argos::CDynamics3DPrototypeModel Class Reference

#include <dynamics3d_prototype_model.h>

Inheritance diagram for argos::CDynamics3DPrototypeModel:

Collaboration diagram for argos::CDynamics3DPrototypeModel:

Public Member Functions
	CDynamics3DPrototypeModel (CDynamics3DEngine &c_engine, CPrototypeEntity &c_entity)
virtual	~CDynamics3DPrototypeModel ()
virtual void	Reset ()
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...
virtual void	AddToWorld (btMultiBodyDynamicsWorld &c_world)
virtual void	RemoveFromWorld (btMultiBodyDynamicsWorld &c_world)
Public Member Functions inherited from argos::CDynamics3DMultiBodyObjectModel
	CDynamics3DMultiBodyObjectModel (CDynamics3DEngine &c_engine, CComposableEntity &c_entity, UInt32 un_num_links, bool b_fixed_base)
virtual	~CDynamics3DMultiBodyObjectModel ()
virtual void	MoveTo (const CVector3 &c_position, const CQuaternion &c_orientation)
virtual void	CalculateBoundingBox ()
	Calculates the axis-aligned box that contains the entire physics model. More...
btMultiBody &	GetMultiBody ()
virtual void	UpdateOriginAnchor (SAnchor &s_anchor)
Public Member Functions inherited from argos::CDynamics3DModel
	CDynamics3DModel (CDynamics3DEngine &c_engine, CComposableEntity &c_entity)
virtual	~CDynamics3DModel ()
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...
std::vector< std::shared_ptr< CAbstractBody > > &	GetBodies ()
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...
const SBoundingBox &	GetBoundingBox () const
	Returns an axis-aligned box that contains the 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...

Additional Inherited Members
Public Types inherited from argos::CDynamics3DModel
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
Protected Attributes inherited from argos::CDynamics3DMultiBodyObjectModel
btMultiBody	m_cMultiBody
UInt32	m_unNumLinks
bool	m_bFixedBase
Protected Attributes inherited from argos::CDynamics3DModel
std::vector< std::shared_ptr< CAbstractBody > >	m_vecBodies

Detailed Description

Definition at line 22 of file dynamics3d_prototype_model.h.

Constructor & Destructor Documentation

CDynamics3DPrototypeModel()

argos::CDynamics3DPrototypeModel::CDynamics3DPrototypeModel	(	CDynamics3DEngine &	c_engine,
		CPrototypeEntity &	c_entity
	)

Definition at line 107 of file dynamics3d_prototype_model.cpp.

~CDynamics3DPrototypeModel()

virtual argos::CDynamics3DPrototypeModel::~CDynamics3DPrototypeModel ( )

inlinevirtual

Definition at line 28 of file dynamics3d_prototype_model.h.

Member Function Documentation

AddToWorld()

void argos::CDynamics3DPrototypeModel::AddToWorld ( btMultiBodyDynamicsWorld &  c_world )

virtual

Reimplemented from argos::CDynamics3DMultiBodyObjectModel.

Definition at line 275 of file dynamics3d_prototype_model.cpp.

RemoveFromWorld()

void argos::CDynamics3DPrototypeModel::RemoveFromWorld ( btMultiBodyDynamicsWorld &  c_world )

virtual

Reimplemented from argos::CDynamics3DMultiBodyObjectModel.

Definition at line 291 of file dynamics3d_prototype_model.cpp.

Reset()

void argos::CDynamics3DPrototypeModel::Reset ( )

virtual

Reimplemented from argos::CDynamics3DMultiBodyObjectModel.

Definition at line 307 of file dynamics3d_prototype_model.cpp.

UpdateEntityStatus()

void argos::CDynamics3DPrototypeModel::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::CDynamics3DModel.

Definition at line 375 of file dynamics3d_prototype_model.cpp.

UpdateFromEntityStatus()

void argos::CDynamics3DPrototypeModel::UpdateFromEntityStatus ( )

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.

Reimplemented from argos::CDynamics3DModel.

Definition at line 387 of file dynamics3d_prototype_model.cpp.