#include <physics_engine.h>

Inheritance diagram for argos::CPhysicsEngine:

[legend]

Collaboration diagram for argos::CPhysicsEngine:

Classes
struct	SBoundaryFace
	A boundary face for entity transfer among physics engines. More...

struct	SHorizontalFace
	A boundary face for top/bottom parts of the volume. More...

struct	SVerticalFace
	A boundary face for side parts of the volume. More...

struct	SVolume
	The volume boundaries. More...

Public Types
typedef std::vector< CPhysicsEngine * >	TVector

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

Public Member Functions
	CPhysicsEngine ()

virtual	~CPhysicsEngine ()

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

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

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

virtual void	Update ()=0

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...

virtual size_t	GetNumPhysicsModels ()=0

virtual bool	AddEntity (CEntity &c_entity)=0
	Adds an entity to the physics engine. More...

virtual bool	RemoveEntity (CEntity &c_entity)=0
	Removes an entity from the 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...

virtual void	CheckIntersectionWithRay (TEmbodiedEntityIntersectionData &t_data, const CRay3 &c_ray) const =0
	Check which objects in this engine intersect the given ray. 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...

Static Public Member Functions
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 90 of file physics_engine.h.

Member Typedef Documentation

◆ TMap

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

Definition at line 131 of file physics_engine.h.

◆ TVector

typedef std::vector<CPhysicsEngine*> argos::CPhysicsEngine::TVector

Definition at line 130 of file physics_engine.h.

Constructor & Destructor Documentation

◆ CPhysicsEngine()

argos::CPhysicsEngine::CPhysicsEngine ( )

Definition at line 178 of file physics_engine.cpp.

◆ ~CPhysicsEngine()

virtual argos::CPhysicsEngine::~CPhysicsEngine ( )

inlinevirtual

Definition at line 136 of file physics_engine.h.

Member Function Documentation

◆ AddEntity()

virtual bool argos::CPhysicsEngine::AddEntity ( CEntity & c_entity )

pure 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.

Implemented in argos::CDynamics2DEngine, argos::CDynamics3DEngine, and argos::CPointMass3DEngine.

◆ CheckIntersectionWithRay()

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

pure 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.

Implemented in argos::CDynamics2DEngine, argos::CDynamics3DEngine, and argos::CPointMass3DEngine.

◆ Destroy()

virtual void argos::CPhysicsEngine::Destroy ( )

inlinevirtual

Undoes whatever was done by Init().

Implements argos::CBaseConfigurableResource.

Reimplemented in argos::CDynamics2DEngine, argos::CDynamics3DEngine, and argos::CPointMass3DEngine.

Definition at line 140 of file physics_engine.h.

◆ GetId()

const std::string& argos::CPhysicsEngine::GetId ( ) const

inline

Returns the id of this physics engine.

Returns: The id of this physics engine.

Definition at line 284 of file physics_engine.h.

◆ GetInverseSimulationClockTick()

Real argos::CPhysicsEngine::GetInverseSimulationClockTick ( )

static

Returns the inverse of GetSimulationClockTick().

Returns: The inverse of GetSimulationClockTick().

Definition at line 271 of file physics_engine.cpp.

◆ GetIterations()

UInt32 argos::CPhysicsEngine::GetIterations ( ) const

inline

Returns the number of iterations per simulation clock tick.

Physics engines can perform multiple updates for each simulation clock tick, to increase the accuracy of the simulation. This value is set to 1 by default. You can set a different value using the iterations attribute available for every physics engine tag.

See also: GetPhysicsClockTick()

Definition at line 266 of file physics_engine.h.

◆ GetNumPhysicsModels()

virtual size_t argos::CPhysicsEngine::GetNumPhysicsModels ( )

pure virtual

Implemented in argos::CDynamics2DEngine, argos::CDynamics3DEngine, and argos::CPointMass3DEngine.

◆ GetPhysicsClockTick()

Real argos::CPhysicsEngine::GetPhysicsClockTick ( ) const

inline

Returns the length of the physics engine tick.

This value is calculated as GetSimulationClockTick() / static_cast<Real>(GetIterations()).

See also: GetIterations()

Definition at line 276 of file physics_engine.h.

◆ GetSimulationClockTick()

Real argos::CPhysicsEngine::GetSimulationClockTick ( )

static

Returns the simulation clock tick.

The clock tick is the time elapsed between two control steps in a simulation. This value is set in the XML file through the 'ticks_per_second' attribute of the <experiment> tag.

Returns: The simulation clock tick.

Definition at line 264 of file physics_engine.cpp.

◆ GetVolume() [1/2]

SVolume& argos::CPhysicsEngine::GetVolume ( )

inline

Returns the boundary faces for the volume associated to this engine.

