#include <dynamics2d_engine.h>

Inheritance diagram for argos::CDynamics2DEngine:

Collaboration diagram for argos::CDynamics2DEngine:

Public Types
enum	EShapeType { SHAPE_NORMAL = 0 , SHAPE_GRIPPABLE , SHAPE_GRIPPER }

enum	ELayerType { LAYER_FROZEN = 0 , LAYER_NORMAL = CP_ALL_LAYERS }

Public Types inherited from argos::CPhysicsEngine
typedef std::vector< CPhysicsEngine * >	TVector

typedef std::map< std::string, CPhysicsEngine *, std::less< std::string > >	TMap

Public Member Functions
	CDynamics2DEngine ()

virtual	~CDynamics2DEngine ()

virtual void	Init (TConfigurationNode &t_tree)
	Initializes the resource. More...

virtual void	Reset ()
	Resets the resource. More...

virtual void	Update ()

virtual void	Destroy ()
	Undoes whatever was done by Init(). More...

virtual size_t	GetNumPhysicsModels ()

virtual bool	AddEntity (CEntity &c_entity)
	Adds an entity to the physics engine. More...

virtual bool	RemoveEntity (CEntity &c_entity)
	Removes an entity from the physics engine. More...

virtual void	CheckIntersectionWithRay (TEmbodiedEntityIntersectionData &t_data, const CRay3 &c_ray) const
	Check which objects in this engine intersect the given ray. More...

cpFloat	GetBoxLinearFriction () const

cpFloat	GetBoxAngularFriction () const

cpFloat	GetCylinderLinearFriction () const

cpFloat	GetCylinderAngularFriction () const

cpSpace *	GetPhysicsSpace ()

const cpSpace *	GetPhysicsSpace () const

cpBody *	GetGroundBody ()

Real	GetElevation () const

Real	GetDamping () const

void	SetDamping (Real f_damping)

CVector2	GetGravity () const

void	SetGravity (const CVector2 &c_gravity)

Real	GetGrippingRigidity () const

void	SetGrippingRigidity (Real f_gripping_rigidity)

void	PositionPhysicsToSpace (CVector3 &c_new_pos, const CVector3 &c_original_pos, const cpBody *pt_body)

void	OrientationPhysicsToSpace (CQuaternion &c_new_orient, cpBody *pt_body)

void	AddPhysicsModel (const std::string &str_id, CDynamics2DModel &c_model)

void	RemovePhysicsModel (const std::string &str_id)

Public Member Functions inherited from argos::CPhysicsEngine
	CPhysicsEngine ()

virtual	~CPhysicsEngine ()

virtual void	PostSpaceInit ()
	Executes extra initialization activities after the space has been initialized. More...

virtual bool	IsPointContained (const CVector3 &c_point)
	Returns `true` if the given point is contained in this physics engine. More...

bool	IsEntityTransferNeeded () const
	Returns `true` if this engine has entities that must be transferred to another engine. More...

bool	IsEntityTransferActive () const
	Returns `true` if entity transfer is active for this engine. More...

virtual void	ScheduleEntityForTransfer (CEmbodiedEntity &c_entity)
	Schedules an entity of transfer. More...

virtual void	TransferEntities ()
	Executes the transfer of entities to other engines. More...

SVolume &	GetVolume ()
	Returns the boundary faces for the volume associated to this engine. More...

const SVolume &	GetVolume () const
	Returns the boundary faces for the volume associated to this engine. More...

UInt32	GetIterations () const
	Returns the number of iterations per simulation clock tick. More...

Real	GetPhysicsClockTick () const
	Returns the length of the physics engine tick. More...

const std::string &	GetId () const
	Returns the id of this physics engine. More...

void	SetId (const std::string &str_id)
	Sets the id of this physics engine. More...

Public Member Functions inherited from argos::CBaseConfigurableResource
virtual	~CBaseConfigurableResource ()
	Class destructor. More...

Additional Inherited Members
Static Public Member Functions inherited from argos::CPhysicsEngine
static Real	GetSimulationClockTick ()
	Returns the simulation clock tick. More...

static Real	GetInverseSimulationClockTick ()
	Returns the inverse of GetSimulationClockTick(). More...

static void	SetSimulationClockTick (Real f_simulation_clock_tick)
	Sets the simulation clock tick. More...

