raisim::GranularPoolSleepController

class · #include <raisim/object/granular/GranularPoolSleepController.hpp>

Opt-in approximation for a settled pool. Sleeping grains act as fixed grains. Call update before each world step, then release before changing the pool's size.

Nested classes

• struct Options — Controller parameters. All distances and thresholds must be finite and nonnegative.
• struct WakeSphere — A region that wakes grains, typically bounding an object entering the pool.

Public types

Policy

enum class Policy

When awake grains go to sleep. In every policy, grains within a wake sphere's reach (or above Options::keepAboveZ) are woken. RADIUS: every other grain sleeps immediately. QUIET: every other grain sleeps after Options::quietSteps consecutive quiet updates (below both speed thresholds). WAKE_ONCE: grains never go back to sleep after arm(); the wake reach is extended by Options::extraWakeDistance.

Enumerator
RADIUS
QUIET
WAKE_ONCE

Constructors & destructor

GranularPoolSleepController

GranularPoolSleepController()

Controller with default options.

explicit GranularPoolSleepController(Options options)

Parameters

Parameter	Description
options (in)	controller options. Throws std::invalid_argument for negative or non-finite values.

GranularPoolSleepController(const GranularPoolSleepController &) = delete

Public member functions

operator=

GranularPoolSleepController &operator=(const GranularPoolSleepController &) = delete

arm

void arm(GranularSystem &grains)

Attach to a pool and put its currently quiet grains to sleep (grains that were already fixed are never touched). Throws std::logic_error if already armed.

Parameters

Parameter	Description
grains (in, out)	the granular system

update

void update(GranularSystem &grains, std::span<const WakeSphere> wakeSources)

Wake grains near the wake sources and put grains to sleep according to the policy. Call before each world step. Throws std::logic_error if not armed with grains or if the particle count changed.

Parameters

Parameter	Description
grains (in, out)	the armed granular system
wakeSources (in)	regions that wake grains

release

void release(GranularSystem &grains)

Wake all sleeping grains and detach. Call before adding or removing particles. Throws std::logic_error if not armed with grains or if the particle count changed.

Parameters

Parameter	Description
grains (in, out)	the armed granular system

sleepingCount

size_t sleepingCount() const

Returns the number of grains currently asleep.

wakeTransitions

size_t wakeTransitions() const

Returns the number of sleep-to-awake transitions since the last arm().