8 #include <argos3/core/utility/math/cylinder.h>
12 static const Real FOOTBOT_RADIUS = 0.085036758f;
13 static const Real FOOTBOT_INTERWHEEL_DISTANCE = 0.14f;
14 static const Real FOOTBOT_HEIGHT = 0.146899733f;
27 m_cWheeledEntity(c_footbot.GetWheeledEntity()),
28 m_fCurrentWheelVelocity(m_cWheeledEntity.GetWheelVelocities()) {
44 m_fAngularVelocity = 0.0;
83 const CRay3& c_ray)
const {
88 bool bIntersects = m_cShape.
Intersects(f_t_on_ray, c_ray);
CPointMass3DFootBotModel(CPointMass3DEngine &c_engine, CFootBotEntity &c_footbot)
virtual void UpdateFromEntityStatus()
Updates the state of this model from the status of the associated entity.
CVector3 & RotateZ(const CRadians &c_angle)
Rotates this vector wrt the z axis.
float Real
Collects all ARGoS code.
CPointMass3DEngine & m_cPM3DEngine
Reference to the physics engine.
Real GetY() const
Returns the y coordinate of this vector.
Real GetPhysicsClockTick() const
Returns the length of the physics engine tick.
virtual void CalculateBoundingBox()
Calculates the axis-aligned box that contains the entire physics model.
CQuaternion Orientation
The orientation of the anchor wrt the global coordinate system.
CVector3 m_cVelocity
The linear velocity of this model in the engine.
It defines the basic type CRadians, used to store an angle value in radians.
CVector3 m_cPosition
The position of the model in this engine.
void Set(const Real f_x, const Real f_y, const Real f_z)
Sets the vector contents from Cartesian coordinates.
void RegisterAnchorMethod(const SAnchor &s_anchor, void(MODEL::*pt_method)(SAnchor &))
Registers an anchor method.
An anchor related to the body of an entity.
void ToEulerAngles(CRadians &c_z_angle, CRadians &c_y_angle, CRadians &c_x_angle) const
CEmbodiedEntity & GetEmbodiedEntity()
Returns the embodied entity associated to this physics model.
static const CVector3 Z
The z axis.
virtual void UpdateOriginAnchor(SAnchor &s_anchor)
Updates the origin anchor associated to the embodied entity.
REGISTER_STANDARD_POINTMASS3D_OPERATIONS_ON_ENTITY(CEyeBotEntity, CPointMass3DEyeBotModel)
const SBoundingBox & GetBoundingBox() const
Returns an axis-aligned box that contains the physics model.
virtual bool CheckIntersectionWithRay(Real &f_t_on_ray, const CRay3 &c_ray) const
CVector3 Position
The position of the anchor wrt the global coordinate system.
The namespace containing all the ARGoS related code.
Real GetZ() const
Returns the z coordinate of this vector.
bool Intersects(Real &f_t_on_ray, const CRay3 &c_ray)
const SAnchor & GetOriginAnchor() const
Returns a const reference to the origin anchor associated to this entity.