A stretchable and grippable object model for the dynamics 2D engine. More...
#include <dynamics2d_stretchable_object_model.h>
Public Member Functions | |
| CDynamics2DStretchableObjectModel (CDynamics2DEngine &c_engine, CComposableEntity &c_entity) | |
| virtual | ~CDynamics2DStretchableObjectModel () |
| virtual void | MoveTo (const CVector3 &c_position, const CQuaternion &c_orientation) |
| virtual void | Reset () |
| virtual void | UpdateFromEntityStatus () |
| Updates the state of this model from the status of the associated entity. More... | |
| Real | GetMass () const |
| void | SetMass (Real f_mass) |
| void | SetGrippable (CDynamics2DGrippable *pc_grippable) |
| void | SetLinearFriction (Real f_max_bias, Real f_max_force) |
| Sets the linear friction of this object. More... | |
| void | SetAngularFriction (Real f_max_bias, Real f_max_force) |
| Sets the angular friction of this object. More... | |
 Public Member Functions inherited from argos::CDynamics2DSingleBodyObjectModel | |
| CDynamics2DSingleBodyObjectModel (CDynamics2DEngine &c_engine, CComposableEntity &c_entity) | |
| Class constructor. More... | |
| virtual | ~CDynamics2DSingleBodyObjectModel () |
| Class destructor. More... | |
| CComposableEntity & | GetComposableEntity () |
| Returns the associated composable entity as a non-const reference. More... | |
| const CComposableEntity & | GetComposableEntity () const |
| Returns the associated composable entity as a const reference. More... | |
| cpBody * | GetBody () |
| Returns the body as non-const pointer. More... | |
| const cpBody * | GetBody () const |
| Returns the body as const pointer. More... | |
| virtual void | CalculateBoundingBox () |
| Calculates the axis-aligned box that contains the entire physics model. More... | |
| virtual void | UpdateEntityStatus () |
| Updates the status of the associated entity. More... | |
| virtual bool | IsCollidingWithSomething () const |
Returns true if this model is colliding with another model. More... | |
| virtual void | SetBody (cpBody *pt_body, Real f_height) |
| Sets the body and registers the default origin anchor method. More... | |
| void | UpdateOriginAnchor (SAnchor &s_anchor) |
| Updates the origin anchor associated to the embodied entity. More... | |
| Public Member Functions inherited from argos::CDynamics2DModel | |
| CDynamics2DModel (CDynamics2DEngine &c_engine, CEmbodiedEntity &c_entity) | |
| virtual | ~CDynamics2DModel () |
| CDynamics2DEngine & | GetDynamics2DEngine () |
| Returns the dynamics 2D engine state. More... | |
| const CDynamics2DEngine & | GetDynamics2DEngine () const |
| Returns the dynamics 2D engine state as a const reference. More... | |
| 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::CDynamics2DModel | |
| typedef std::map< std::string, CDynamics2DModel * > | TMap |
| Public Types inherited from argos::CPhysicsModel | |
| typedef std::map< std::string, CPhysicsModel * > | TMap |
| typedef std::vector< CPhysicsModel * > | TVector |
Detailed Description
A stretchable and grippable object model for the dynamics 2D engine.
This class is used by CDynamics2DBoxModel and CDynamics2DCylinderModel to share common code. If you want to add an additional stretchable object, you just need to subclass this class and implement the constructor similarly to what is done in CDynamics2DBoxModel and CDynamics2DCylinderModel.
Definition at line 32 of file dynamics2d_stretchable_object_model.h.
Constructor & Destructor Documentation
◆ CDynamics2DStretchableObjectModel()
| argos::CDynamics2DStretchableObjectModel::CDynamics2DStretchableObjectModel | ( | CDynamics2DEngine & | c_engine, |
| CComposableEntity & | c_entity | ||
| ) |
Definition at line 9 of file dynamics2d_stretchable_object_model.cpp.
◆ ~CDynamics2DStretchableObjectModel()
|
virtual |
Definition at line 20 of file dynamics2d_stretchable_object_model.cpp.
Member Function Documentation
◆ GetMass()
|
inline |
Definition at line 48 of file dynamics2d_stretchable_object_model.h.
◆ MoveTo()
|
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.
Reimplemented from argos::CDynamics2DSingleBodyObjectModel.
Definition at line 35 of file dynamics2d_stretchable_object_model.cpp.
◆ Reset()
|
virtual |
Reimplemented from argos::CDynamics2DSingleBodyObjectModel.
Definition at line 47 of file dynamics2d_stretchable_object_model.cpp.
◆ SetAngularFriction()
| void argos::CDynamics2DStretchableObjectModel::SetAngularFriction | ( | Real | f_max_bias, |
| Real | f_max_force | ||
| ) |
Sets the angular friction of this object.
You must call this method strictly after SetBody().
Definition at line 73 of file dynamics2d_stretchable_object_model.cpp.
◆ SetGrippable()
|
inline |
Definition at line 56 of file dynamics2d_stretchable_object_model.h.
◆ SetLinearFriction()
| void argos::CDynamics2DStretchableObjectModel::SetLinearFriction | ( | Real | f_max_bias, |
| Real | f_max_force | ||
| ) |
Sets the linear friction of this object.
You must call this method strictly after SetBody().
Definition at line 58 of file dynamics2d_stretchable_object_model.cpp.
◆ SetMass()
|
inline |
Definition at line 52 of file dynamics2d_stretchable_object_model.h.
◆ UpdateFromEntityStatus()
|
inlinevirtual |
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.
Implements argos::CDynamics2DSingleBodyObjectModel.
Definition at line 46 of file dynamics2d_stretchable_object_model.h.