#include <dynamics3d_multi_body_object_model.h>

Inheritance diagram for argos::CDynamics3DMultiBodyObjectModel:

Collaboration diagram for argos::CDynamics3DMultiBodyObjectModel:

Classes
class	CBase

class	CLink

Public Member Functions
	CDynamics3DMultiBodyObjectModel (CDynamics3DEngine &c_engine, CComposableEntity &c_entity, UInt32 un_num_links, bool b_fixed_base)

virtual	~CDynamics3DMultiBodyObjectModel ()

virtual void	Reset ()

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...

virtual void	AddToWorld (btMultiBodyDynamicsWorld &c_world)

virtual void	RemoveFromWorld (btMultiBodyDynamicsWorld &c_world)

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...

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...

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...

Protected Attributes
btMultiBody	m_cMultiBody

UInt32	m_unNumLinks

bool	m_bFixedBase

Protected Attributes inherited from argos::CDynamics3DModel
std::vector< std::shared_ptr< CAbstractBody > >	m_vecBodies

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

Detailed Description

Definition at line 21 of file dynamics3d_multi_body_object_model.h.

Constructor & Destructor Documentation

◆ CDynamics3DMultiBodyObjectModel()

argos::CDynamics3DMultiBodyObjectModel::CDynamics3DMultiBodyObjectModel	(	CDynamics3DEngine &	c_engine,
		CComposableEntity &	c_entity,
		UInt32	un_num_links,
		bool	b_fixed_base
	)

Definition at line 18 of file dynamics3d_multi_body_object_model.cpp.

◆ ~CDynamics3DMultiBodyObjectModel()

virtual argos::CDynamics3DMultiBodyObjectModel::~CDynamics3DMultiBodyObjectModel ( )

inlinevirtual

Definition at line 87 of file dynamics3d_multi_body_object_model.h.

Member Function Documentation

◆ AddToWorld()

void argos::CDynamics3DMultiBodyObjectModel::AddToWorld ( btMultiBodyDynamicsWorld & c_world )

virtual

Implements argos::CDynamics3DModel.

Reimplemented in argos::CDynamics3DPrototypeModel.

Definition at line 54 of file dynamics3d_multi_body_object_model.cpp.

◆ CalculateBoundingBox()

void argos::CDynamics3DMultiBodyObjectModel::CalculateBoundingBox ( )

virtual

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

The bounding box is often called AABB.

Implements argos::CPhysicsModel.

Definition at line 80 of file dynamics3d_multi_body_object_model.cpp.

◆ GetMultiBody()

btMultiBody& argos::CDynamics3DMultiBodyObjectModel::GetMultiBody ( )

inline

Definition at line 100 of file dynamics3d_multi_body_object_model.h.

◆ MoveTo()

void argos::CDynamics3DMultiBodyObjectModel::MoveTo	(	const CVector3 &	c_position,
		const CQuaternion &	c_orientation
	)

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