Table of Contents

Class UniverseObject

Namespace
NominalSystems.Universe
Assembly
NominalSystems.Universe.dll

[Nominal] A universe object is a special object that can have a physical position and may be visible in the world. It can be attached to a parent or moved around relative to the origin. This object is useful for visualisations to help keep track of the locations of objects.

public class UniverseObject : UniverseEvent
Inheritance
UniverseObject
Derived
Extension Methods

Constructors

UniverseObject()

Default constructor

protected UniverseObject()

Fields

Behaviours

The list of all behaviours that are attached to this object.

[ReadOnly]
[Metadata(IsAdvanced = true)]
public List<UniverseBehaviour> Behaviours

Field Value

List<UniverseBehaviour>

Children

The list of all child objects that are attached to this object.

[ReadOnly]
[Metadata(IsAdvanced = true)]
public List<UniverseObject> Children

Field Value

List<UniverseObject>

Models

The list of all models that are attached to this object.

[ReadOnly]
[Metadata(IsAdvanced = true)]
public List<UniverseModel> Models

Field Value

List<UniverseModel>

Name

This defines the name of the object. This name does not need to be unique and can be left as empty if required. The name is used as a display purpose or can be searched for.

public string Name

Field Value

string

Out_TransformMsg

This defines the base transform message that stores the state of the transform of this object.

public TransformMessage? Out_TransformMsg

Field Value

TransformMessage

Properties

LocalForward

The direction of the transform frame's forward vector, which is along the Y axis.

[Unit(UnitType.NONE)]
[ReadOnly]
[Metadata(IsAdvanced = true)]
public virtual Vector3 LocalForward { get; }

Property Value

Vector3

LocalRight

The direction of the transform frame's right vector, which is along the X axis.

[Unit(UnitType.NONE)]
[ReadOnly]
[Metadata(IsAdvanced = true)]
public virtual Vector3 LocalRight { get; }

Property Value

Vector3

LocalUp

The direction of the transform frame's up vector, which is along the Z axis.

[Unit(UnitType.NONE)]
[ReadOnly]
[Metadata(IsAdvanced = true)]
public virtual Vector3 LocalUp { get; }

Property Value

Vector3

Parent

This is an optional parent that can enable an anchor point for where the object exists on. If the parent object transform changes, so does the absolute transform of the sub-object.

[ReadOnly]
[Metadata(IsAdvanced = true)]
public UniverseObject? Parent { get; }

Property Value

UniverseObject

Position

[m] The position of the object relative to the parent or to world origin, if no parent exists.

[Unit(UnitType.METRE)]
public virtual Vector3 Position { get; set; }

Property Value

Vector3

Rotation

[-] The rotation of the object relative to the parent or to the world origin, if no parent exists. This is the transpose of the DCM matrix.

[Unit(UnitType.NONE)]
public virtual Matrix3 Rotation { get; set; }

Property Value

Matrix3

Transform

This controls the position and rotation of the object relative to the parent of the object, or absolute if there is no parent.

[Hidden]
public Transform Transform { get; }

Property Value

Transform

Methods

AddBehaviour(Type)

Adds a behaviour of a particular type to this universe object, if it is able to.

public UniverseBehaviour AddBehaviour(Type type)

Parameters

type Type

The universe behaviour type to add

Returns

UniverseBehaviour

The behaviour that was created and added

AddBehaviour<T>()

Adds a behaviour of a particular type to this universe object, if it is able to.

public T AddBehaviour<T>() where T : UniverseBehaviour

Returns

T

The behaviour that was created and added

Type Parameters

T

The universe behaviour type to add

Add<T>()

Adds a new object to the current object. This will make the current object the parent / owner of the new object.

public T Add<T>() where T : UniverseObject

Returns

T

The object that was attached

Type Parameters

T

The universe object type to attach

Attach(UniverseObject)

Attempts to attach this object to a new parent. This will only work if the current object is no parented to any other object.

public virtual bool Attach(UniverseObject parent)

Parameters

parent UniverseObject

The new parent to attach this object to

Returns

bool

A successful attachment flag

ContainsModel(string)

Returns a flag whether the universe object currently contains an instance of a particular universe model, of some type.

public bool ContainsModel(string typeName)

Parameters

typeName string

The universe model type to check

Returns

bool

A success if the object contains a model type

ContainsModel<T>()

Returns a flag whether the universe object currently contains an instance of a particular universe model, of some type.

public bool ContainsModel<T>() where T : UniverseModel

Returns

bool

A success if the object contains a model type

Type Parameters

T

The universe model type to check

Destroy()

Destroys the object and all of its children. This will also ensure that it is no longer being simulated.

public void Destroy()

Detach()

This is an action to detach the current object from its parent, if it exists and move it to another object or to just exist within the simulation.

public virtual bool Detach()

Returns

bool

A successful detachment flag

GetBehaviour<T>(bool)

Returns a behaviour that exists on this object, or any of its children (if recursing).

public T? GetBehaviour<T>(bool recurse = true) where T : UniverseBehaviour

Parameters

recurse bool

A flag whether to recurse down the chain

Returns

T

The reference to the behaviour that is attached, if it exists

Type Parameters

T

The universe behaviour type to search for

GetBehaviours<T>(bool)

Returns the array of behaviours that exists on this object, or any of its children (if recursing).

public T[] GetBehaviours<T>(bool recurse = true) where T : UniverseBehaviour

Parameters

recurse bool

A flag whether to recurse down the chain

Returns

T[]

The array of behaviours that exist on this object

Type Parameters

T

The universe behaviour type to search for

GetChild<T>(bool)

Attempts to find a child of a particular universe object type within the hierarchy of the current object.

public T? GetChild<T>(bool recurse = true) where T : UniverseObject

Parameters

recurse bool

A flag whether to recurse down the chain

Returns

T

A child reference, if it exists

Type Parameters

T

The universe object child to search for

GetChildren<T>(bool)

Attempts to find children of a particular universe object type within the hierarchy of the current object.

public T[] GetChildren<T>(bool recurse = true) where T : UniverseObject

Parameters

recurse bool

A flag whether to recurse down the chain

Returns

T[]

A child array of all matching objects

Type Parameters

T

The universe object child to search for

GetModel(Type)

Returns a registered "NominalSystems.Universe.UniverseModel" with the specified type.

public UniverseModel GetModel(Type type)

Parameters

type Type

A "NominalSystems.Universe.UniverseModel" type.

