vcNode

Object type for nodes, which are used by components and other objects to form tree structures.

See in: Overview

Module: vcCore

Parent: vcObject

Children: vcComponent, vcLayout, vcLinkNode

Referenced by: vcAnnotation.Node, vcApplication.loadVCMX(), vcAuthorContext.ActiveNode, vcBaseFrame.Node, ... (see more)

vcAnnotation.Node
vcApplication.loadVCMX()
vcAuthorContext.ActiveNode
vcBaseFrame.Node
vcBehavior.Node
vcCollisionRecord.NodeA
vcCollisionRecord.NodeB
vcCore.getNode()
vcDimension.Node1
vcDimension.Node2
vcKinematics.FlangeNode
vcKinematics.RootNode
vcLinkJoint.ParentNode
vcPickedTopologyCurveInfo.Node
vcRaycastResult.Node
vcServoController.FlangeNode
vcServoController.RootNode
vcSetBaseStatement.Node
vcSetToolStatement.Node
vcSimAttachmentField.ConnectedTo
vcSimAttachmentField.Node
vcSimHierarchyField.Node
vcSweptVolume.TargetNode
vcTransportTarget.ProductPositionNode
vcTransportTarget.ResourcePositionNode
vcVolumeDetector.getHitNode()

Properties

Learn how to use properties here. The properties are also inherited from the parent class.

Name	Type	Access	Description
Behaviors	vcList[vcBehavior]	R	Gets a list of all behaviors within this node.
BoundingBox	vcBoundingBox	R	Gets the bounding box of node.
Children	vcList[vcNode]	R	Gets a list of node's immediate child nodes.
Component	vcComponent	R	Gets the component of node.
Geometry	vcGeometryContainer	R	Gets the container of geometry in node.
InverseWorldPositionMatrix	vcMatrix	R	Gets inverse of node's position matrix in World coordinate system.
MaterialInheritance	vcMaterialInheritance	RW	Gets or sets the mode for managing NodeMaterial property. For example, node material could override feature materialsand child nodes.
Name	String	RW	Gets or sets node name. Exceptions: ValueError: When given name is empty or not unique.
NodeMaterial	vcMaterial	RW	Gets or sets the node's material. This See more property is used with MaterialInheritance to define how the node's material is assigned to its features and child nodes.
NodeVisible	Boolean	RW	Gets or sets the visibility of the node but not its child nodes.
Parent	vcObject	R	Gets the parent node of this node.
PositionMatrix	vcMatrix	RW	Gets or sets the position matrix of a node in parent coordinate system.
Properties	vcPropertyContainer	R	Gets the properties of this node.
RootFeature	vcFeature	R	Gets the root feature of node.
Type	vcSimNodeType	R	Gets the node's type
UserGeometry	vcGeometryContainer	R	Gets a container of geometry that is unique to the node. That is, the geometry of this container is never shared with other nodes.
Visible	Boolean	RW	Gets or sets the visibility of the node and its child nodes.
World	vcWorld	R	Object type for nodes, which are used by components and other objects to form tree structures.
WorldPositionMatrix	vcMatrix	RW	Gets the position matrix of node in World coordinate system.

Methods

Learn how to use methods here. The methods are also inherited from the parent class.

