Microsoft.Robotics.Simulation.Engine Namespace

  • Article

Microsoft Robotics Class Reference

Classes

  Class Description
Public class AttachedChildCamera
This camera is meant to be attached to another entity. It sets its orientation based on the pose of its associated Camera entity. It moves in yaw, pitch, and roll. It does not respond to keyboard or mouse input.
Public class BeginPlayback
Begin playback of entity movements from a .plb file
Public class BeginPlaybackRequest
A request to begin playback of entity movements
Public class BeginRecording
Begin recording entity movements to a .plb file
Public class BeginRecordingRequest
A request to begin recording entity movements
Public class BumperArrayEntity
Models an array of contact sensors
Public class CachedEffect
Encapsulated xna Effect that handles reloading
Public class CachedEffectParameter
Encapsulated xna effect parameter that handles reloading
Public class Camera
Simple base camera class that moves and rotates. The base class records mouse and keyboard input for use by a derived class, and keeps common state.
Public class CameraEntity
Models a camera sensor
Public class CameraSprite
Camera sprite.
Public class CameraView
Specifies a camera position and look-at point
Public class Contract
Service contract
Public class DeleteSimulationEntity
Delete entity
Public class DepthCamBasedRaycastSensorEntity
Models a sensor that uses a simulated depth cam to make raycasts
Public class DepthCameraEntity
Models a camera sensor
Public class DepthCameraEntity. . :: . .DepthCameraProperties
Properties for the depth camera
Public class DepthCameraEntity. . :: . .DepthCameraResult
Current depth image
Public class DepthCameraEntity. . :: . .StandardShaders
Contains definitions for a standard set of shader files used for depth camera simulations
Public class DifferentialDriveEntity
Models a differential drive motor base with two active wheels and one caster
Public class DisplayEntity
Display sprite.
Public class DoorAttributes
Attributes of the door item
Public class EntityNameSprite
Camera sprite.
Public class EntitySubscribeRequestType
Name of entity to subscribe for
Public class EntityWithMaterials
Entity with material that it uses for its mesh, rather than using the material specified by the mesh.
Public class FinishPlayback
Finish playback of entity movements from a .plb file
Public class FinishPlaybackRequest
A request to Finish playback of entity movements
Public class FinishRecording
Finish recording entity movements to a .plb file
Public class FinishRecordingRequest
A request to Finish recording entity movements
Public class FirstPersonCamera
Simple first person camera class that moves and rotates. It allows yaw and pitch but not roll. It uses keyboard and cursor to respond to keyboard and mouse input and updates the view matrix based on input.
Public class FloorplanEntity
Models a building with walls, doors, and windows as well as other structures such as mazes and even lines painted on the floor.
Public class FloorplanItem
Base class for items that make up a floor plan
Public class FloorplanItemInstance
A user-instance of a floorplan item
Public class FloorplanRenderInfo
Information about the 2D rendering surface
Public class FrameUpdate
Frame update message, send once a frame from arbitrary thread context
Public class Get
Get
Public class GlobalJointEntity
Entity that holds a list of joints used in a Collada scene.
Public class HeightFieldEntity
Models a terrain composed out of height field samples
Public class InsertSimulationEntity
Insert entity
Public class IntersectRay
Intersect ray with visual entities (must have meshes)
Public class IREntity
Models an infrared sensor using a depth camera
Public class IRobotCreate
IRobotCreate variant of the motor base entity. It just specifies different physical properties in its custom constructor, otherwise uses the base class as is.
Public class KinectCameraEntity
Models a kinect sensor
Public class KinectEntity
Models a kinect sensor base
Public class KukaLBR3Entity
Models KUKA LBR3 robotic arm
Public class KukaLBR3Entity. . :: . .CustomJointSingleShapeEntity
Defines a new entity type that overrides the ParentJoint with custom joint properties. It also handles serialization and deserialization properly.
Public class LaserRangeFinderEntity
Models a laser range finder using physics raycasting to determine impact points
Public class LegoNXTTribot
Lego NXT variant of the motor base entity. It just specifies different physical properties in its custom constructor, otherwise uses the base class as is.
Public class LightSourceEntity
Illuminates the scene
Public class MatrixTransforms
Transforms
Public class MeshEntity
An entity that has one or more physics shapes based on a mesh.
Public class MicrosoftGpsEntity
An entity simulating a Microsoft GPS device. NOTE: Prototype, not functioning yet
Public class MotorBase
MotorBase is an implementation of the differential drive entity.
Public class MultiShapeEntity
Models an entity with multiple shapes, with fixed pose with respect to each other.
Public class Pioneer3DX
MobileRobots Pioneer3DX implementation of the differential entity. It just specifies different physical properties in its custom constructor, otherwise uses the base class as is.
Public class PlaybackInstance
Playback data
Public class QuerySimulationEntity
Query for Entity
Public class QuerySimulationEntityResponseType
The response to a QuerySimulationEntity request
Public class QuerySimulatorConfiguration
Query for Simulator Configuration
Public class Replace
Replace
Public class RequiresParentAttribute
Add to entity types to note if they require a parent or not This is an optinal attribute
Public class ResourceCache
Manages graphics resources to minimize duplicate instances
Public class SceneGeometry
Simulation internal use. Captures physics engine geometry of all simulated shapes
Public class SimplifiedConvexMeshEnvironmentEntity
Generates a simplified convex hull for physics collisitions, using convex mesh data
Public class SimulationEngine
Simulation Engine content pipeline methods
Public class SimulationEngine. . :: . .SimulatorEditorSettings
Simulation engine configuration
Public class SimulationEnginePort
Simulation engine operations port
Public class SimulatorConfiguration
Simulation engine configuration
Public class SingleShapeEntity
Models a single geometric shape with physical properties.
Public class SkyDomeEntity
Sky entity that uses a 2D dome texture rather than a cube map.
Public class SkyEntity
Rendering only (not part of physics simulation) entity used to render a sky
Public class SonarEntity
Models an sonar sensor using a depth camera
Public class SpriteEntity
Base entity for all sprites
Public class SubscribeForSimulationEntity
Subscribe for entity
Public class TerrainEntity
Basic terrain entity, read from file height data and builds a matrix of ageia heightfields, a rendering mesh is created for each chunk rendering uses frustum culling to reduce chunks to be rendered
Public class TerrainEntityLOD
LOD rendering terrain entity, read from file height data and builds a matrix of ageia heightfields, a rendering mesh is created for each chunk rendering uses frustum culling to reduce chunks to be rendered chunks are rendered with different level of detail, detail is selected and updated depending on the camera position
Public class TriangleMeshEnvironmentEntity
Generates a physics collision mesh using the same exact geometry as a triangle based graphics mesh
Public class TypeConversion
Helper type conversion routines
Public class UpdateCameraView
Update main camera view
Public class UpdatePhysicsTimeStep
Update simulation timestep programatically via message
Public class UpdateSimulationEntity
Update entity
Public class UpdateSimulatorConfiguration
Update simulator configuration
Public class Utilities
Misc utility functionality
Public class VisualEntity
Visual simulation entity. Used to render an entity in the simulation.

