#include <pointmass3d_model.h>

Inheritance diagram for argos::CPointMass3DModel:

Collaboration diagram for argos::CPointMass3DModel:

Public Types
typedef std::map< std::string, CPointMass3DModel * >	TMap

Public Types inherited from argos::CPhysicsModel
typedef std::map< std::string, CPhysicsModel * >	TMap

typedef std::vector< CPhysicsModel * >	TVector

Public Member Functions
	CPointMass3DModel (CPointMass3DEngine &c_engine, CEmbodiedEntity &c_entity)

virtual	~CPointMass3DModel ()

virtual void	MoveTo (const CVector3 &c_position, const CQuaternion &c_orientation)

virtual void	Reset ()

virtual void	Step ()=0

virtual void	UpdateFromEntityStatus ()=0
	Updates the state of this model from the status of the associated entity. More...

virtual bool	IsCollidingWithSomething () const
	Returns `true` if this model is colliding with another model. More...

virtual bool	CheckIntersectionWithRay (Real &f_t_on_ray, const CRay3 &c_ray) const =0

virtual void	UpdateOriginAnchor (SAnchor &s_anchor)
	Updates the origin anchor associated to the embodied entity. More...

CPointMass3DEngine &	GetPM3DEngine ()
	Returns a reference to the physics engine controlling this model. More...

const CPointMass3DEngine &	GetPM3DEngine () const
	Returns a const reference to the physics engine controlling this model. More...

Public Member Functions inherited from argos::CPhysicsModel
	CPhysicsModel (CPhysicsEngine &c_engine, CEmbodiedEntity &c_entity)

virtual	~CPhysicsModel ()

CPhysicsEngine &	GetEngine ()
	Returns the physics engine associated to this physics model. More...

CEmbodiedEntity &	GetEmbodiedEntity ()
	Returns the embodied entity associated to this physics model. More...

const CEmbodiedEntity &	GetEmbodiedEntity () const
	Returns the embodied entity associated to this physics model. More...

virtual void	UpdateEntityStatus ()
	Updates the status of the associated entity. More...

const SBoundingBox &	GetBoundingBox () const
	Returns an axis-aligned box that contains the physics model. More...

virtual void	CalculateBoundingBox ()=0
	Calculates the axis-aligned box that contains the entire physics model. More...

virtual void	CalculateAnchors ()
	Calculates the anchors associated to this model. More...

SBoundingBox &	GetBoundingBox ()
	Returns an axis-aligned box that contains the physics model. More...

template<typename MODEL >
void	RegisterAnchorMethod (const SAnchor &s_anchor, void(MODEL::*pt_method)(SAnchor &))
	Registers an anchor method. More...

Protected Attributes
CPointMass3DEngine &	m_cPM3DEngine
	Reference to the physics engine. More...

CVector3	m_cPosition
	The position of the model in this engine. More...

CVector3	m_cVelocity
	The linear velocity of this model in the engine. More...

CVector3	m_cAcceleration
	The acceleration of this model in the engine. More...

Detailed Description

Definition at line 21 of file pointmass3d_model.h.

Member Typedef Documentation

typedef std::map<std::string, CPointMass3DModel*> argos::CPointMass3DModel::TMap

Definition at line 25 of file pointmass3d_model.h.

Constructor & Destructor Documentation

argos::CPointMass3DModel::CPointMass3DModel	(	CPointMass3DEngine &	c_engine,
		CEmbodiedEntity &	c_entity
	)

Definition at line 9 of file pointmass3d_model.cpp.

virtual argos::CPointMass3DModel::~CPointMass3DModel ( )

inlinevirtual

Definition at line 32 of file pointmass3d_model.h.

Member Function Documentation

virtual bool argos::CPointMass3DModel::CheckIntersectionWithRay	(	Real &	f_t_on_ray,
		const CRay3 &	c_ray
	)		const

pure virtual

Implemented in argos::CPointMass3DQuadRotorModel, argos::CPointMass3DFootBotModel, argos::CPointMass3DBoxModel, and argos::CPointMass3DCylinderModel.

CPointMass3DEngine& argos::CPointMass3DModel::GetPM3DEngine ( )

inline

Returns a reference to the physics engine controlling this model.

Returns: A reference to the physics engine controlling this model.

Definition at line 56 of file pointmass3d_model.h.

const CPointMass3DEngine& argos::CPointMass3DModel::GetPM3DEngine ( ) const

inline

Returns a const reference to the physics engine controlling this model.

Returns: A const reference to the physics engine controlling this model.

Definition at line 64 of file pointmass3d_model.h.

bool argos::CPointMass3DModel::IsCollidingWithSomething ( ) const

virtual

Returns true if this model is colliding with another model.

Returns: true if this model is colliding with another model.

Implements argos::CPhysicsModel.

Definition at line 42 of file pointmass3d_model.cpp.

void argos::CPointMass3DModel::MoveTo	(	const CVector3 &	c_position,
		const CQuaternion &	c_orientation
	)

virtual

Moves the entity to the wanted position and orientation within this engine. When you create a new model, you must implement this method. Don't forget to call UpdateEntityStatus() after you've changed the position.

This method should never be called directly from user code. It is called internally by CEmbodiedEntity::MoveTo(), which is meant to be called from user code.

CEmbodiedEntity::MoveTo() never calls this method if the embodied entity is static. This is because static entities cannot be moved around. Thus, there's no need in your code to check whether the associated entity is static.

Parameters

c_position	The wanted position.
c_orientation	The wanted orientation.

Implements argos::CPhysicsModel.

Definition at line 33 of file pointmass3d_model.cpp.

void argos::CPointMass3DModel::Reset ( )

virtual

Reimplemented in argos::CPointMass3DQuadRotorModel, and argos::CPointMass3DFootBotModel.

Definition at line 23 of file pointmass3d_model.cpp.

virtual void argos::CPointMass3DModel::Step ( )

pure virtual

Implemented in argos::CPointMass3DQuadRotorModel, argos::CPointMass3DFootBotModel, argos::CPointMass3DBoxModel, and argos::CPointMass3DCylinderModel.

virtual void argos::CPointMass3DModel::UpdateFromEntityStatus ( )

pure virtual

Updates the state of this model from the status of the associated entity.

This method takes the current state of the associated entity (e.g., desired wheel speed, turret rotationss, etc.) and updates the state of this model. Typically, in this method you apply forces and set speeds.

Implements argos::CPhysicsModel.

Implemented in argos::CPointMass3DQuadRotorModel, argos::CPointMass3DFootBotModel, argos::CPointMass3DBoxModel, and argos::CPointMass3DCylinderModel.

void argos::CPointMass3DModel::UpdateOriginAnchor ( SAnchor & s_anchor )

virtual

Updates the origin anchor associated to the embodied entity.

Reimplemented in argos::CPointMass3DQuadRotorModel, and argos::CPointMass3DFootBotModel.

Definition at line 56 of file pointmass3d_model.cpp.

Member Data Documentation

CVector3 argos::CPointMass3DModel::m_cAcceleration

protected

The acceleration of this model in the engine.

Definition at line 80 of file pointmass3d_model.h.

CPointMass3DEngine& argos::CPointMass3DModel::m_cPM3DEngine

protected

Reference to the physics engine.

Definition at line 71 of file pointmass3d_model.h.

CVector3 argos::CPointMass3DModel::m_cPosition

protected

The position of the model in this engine.

Definition at line 74 of file pointmass3d_model.h.

CVector3 argos::CPointMass3DModel::m_cVelocity

protected

The linear velocity of this model in the engine.

Definition at line 77 of file pointmass3d_model.h.

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation