argos::CDynamics3DModel Class Reference

#include <dynamics3d_model.h>

Inheritance diagram for argos::CDynamics3DModel:

Collaboration diagram for argos::CDynamics3DModel:

Classes
class	CAbstractBody

Public Types
typedef std::map< std::string, CDynamics3DModel * >	TMap
Public Types inherited from argos::CPhysicsModel
typedef std::map< std::string, CPhysicsModel * >	TMap
typedef std::vector< CPhysicsModel * >	TVector

Public Member Functions
	CDynamics3DModel (CDynamics3DEngine &c_engine, CComposableEntity &c_entity)
virtual	~CDynamics3DModel ()
virtual void	Reset ()=0
CDynamics3DEngine &	GetEngine ()
const CDynamics3DEngine &	GetEngine () const
CComposableEntity &	GetComposableEntity ()
const CComposableEntity &	GetComposableEntity () const
virtual bool	IsCollidingWithSomething () const
	Returns true if this model is colliding with another model. More...
virtual void	UpdateEntityStatus ()
	Updates the status of the associated entity. More...
virtual void	UpdateFromEntityStatus ()
	Updates the state of this model from the status of the associated entity. More...
std::vector< std::shared_ptr< CAbstractBody > > &	GetBodies ()
virtual void	AddToWorld (btMultiBodyDynamicsWorld &c_world)=0
virtual void	RemoveFromWorld (btMultiBodyDynamicsWorld &c_world)=0
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	UpdatePhysics ()
	Performs extra work just before the physics update takes place. More...
virtual void	MoveTo (const CVector3 &c_position, const CQuaternion &c_orientation)=0
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
std::vector< std::shared_ptr< CAbstractBody > >	m_vecBodies

Detailed Description

Definition at line 28 of file dynamics3d_model.h.

Member Typedef Documentation

TMap

typedef std::map<std::string, CDynamics3DModel*> argos::CDynamics3DModel::TMap

Definition at line 32 of file dynamics3d_model.h.

Constructor & Destructor Documentation

CDynamics3DModel()

argos::CDynamics3DModel::CDynamics3DModel	(	CDynamics3DEngine &	c_engine,
		CComposableEntity &	c_entity
	)

Definition at line 99 of file dynamics3d_model.cpp.

~CDynamics3DModel()

virtual argos::CDynamics3DModel::~CDynamics3DModel ( )

inlinevirtual

Definition at line 124 of file dynamics3d_model.h.

Member Function Documentation

AddToWorld()

virtual void argos::CDynamics3DModel::AddToWorld ( btMultiBodyDynamicsWorld &  c_world )

pure virtual

Implemented in argos::CDynamics3DMultiBodyObjectModel, argos::CDynamics3DSingleBodyObjectModel, and argos::CDynamics3DPrototypeModel.

GetBodies()

std::vector<std::shared_ptr<CAbstractBody> >& argos::CDynamics3DModel::GetBodies ( )

inline

Definition at line 150 of file dynamics3d_model.h.

GetComposableEntity() [1/2]

CComposableEntity& argos::CDynamics3DModel::GetComposableEntity ( )

inline

Definition at line 136 of file dynamics3d_model.h.

GetComposableEntity() [2/2]

const CComposableEntity& argos::CDynamics3DModel::GetComposableEntity ( ) const

inline

Definition at line 140 of file dynamics3d_model.h.

GetEngine() [1/2]

CDynamics3DEngine& argos::CDynamics3DModel::GetEngine ( )

inline

Definition at line 128 of file dynamics3d_model.h.

GetEngine() [2/2]

const CDynamics3DEngine& argos::CDynamics3DModel::GetEngine ( ) const

inline

Definition at line 132 of file dynamics3d_model.h.

IsCollidingWithSomething()

bool argos::CDynamics3DModel::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 108 of file dynamics3d_model.cpp.

RemoveFromWorld()

virtual void argos::CDynamics3DModel::RemoveFromWorld ( btMultiBodyDynamicsWorld &  c_world )

pure virtual

Implemented in argos::CDynamics3DMultiBodyObjectModel, argos::CDynamics3DSingleBodyObjectModel, and argos::CDynamics3DPrototypeModel.

Reset()

virtual void argos::CDynamics3DModel::Reset ( )

pure virtual

Implemented in argos::CDynamics3DMultiBodyObjectModel, argos::CDynamics3DSingleBodyObjectModel, and argos::CDynamics3DPrototypeModel.

UpdateEntityStatus()

void argos::CDynamics3DModel::UpdateEntityStatus ( )

virtual

Updates the status of the associated entity.

This method performs all the calculations to update the status of the entity associated to this model. In particular, it is in this method that anchors get updated and transfer to other engines is scheduled. This method internally calls:

• CalculateBoundingBox()
• CalculateAnchors()
• CComposableEntity::UpdateComponents()

See also

CalculateBoundingBox()

CalculateAnchors()

CComposableEntity::UpdateComponents()

Reimplemented from argos::CPhysicsModel.

Reimplemented in argos::CDynamics3DPrototypeModel.

Definition at line 148 of file dynamics3d_model.cpp.

UpdateFromEntityStatus()

virtual void argos::CDynamics3DModel::UpdateFromEntityStatus ( )

inlinevirtual

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.

Reimplemented in argos::CDynamics3DPrototypeModel.

Definition at line 148 of file dynamics3d_model.h.

Member Data Documentation

m_vecBodies

std::vector<std::shared_ptr<CAbstractBody> > argos::CDynamics3DModel::m_vecBodies

protected

Definition at line 160 of file dynamics3d_model.h.