulationContext()

void sofa::simulation::Node::updateSimulationContext ( )

virtual

Update the simulation context values(gravity, time...), based on parent and local ContextObjects.

Reimplemented in sofa::simulation::graph::DAGNode.

◆ updateVisualContext()

void sofa::simulation::Node::updateVisualContext ( )

virtual

Update the visual context values, based on parent and local ContextObjects.

Related details

◆ VisitorScheduler

friend class VisitorScheduler

friend

Detailed Description

Public Attributes

Protected Attributes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Friends

Attribute details

◆ _context

◆ actionStack

◆ animationManager

◆ behaviorModel

◆ child

◆ collisionModel

◆ collisionPipeline

◆ configurationSetting

◆ constraintSet

◆ constraintSolver

◆ contextObject

◆ debug_

◆ forceField

◆ initialized

◆ interactionForceField

◆ linearSolver

◆ listener

◆ mapping

◆ mass

◆ mechanicalMapping

◆ mechanicalState

◆ meshTopology

◆ object

◆ projectiveConstraintSet

◆ shaders

◆ solver

◆ state

◆ topology

◆ topologyObject

◆ unsorted

◆ visualLoop

◆ visualManager

◆ visualModel

Constructor details

◆ Node()

◆ ~Node()

Function details

◆ addChild()

◆ addListener()

◆ addObject()

◆ create() [1/2]

◆ create() [2/2]

◆ createChild()

◆ doAddChild()

◆ doAddObject()

◆ doExecuteVisitor()

◆ doMoveChild()

◆ doMoveObject()

◆ doRemoveChild()

◆ doRemoveObject()

◆ draw()

◆ execute() [1/4]

◆ execute() [2/4]

◆ execute() [3/4]

◆ execute() [4/4]

◆ executeVisitor()

◆ findCommonParent()

◆ findLinkDestClass()

◆ getAnimationLoop()

◆ getChild()

◆ getChildren()

◆ getCollisionPipeline()

◆ getContext() [1/2]

◆ getContext() [2/2]

◆ getDebug()

◆ getMechanicalState()

◆ getMeshTopologyLink()

◆ getNodeInGraph()

◆ getNodeObject() [1/2]

◆ getNodeObject() [2/2]

◆ getNodeObjects() [1/4]

◆ getNodeObjects() [2/4]