Returns

UniverseModel

GetModel<T>()

Returns a registered "NominalSystems.Universe.UniverseModel" with the specified type.

public T GetModel<T>() where T : UniverseModel

Returns

T

Type Parameters

T

A "NominalSystems.Universe.UniverseModel" type.

GetModels()

Returns the list of all models attached to the current object and only to the current object. This will not look down the chain and find model.

public UniverseModel[] GetModels()

Returns

UniverseModel[]

The universe models that exist

GetParent<T>(bool)

Attempts to find a parent object of the given type. If the recurse mode is on, this will look up the chain until a parent object is found.

public T? GetParent<T>(bool recurse = true) where T : UniverseObject

Parameters

recurse bool

A flag whether to go up the object chain

Returns

T

The parent object of the type specified, if it exists

Type Parameters

T

The type of object to look for

GetRoot()

Returns the root object of the Universe Object which will either be the current object, if there is no parent, or the parent of the parent of the current object.

public UniverseObject GetRoot()

Returns

UniverseObject

The root object of this hierarchy

GetRoot<T>()

Returns the root object of this Universe Object in a particular type. This will find the highest root object that is of the type specified.

public T? GetRoot<T>() where T : UniverseObject

Returns

T

The universe object type that exists as the root

Type Parameters

T

The Universe Object type to look for

GetWorldForward()

Returns the forward vector of the object in world space.

public Vector3 GetWorldForward()

Returns

Vector3

The world forward vector

GetWorldRight()

Returns the right vector of the object in world space.

public Vector3 GetWorldRight()

Returns

Vector3

The world right vector

GetWorldTransform()

Returns the world transform of the object which is relative to the parent. If no parent exists, this will be the transform of the object in world space.

public virtual Transform GetWorldTransform()

Returns

Transform

The transform relative to the origin coordinate space

GetWorldUp()

Returns the up vector of the object in world space.

public Vector3 GetWorldUp()

Returns

Vector3

The world up vector

OnBehaviourAttached(UniverseBehaviour)

This event is called when a new behaviour is added to this component. The behaviour is passed into the event and a component can override this method to implement some form of checking when this event is executed.

protected virtual void OnBehaviourAttached(UniverseBehaviour behaviour)

Parameters

behaviour UniverseBehaviour

A reference to the behaviour that was just added

OnBehaviourDetached(UniverseBehaviour)

This event is called when a behaviour is removed from this component. The behaviour will be passed to the event but it is now no longer attached to this component.

protected virtual void OnBehaviourDetached(UniverseBehaviour behaviour)

Parameters

behaviour UniverseBehaviour

A reference to the behaviour that was detached

OnChildAttached(UniverseObject)

This event is called when a child has been attached to this object. This will pass in the reference to the child object that was added.

protected virtual void OnChildAttached(UniverseObject child)

Parameters

child UniverseObject

The child object that was added

OnChildDetached(UniverseObject)

This event is called when a child has been detached from this object. This will pass in the child object that was removed.

protected virtual void OnChildDetached(UniverseObject child)

Parameters

child UniverseObject

The child object that was detached

OnCreate()

Called when the 'Component' is created from the controller.

protected override void OnCreate()

OnParentChanged(UniverseObject?)

This event is called when the parent object has been changed. This will pass in the reference to the current parent. If the parent is missing, a null reference will be passed in.

protected virtual void OnParentChanged(UniverseObject? parent)

Parameters

parent UniverseObject

The reference to the current parent

PitchDegrees(double)

Pitches the local transform by some rotation along the X axis.

public virtual void PitchDegrees(double degrees)

Parameters

degrees double

[deg] The angle to pitch by

RollDegrees(double)

Rolls the local transform by some rotation along the Y axis.

public virtual void RollDegrees(double degrees)

Parameters

degrees double

[deg] The angle to roll by

SetParent(UniverseObject?)

Sets the parent of the object to a new parent, or detaching the object completely and adding back to the controller base.

public bool SetParent(UniverseObject? newOwner)

Parameters

newOwner UniverseObject

The new owner, if it exists

Returns

bool

A successful setting of the parent to a new, or empty, object

SetUpdatePriority(int)

This method is able to set the priority of a component for its update event. Since the update is called based on the components that are ticked, any components that need to be ticked before other objects can have their priorities changed here.

public void SetUpdatePriority(int priority = -1)

Parameters

priority int

A priority index, where -1 will put to the top of the list

SetWorldTransform(Transform)

Sets the transform of this object, relative to the simulation origin. This will climb up the hierarchy of the components attached and will update the absolute transform to the origin.

public virtual void SetWorldTransform(Transform transform)

Parameters

transform Transform

The transform relative to the origin coordinate space

YawDegrees(double)

Yaws the local transform by some rotation along the Z axis.

public virtual void YawDegrees(double degrees)

Parameters

degrees double

[deg] The angle to yaw by