Detailed Description

Definition at line 42 of file dynamics2d_engine.h.

Member Enumeration Documentation

◆ ELayerType

enum argos::CDynamics2DEngine::ELayerType

Enumerator
LAYER_FROZEN
LAYER_NORMAL

Definition at line 52 of file dynamics2d_engine.h.

◆ EShapeType

enum argos::CDynamics2DEngine::EShapeType

Enumerator
SHAPE_NORMAL
SHAPE_GRIPPABLE
SHAPE_GRIPPER

Definition at line 46 of file dynamics2d_engine.h.

Constructor & Destructor Documentation

◆ CDynamics2DEngine()

argos::CDynamics2DEngine::CDynamics2DEngine ( )

Definition at line 21 of file dynamics2d_engine.cpp.

◆ ~CDynamics2DEngine()

virtual argos::CDynamics2DEngine::~CDynamics2DEngine ( )

inlinevirtual

Definition at line 59 of file dynamics2d_engine.h.

Member Function Documentation

◆ AddEntity()

bool argos::CDynamics2DEngine::AddEntity ( CEntity & c_entity )

virtual

Adds an entity to the physics engine.

Important: when you implement this function, you must also take care of adding the physics model to the associated embodied entity.

Returns: true if the entity was added, false otherwise.

Implements argos::CPhysicsEngine.

Definition at line 150 of file dynamics2d_engine.cpp.

◆ AddPhysicsModel()

void argos::CDynamics2DEngine::AddPhysicsModel	(	const std::string &	str_id,
		CDynamics2DModel &	c_model
	)

Definition at line 251 of file dynamics2d_engine.cpp.

◆ CheckIntersectionWithRay()

void argos::CDynamics2DEngine::CheckIntersectionWithRay	(	TEmbodiedEntityIntersectionData &	t_data,
		const CRay3 &	c_ray
	)		const

virtual

Check which objects in this engine intersect the given ray.

Parameters

t_data	The list of entities that intersect the ray.
c_ray	The test ray.

Implements argos::CPhysicsEngine.

Definition at line 215 of file dynamics2d_engine.cpp.

◆ Destroy()

void argos::CDynamics2DEngine::Destroy ( )

virtual

Undoes whatever was done by Init().

Reimplemented from argos::CPhysicsEngine.

Definition at line 128 of file dynamics2d_engine.cpp.

◆ GetBoxAngularFriction()

cpFloat argos::CDynamics2DEngine::GetBoxAngularFriction ( ) const

inline

Definition at line 77 of file dynamics2d_engine.h.

◆ GetBoxLinearFriction()

cpFloat argos::CDynamics2DEngine::GetBoxLinearFriction ( ) const

inline

Definition at line 73 of file dynamics2d_engine.h.

◆ GetCylinderAngularFriction()

cpFloat argos::CDynamics2DEngine::GetCylinderAngularFriction ( ) const

inline

Definition at line 85 of file dynamics2d_engine.h.

◆ GetCylinderLinearFriction()

cpFloat argos::CDynamics2DEngine::GetCylinderLinearFriction ( ) const

inline

Definition at line 81 of file dynamics2d_engine.h.

◆ GetDamping()

Real argos::CDynamics2DEngine::GetDamping ( ) const

inline

Definition at line 105 of file dynamics2d_engine.h.

◆ GetElevation()

Real argos::CDynamics2DEngine::GetElevation ( ) const

inline

Definition at line 101 of file dynamics2d_engine.h.

◆ GetGravity()

CVector2 argos::CDynamics2DEngine::GetGravity ( ) const

inline

Definition at line 113 of file dynamics2d_engine.h.

◆ GetGrippingRigidity()

Real argos::CDynamics2DEngine::GetGrippingRigidity ( ) const

inline

Definition at line 121 of file dynamics2d_engine.h.

◆ GetGroundBody()

cpBody* argos::CDynamics2DEngine::GetGroundBody ( )

inline

Definition at line 97 of file dynamics2d_engine.h.