Remarks

Visual entities can participate in the simulated physics if they have a PhysicsEntity instance. If PhysicsEntity is not set and the derived class did not add it explicitly to the physics engine, the Visual entity will be purely kinematic, aka it will not interact physically with the world
Public class VisualEntityMesh
Manages rendering of a triangulated mesh
Public class VisualEntityOperation
Base operation for Visual entity update and render operations
Public class WallAttributes
Wall Attributes
Public class WheelEntity
Rendering wrapper around PhysicsWheel shape. If you are not interested in rendering just use PhysicsWheel directly
Public class WindowAttributes
Attributes of the window item

Structures

  Structure Description
Public structure ExtendedMaterial
File based material
Public structure Material
Material definition
Public structure Position
Simulation internal use. A vertex element definition which includes position information.
Public structure Position4DNormalTexturedColored
Simulation internal use. A vertex element definition which includes position, normal, texture, and color information.
Public structure PositionColored
Simulation internal use. A vertex element definition which includes position and color information.
Public structure PositionNormal
Simulation internal use. A vertex element definition which includes position and normal information.
Public structure PositionNormalInstanced
Simulation internal use. A vertex element definition which includes position, normal, and instance ID information.
Public structure PositionNormalTextured
Simulation internal use. A vertex element definition which includes position, normal, and texture information.
Public structure PositionNormalTexturedColored
Simulation internal use. A vertex element definition which includes position, normal, texture, and color information.
Public structure PositionNormalTexturedColoredInstanced
Simulation internal use. A vertex element definition which includes position, normal, texture, color, and instance id information.
Public structure PositionNormalTexturedInstanced
Simulation internal use. A vertex element definition which includes position, normal, texture, and instance information.
Public structure PositionTextured
Simulation internal use. A vertex element definition which includes position, texture, and instance information.
Public structure PositionTexturedInstanced
Simulation internal use. A vertex element definition which includes position, texture, and instance information.
Public structure Triangle
Triangle, expressed as three points. Hopefully something better will come along from Xna.
Public structure TriangleIntersectionRecord
Recorded information about an intersection with a triangle

Interfaces

  Interface Description
Public interface IVisualEntity
Behavior aspect of simulation entities. State is tracks as part of the Entity class

Delegates

  Delegate Description
Public delegate CachedEffect. . :: . .RenderFunc
Delegate for rendering things using the effect

Enumerations

  Enumeration Description
Public enumeration CameraEntity. . :: . .CameraModelType
Flags to specify the camera model
Public enumeration CameraEntity. . :: . .ShadowDisplayMode
Flags to enable or disable shadow rendering by the camera
Public enumeration CameraKeys
Used to map keys to the camera
Public enumeration Constraint
Defines the mouse movement constraints in the sim editor
Public enumeration FloorplanItemType
The types of items supported by the floorplan entity
Public enumeration LightSourceEntityType
Types of light sources
Public enumeration MeshEntityType
Types of mesh entities
Public enumeration OperationResult
Used by entities to report the result of long operations
Public enumeration SimulationEngine. . :: . .GraphicsQuality
Quality settings for the simulator graphics
Public enumeration SimulationEngine. . :: . .IntersectInvisFlags
Flags for intersecting rays with entities whose rendering is disabled
Public enumeration SimulationEngine. . :: . .SimModeType
Types of modes that the simulator can be in
Public enumeration SpritePivotType
Type of Sprite Pivots
Public enumeration SpritePositioningType
Type of Sprite Positioning
Public enumeration VisualEntity. . :: . .ReferenceFrames
Specifies the meaning of the entity's position.
Public enumeration VisualEntity. . :: . .RenderMode
Flag for how a mesh should be rendered
Public enumeration VisualEntityProperties
Visual entity properties