A stretchable and grippable object model for the dynamics 2D engine. More...

#include <dynamics2d_stretchable_object_model.h>

Inheritance diagram for argos::CDynamics2DStretchableObjectModel:

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Collaboration diagram for argos::CDynamics2DStretchableObjectModel:

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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)

CDynamics2DGrippable *	GetGrippable ()

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.

See also: CDynamics2DBoxModel; 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()

argos::CDynamics2DStretchableObjectModel::~CDynamics2DStretchableObjectModel ( )

virtual

Definition at line 20 of file dynamics2d_stretchable_object_model.cpp.

Member Function Documentation

◆ GetGrippable()

CDynamics2DGrippable* argos::CDynamics2DStretchableObjectModel::GetGrippable ( )

inline

Definition at line 56 of file dynamics2d_stretchable_object_model.h.

◆ GetMass()

Real argos::CDynamics2DStretchableObjectModel::GetMass ( ) const

inline

Definition at line 48 of file dynamics2d_stretchable_object_model.h.

◆ MoveTo()

void argos::CDynamics2DStretchableObjectModel::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

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()

void argos::CDynamics2DStretchableObjectModel::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()

void argos::CDynamics2DStretchableObjectModel::SetGrippable ( CDynamics2DGrippable * pc_grippable )

inline

Definition at line 60 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()

void argos::CDynamics2DStretchableObjectModel::SetMass ( Real f_mass )

inline

Definition at line 52 of file dynamics2d_stretchable_object_model.h.

◆ UpdateFromEntityStatus()

virtual void argos::CDynamics2DStretchableObjectModel::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.

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CDynamics2DStretchableObjectModel()

◆ ~CDynamics2DStretchableObjectModel()

Member Function Documentation

◆ GetGrippable()

◆ GetMass()

◆ MoveTo()

◆ Reset()

◆ SetAngularFriction()

◆ SetGrippable()

◆ SetLinearFriction()

◆ SetMass()

◆ UpdateFromEntityStatus()