Name	Return Type	Parameters	Description
attachChild	None	vcNode childNode, Optional Keyword[permanent = Boolean]	Attaches a given node to this node as a child. See more Parameters: childNode (vcNode): A node to attach to. permanent (Boolean): When set to False, the attachment will be reset on simulation reset. Exceptions: ValueError: When adding non-component to a world. ValueError: When adding world as a child to another node. ValueError: When adding parent of a node as its child. ValueError: When the node hierarchy is locked.
createBehavior	vcBehavior	vcBehaviorType type, String name, Optional Keyword[useExisting = Boolean]	Creates a new behavior of a given type and name in this node. See more Parameters: type (vcBehaviorType): The behavior type to create. name (String): The name for the newly created behavior. useExisting (Boolean): Whether to return an existing behavior with the given name name if True, or throw an error if the name is not unique if False. Defaults to False. Exceptions: RuntimeError: When there is no license for Modeling API or a more specific API required to create the desired type of behavior. ValueError: When behavior creation failed. Returns: vcBehavior: Newly created behavior object.
delete	None	None	Deletes the node. See more Exceptions: RuntimeError: When there is no license for Modeling API. RuntimeError: When the node or its sub-tree contains the calling Python script. RuntimeError: When the node is in transition. RuntimeError: When the node hierarchy is locked.
findBehavior	vcBehavior	String name, Optional Keyword[searchScope = vcNodeTreeScope]	Gets the first behavior matching a given name within given search scope. See more Parameters: name (String): Behavior's name to search for. searchScope (vcNodeTreeScope): Indicates the extent of the search. Returns: vcBehavior: Behavior matching given name; otherwise None.
findBehavior	vcBehavior	vcBehaviorType type, Optional Keyword[searchScope = vcNodeTreeScope]	Gets the first behavior matching a given type within given search scope. See more Parameters: type (vcBehaviorType): The behavior type to search for. searchScope (vcNodeTreeScope): Indicates the extent of the search. Returns: vcBehavior: Behavior matching given type, or None when no behavior match the search criteria.
findFeature	vcFeature	String name, Optional Keyword[searchScope = vcNodeTreeScope]	Returns the first feature matching a given name within given search scope. See more Parameters: name (String): Feature's name to search for. Returns: vcFeature: Feature matching given name; otherwise None.
findNode	vcNode	String name, Optional Keyword[searchScope = vcNodeTreeScope]	Finds the first child node matching a given name. See more Parameters: name (String): Node's name to search for. searchScope (vcNodeTreeScope): Indicates the extent of the search. Returns: vcNode: Found node matching the given name; otherwise None.
getBehaviors	list[vcBehavior]	Optional Keyword[retrievalScope = vcNodeTreeScope]	Gets a list of all behaviors within given retrieval scope. See more Parameters: retrievalScope (vcNodeTreeScope): Indicates the extent of the retrieval. Returns: List of vcBehaviors: All behaviors within retrieval scope.
getChildComponents	list[vcComponent]	Optional Keyword[searchScope = vcNodeTreeScope]	Gets a list of all components attached to the node. See more Parameters: searchScope (vcNodeTreeScope): Indicates the extent of the search. Returns: List of vcComponents: All components attached to given node.
localToWorld	vcVector	vcVector vector	Transforms given vector from node's local coordinate system to the world coordinate system. See more Parameters: vector (vcVector): vector in node's local coordinate system. Returns: vcVector: vector in world coordinate system.
localToWorld	vcMatrix	vcMatrix matrix	Transforms given matrix from node's local coordinate system to the world coordinate system. See more Parameters: matrix (vcMatrix): matrix in node's local coordinate system. Returns: vcMatrix: matrix in world coordinate system.
rebuild	None	Optional Keyword[updateTree = Boolean]	Rebuilds the geometry of node by re-evaluating its feature tree. See more Note: Try to avoid using this method during a simulation. Parameters: updateTree (Boolean): When True, rebuilds also node's sub-tree, including any child components. Exceptions: RuntimeError: When rebuilding node that is in process of being removed.
update	None	Optional Keyword[updateTree = Boolean]	Updates the node. See more Parameters: updateTree (Boolean): When True, updates also node's sub-tree, including any child components.
worldToLocal	vcVector	vcVector vector	Transforms given vector from world coordinate system to the node's local coordinate system. See more Parameters: vector (vcVector): vector in world coordinate system. Returns: vcVector: vector in node's local coordinate system.
worldToLocal	vcMatrix	vcMatrix matrix	Transforms given matrix from world coordinate system to the node's local coordinate system. See more Parameters: matrix (vcMatrix): matrix in world coordinate system. Returns: vcMatrix: matrix in node's local coordinate system.

Events

Learn how to use events here. The events are also inherited from the parent class.

Name	Parameters	Description
OnNodeTransform	vcNode node	Triggered when node's pose in the world changes. Parameters: node (vcNode): The transformed node.

Example: Create New Behavior

""" This example shows how to create a new behavior. """

import vcCore as vc
import vcBehaviors as vc_beh

comp = vc.getComponent()
sensor_signal = comp.createBehavior(vc_beh.vcBehaviorType.BOOLEAN_SIGNAL, "SensorSignal")

Example: Node Visibility Toggle

"""Toggle node visibility"""
import vcCore as vc

comp = vc.getComponent()
node = comp.findNode('Axis 2')
# Tested with Generic Articulated Robot
node.NodeVisible = False

Example: Node Access

"""Access the node that owns this script, and its parent and children nodes"""
import vcCore as vc

node = vc.getNode()
parent = node.Parent
print(parent)

# Access immediate child of a node
children = node.Children
for child in children:
  print(child)

# Access many children of the node
def recursive_loop(node):
  children = node.Children
  for child in children:
    print(child)
    recursive_loop(child)

recursive_loop(node)

Example: Node Attach

"""Attach one node (or component) to another during simulation run"""
import vcCore as vc

node = vc.getNode() # vc.getComponent() would also work
world = vc.getWorld()
other = world.findComponent('example')


async def OnRun():
  print(node.Children)
  # Retain position: node -> world -> other 
  mtx = node.InverseWorldPositionMatrix * other.WorldPositionMatrix
  node.attachChild(other, False) # True value for permanent attachment, False to detach upon reset
  other.PositionMatrix = mtx
  print(node.Children)