Definition at line 211 of file physics_engine.h.

◆ GetVolume() [2/2]

const SVolume& argos::CPhysicsEngine::GetVolume ( ) const

inline

Returns the boundary faces for the volume associated to this engine.

Definition at line 218 of file physics_engine.h.

◆ Init()

void argos::CPhysicsEngine::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

Implements argos::CBaseConfigurableResource.

Reimplemented in argos::CDynamics2DEngine, argos::CDynamics3DEngine, and argos::CPointMass3DEngine.

Definition at line 185 of file physics_engine.cpp.

◆ IsEntityTransferActive()

bool argos::CPhysicsEngine::IsEntityTransferActive ( ) const

inline

Returns true if entity transfer is active for this engine.

Definition at line 192 of file physics_engine.h.

◆ IsEntityTransferNeeded()

bool argos::CPhysicsEngine::IsEntityTransferNeeded ( ) const

inline

Returns true if this engine has entities that must be transferred to another engine.

Definition at line 185 of file physics_engine.h.

◆ IsPointContained()

bool argos::CPhysicsEngine::IsPointContained ( const CVector3 & c_point )

virtual

Returns true if the given point is contained in this physics engine.

Reimplemented in argos::CPointMass3DEngine.

Definition at line 212 of file physics_engine.cpp.

◆ PostSpaceInit()

virtual void argos::CPhysicsEngine::PostSpaceInit ( )

inlinevirtual

Executes extra initialization activities after the space has been initialized.

By default, this method does nothing. The order in which initialization takes place is:

Exceptions

CARGoSException if an error occurs

See also: Init(); CSpace::Init()

Reimplemented in argos::CDynamics3DEngine.

Definition at line 157 of file physics_engine.h.

◆ RemoveEntity()

virtual bool argos::CPhysicsEngine::RemoveEntity ( CEntity & c_entity )

pure 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.

Implemented in argos::CDynamics2DEngine, argos::CDynamics3DEngine, and argos::CPointMass3DEngine.

◆ Reset()

virtual void argos::CPhysicsEngine::Reset ( )

inlinevirtual

Resets the resource.

Implements argos::CBaseConfigurableResource.

Reimplemented in argos::CDynamics2DEngine, argos::CDynamics3DEngine, and argos::CPointMass3DEngine.

Definition at line 139 of file physics_engine.h.

◆ ScheduleEntityForTransfer()

void argos::CPhysicsEngine::ScheduleEntityForTransfer ( CEmbodiedEntity & c_entity )

virtual

Schedules an entity of transfer.

Parameters

c_entity	The entity to transfer.
str_engine_id	The id if the destination engine.

Definition at line 246 of file physics_engine.cpp.

◆ SetId()

void argos::CPhysicsEngine::SetId ( const std::string & str_id )

inline

Sets the id of this physics engine.

Parameters

str_id The wanted id.

Definition at line 292 of file physics_engine.h.

◆ SetSimulationClockTick()

void argos::CPhysicsEngine::SetSimulationClockTick ( Real f_simulation_clock_tick )

static

Sets the simulation clock tick.

The clock tick is the time elapsed between two control steps in a simulation. This value is set in the XML file through the ticks_per_second attribute of the <experiment> tag. You should never use this method in your code.

Parameters

f_simulation_clock_tick The new simulation clock tick.

Definition at line 278 of file physics_engine.cpp.

◆ TransferEntities()

void argos::CPhysicsEngine::TransferEntities ( )

virtual

Executes the transfer of entities to other engines.

Reimplemented in argos::CPointMass3DEngine.

Definition at line 253 of file physics_engine.cpp.

◆ Update()

virtual void argos::CPhysicsEngine::Update ( )

pure virtual

Implemented in argos::CDynamics2DEngine, argos::CDynamics3DEngine, and argos::CPointMass3DEngine.

Classes

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Typedef Documentation

◆ TMap

◆ TVector

Constructor & Destructor Documentation

◆ CPhysicsEngine()

◆ ~CPhysicsEngine()

Member Function Documentation

◆ AddEntity()

◆ CheckIntersectionWithRay()

◆ Destroy()

◆ GetId()

◆ GetInverseSimulationClockTick()

◆ GetIterations()

◆ GetNumPhysicsModels()

◆ GetPhysicsClockTick()

◆ GetSimulationClockTick()

◆ GetVolume() [1/2]

◆ GetVolume() [2/2]

◆ Init()

◆ IsEntityTransferActive()

◆ IsEntityTransferNeeded()

◆ IsPointContained()

◆ PostSpaceInit()

◆ RemoveEntity()

◆ Reset()

◆ ScheduleEntityForTransfer()

◆ SetId()

◆ SetSimulationClockTick()

◆ TransferEntities()

◆ Update()