◆ GetNumPhysicsModels()

size_t argos::CDynamics2DEngine::GetNumPhysicsModels ( )

virtual

Implements argos::CPhysicsEngine.

Definition at line 143 of file dynamics2d_engine.cpp.

◆ GetPhysicsSpace() [1/2]

cpSpace* argos::CDynamics2DEngine::GetPhysicsSpace ( )

inline

Definition at line 89 of file dynamics2d_engine.h.

◆ GetPhysicsSpace() [2/2]

const cpSpace* argos::CDynamics2DEngine::GetPhysicsSpace ( ) const

inline

Definition at line 93 of file dynamics2d_engine.h.

◆ Init()

void argos::CDynamics2DEngine::Init ( TConfigurationNode & t_tree )

virtual

Initializes the resource.

Parameters

t_tree the base of the XML configuration tree to parse

Exceptions

CARGoSException if an error occurs

Reimplemented from argos::CPhysicsEngine.

Definition at line 35 of file dynamics2d_engine.cpp.

◆ OrientationPhysicsToSpace()

void argos::CDynamics2DEngine::OrientationPhysicsToSpace	(	CQuaternion &	c_new_orient,
		cpBody *	pt_body
	)

Definition at line 243 of file dynamics2d_engine.cpp.

◆ PositionPhysicsToSpace()

void argos::CDynamics2DEngine::PositionPhysicsToSpace	(	CVector3 &	c_new_pos,
		const CVector3 &	c_original_pos,
		const cpBody *	pt_body
	)

Definition at line 232 of file dynamics2d_engine.cpp.

◆ RemoveEntity()

bool argos::CDynamics2DEngine::RemoveEntity ( CEntity & c_entity )

virtual

Removes an entity from the physics engine.

Important: when you implement this function, you must also take care of removing the physics model to the associated embodied entity.

Returns: true if the entity was added, false otherwise.

Implements argos::CPhysicsEngine.

Definition at line 161 of file dynamics2d_engine.cpp.

◆ RemovePhysicsModel()

void argos::CDynamics2DEngine::RemovePhysicsModel ( const std::string & str_id )

Definition at line 259 of file dynamics2d_engine.cpp.

◆ Reset()

void argos::CDynamics2DEngine::Reset ( )

virtual

Resets the resource.

Reimplemented from argos::CPhysicsEngine.

Definition at line 93 of file dynamics2d_engine.cpp.

◆ SetDamping()

void argos::CDynamics2DEngine::SetDamping ( Real f_damping )

inline

Definition at line 109 of file dynamics2d_engine.h.

◆ SetGravity()

void argos::CDynamics2DEngine::SetGravity ( const CVector2 & c_gravity )

inline

Definition at line 117 of file dynamics2d_engine.h.

◆ SetGrippingRigidity()

void argos::CDynamics2DEngine::SetGrippingRigidity ( Real f_gripping_rigidity )

inline

Definition at line 125 of file dynamics2d_engine.h.

◆ Update()

void argos::CDynamics2DEngine::Update ( )

virtual

Implements argos::CPhysicsEngine.

Definition at line 104 of file dynamics2d_engine.cpp.

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ELayerType

◆ EShapeType

Constructor & Destructor Documentation

◆ CDynamics2DEngine()

◆ ~CDynamics2DEngine()

Member Function Documentation

◆ AddEntity()

◆ AddPhysicsModel()

◆ CheckIntersectionWithRay()

◆ Destroy()

◆ GetBoxAngularFriction()

◆ GetBoxLinearFriction()

◆ GetCylinderAngularFriction()

◆ GetCylinderLinearFriction()

◆ GetDamping()

◆ GetElevation()

◆ GetGravity()

◆ GetGrippingRigidity()

◆ GetGroundBody()

◆ GetNumPhysicsModels()

◆ GetPhysicsSpace() [1/2]

◆ GetPhysicsSpace() [2/2]

◆ Init()

◆ OrientationPhysicsToSpace()

◆ PositionPhysicsToSpace()

◆ RemoveEntity()

◆ RemovePhysicsModel()

◆ Reset()

◆ SetDamping()

◆ SetGravity()

◆ SetGrippingRigidity()

◆ Update()