#include <physics_model.h>

Inheritance diagram for argos::CPhysicsModel:

[legend]

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

typedef std::vector< CPhysicsModel * >	TVector

Public Member Functions
	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...

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

virtual bool	IsCollidingWithSomething () const =0
	Returns `true` if this model is colliding with another 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...

Detailed Description

Definition at line 102 of file physics_model.h.

Member Typedef Documentation

◆ TMap

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

Definition at line 106 of file physics_model.h.

◆ TVector

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

Definition at line 107 of file physics_model.h.

Constructor & Destructor Documentation

◆ CPhysicsModel()

argos::CPhysicsModel::CPhysicsModel	(	CPhysicsEngine &	c_engine,
		CEmbodiedEntity &	c_entity
	)

Definition at line 44 of file physics_model.cpp.

◆ ~CPhysicsModel()

virtual argos::CPhysicsModel::~CPhysicsModel ( )

inlinevirtual

Definition at line 114 of file physics_model.h.

Member Function Documentation

◆ CalculateAnchors()

void argos::CPhysicsModel::CalculateAnchors ( )

virtual

Calculates the anchors associated to this model.

The default implementation of this method should fit all possible use cases. There's usually no need to override it.

Definition at line 77 of file physics_model.cpp.

◆ CalculateBoundingBox()

virtual void argos::CPhysicsModel::CalculateBoundingBox ( )

pure virtual

Calculates the axis-aligned box that contains the entire physics model.

The bounding box is often called AABB.

Implemented in argos::CPointMass3DQuadRotorModel, argos::CPointMass3DCylinderModel, argos::CPointMass3DBoxModel, argos::CDynamics3DSingleBodyObjectModel, argos::CDynamics3DMultiBodyObjectModel, argos::CDynamics2DSingleBodyObjectModel, argos::CDynamics2DMultiBodyObjectModel, argos::CPointMass3DFootBotModel, argos::CDynamics2DFootBotModel, and argos::CDynamics3DEPuckModel.

◆ GetBoundingBox() [1/2]

SBoundingBox& argos::CPhysicsModel::GetBoundingBox ( )

inline

Returns an axis-aligned box that contains the physics model.

The bounding box is often called AABB.

Returns: The bounding box as a modifiable struct.

Definition at line 242 of file physics_model.h.

◆ GetBoundingBox() [2/2]

const SBoundingBox& argos::CPhysicsModel::GetBoundingBox ( ) const

inline

Returns an axis-aligned box that contains the physics model.

The bounding box is often called AABB.

Returns: The bounding box as a const struct.

Definition at line 214 of file physics_model.h.

◆ GetEmbodiedEntity() [1/2]

CEmbodiedEntity& argos::CPhysicsModel::GetEmbodiedEntity ( )

inline

Returns the embodied entity associated to this physics model.

Returns: The embodied entity associated to this physics model.

Definition at line 133 of file physics_model.h.

◆ GetEmbodiedEntity() [2/2]

const CEmbodiedEntity& argos::CPhysicsModel::GetEmbodiedEntity ( ) const

inline

Returns the embodied entity associated to this physics model.

Returns: The embodied entity associated to this physics model.

Definition at line 141 of file physics_model.h.

◆ GetEngine()

CPhysicsEngine& argos::CPhysicsModel::GetEngine ( )

inline

Returns the physics engine associated to this physics model.

Returns: The physics engine associated to this physics model.

Definition at line 125 of file physics_model.h.

◆ IsCollidingWithSomething()

virtual bool argos::CPhysicsModel::IsCollidingWithSomething ( ) const

pure virtual

Returns true if this model is colliding with another model.

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

Implemented in argos::CPointMass3DModel, argos::CDynamics3DModel, argos::CDynamics2DSingleBodyObjectModel, and argos::CDynamics2DMultiBodyObjectModel.

◆ MoveTo()

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

pure 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.

Implemented in argos::CPointMass3DModel, argos::CDynamics3DSingleBodyObjectModel, argos::CDynamics3DMultiBodyObjectModel, argos::CDynamics2DStretchableObjectModel, argos::CDynamics2DSingleBodyObjectModel, argos::CDynamics2DMultiBodyObjectModel, and argos::CDynamics2DFootBotModel.

◆ RegisterAnchorMethod()

template<typename MODEL >

void argos::CPhysicsModel::RegisterAnchorMethod	(	const SAnchor &	s_anchor,
		void(MODEL::*)(SAnchor &)	pt_method
	)

Registers an anchor method.

Parameters

MODEL	A user-defined subclass of CPhysicsModel.
s_anchor	The anchor to pass as a parameter to the anchor method.
pt_method	The actual user-defined pointer-to-method.

Definition at line 341 of file physics_model.h.

◆ UpdateEntityStatus()

void argos::CPhysicsModel::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:

See also: CalculateBoundingBox(); CalculateAnchors(); CComposableEntity::UpdateComponents()

Reimplemented in argos::CPointMass3DBoxModel, argos::CDynamics3DModel, argos::CDynamics2DSingleBodyObjectModel, argos::CDynamics3DPrototypeModel, and argos::CDynamics3DEPuckModel.

Definition at line 55 of file physics_model.cpp.

◆ UpdateFromEntityStatus()

virtual void argos::CPhysicsModel::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.

Implemented in argos::CPointMass3DModel, argos::CDynamics2DSingleBodyObjectModel, argos::CDynamics2DMultiBodyObjectModel, argos::CPointMass3DQuadRotorModel, argos::CPointMass3DCylinderModel, argos::CPointMass3DBoxModel, argos::CDynamics3DModel, argos::CDynamics2DStretchableObjectModel, argos::CDynamics3DPrototypeModel, argos::CPointMass3DFootBotModel, argos::CDynamics2DFootBotModel, argos::CDynamics3DEPuckModel, and argos::CDynamics2DEPuckModel.

◆ UpdatePhysics()

virtual void argos::CPhysicsModel::UpdatePhysics ( )

inlinevirtual

Performs extra work just before the physics update takes place.

This method is called as many times as the physics update itself, that is GetIteration() times every control step.

You can use this method to implement a PID controller, or to calculate high-frequency physics effects.

By default this method does nothing.

Definition at line 184 of file physics_model.h.

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ TMap

◆ TVector

Constructor & Destructor Documentation

◆ CPhysicsModel()

◆ ~CPhysicsModel()

Member Function Documentation

◆ CalculateAnchors()

◆ CalculateBoundingBox()

◆ GetBoundingBox() [1/2]

◆ GetBoundingBox() [2/2]

◆ GetEmbodiedEntity() [1/2]

◆ GetEmbodiedEntity() [2/2]

◆ GetEngine()

◆ IsCollidingWithSomething()

◆ MoveTo()

◆ RegisterAnchorMethod()

◆ UpdateEntityStatus()

◆ UpdateFromEntityStatus()

◆ UpdatePhysics()