dynamics3d_engine.h File Reference

#include <argos3/core/simulator/entity/controllable_entity.h>
#include <argos3/core/simulator/physics_engine/physics_engine.h>
#include <argos3/core/utility/math/ray2.h>
#include <argos3/core/utility/math/rng.h>
#include <argos3/plugins/simulator/physics_engines/dynamics3d/bullet/btBulletDynamicsCommon.h>
#include <argos3/plugins/simulator/physics_engines/dynamics3d/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h>
#include <argos3/plugins/simulator/physics_engines/dynamics3d/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h>
#include <argos3/plugins/simulator/physics_engines/dynamics3d/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h>

Include dependency graph for dynamics3d_engine.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	argos::CDynamics3DEngine
class	argos::CDynamics3DOperation< ACTION >
class	argos::CDynamics3DOperationAddEntity
class	argos::CDynamics3DOperationRemoveEntity

Namespaces
	argos
	The namespace containing all the ARGoS related code.

Macros
#define	REGISTER_DYNAMICS3D_OPERATION(ACTION, OPERATION, ENTITY)    REGISTER_ENTITY_OPERATION(ACTION, CDynamics3DEngine, OPERATION, SOperationOutcome, ENTITY);
#define	REGISTER_STANDARD_DYNAMICS3D_OPERATION_ADD_ENTITY(SPACE_ENTITY, DYN3D_MODEL)
#define	REGISTER_STANDARD_DYNAMICS3D_OPERATION_REMOVE_ENTITY(SPACE_ENTITY)
#define	REGISTER_STANDARD_DYNAMICS3D_OPERATIONS_ON_ENTITY(SPACE_ENTITY, DYN3D_ENTITY)

Macro Definition Documentation

REGISTER_DYNAMICS3D_OPERATION

#define REGISTER_DYNAMICS3D_OPERATION	(		ACTION,
			OPERATION,
			ENTITY
	)		REGISTER_ENTITY_OPERATION(ACTION, CDynamics3DEngine, OPERATION, SOperationOutcome, ENTITY);

Definition at line 140 of file dynamics3d_engine.h.

REGISTER_STANDARD_DYNAMICS3D_OPERATION_ADD_ENTITY

#define REGISTER_STANDARD_DYNAMICS3D_OPERATION_ADD_ENTITY	(		SPACE_ENTITY,
			DYN3D_MODEL
	)

Value:

   class CDynamics3DOperationAdd ## SPACE_ENTITY : public CDynamics3DOperationAddEntity { \
   public:                                                              \
   CDynamics3DOperationAdd ## SPACE_ENTITY() {}                         \
   virtual ~CDynamics3DOperationAdd ## SPACE_ENTITY() {}                \
   SOperationOutcome ApplyTo(CDynamics3DEngine& c_engine,               \
                SPACE_ENTITY& c_entity) {                               \
      auto* pcPhysModel = new DYN3D_MODEL(c_engine,                     \
                                          c_entity);                    \
      c_engine.AddPhysicsModel(c_entity.GetId(),                        \
                               *pcPhysModel);                           \
      c_entity.                                                         \
         GetComponent<CEmbodiedEntity>("body").                         \
         AddPhysicsModel(c_engine.GetId(), *pcPhysModel);               \
      return SOperationOutcome(true);                                   \
   }                                                                    \
   };                                                                   \
   REGISTER_DYNAMICS3D_OPERATION(CDynamics3DOperationAddEntity,         \
                                 CDynamics3DOperationAdd ## SPACE_ENTITY, \
                                 SPACE_ENTITY);

Definition at line 143 of file dynamics3d_engine.h.

REGISTER_STANDARD_DYNAMICS3D_OPERATION_REMOVE_ENTITY

#define REGISTER_STANDARD_DYNAMICS3D_OPERATION_REMOVE_ENTITY

(

SPACE_ENTITY

)

Value:

   class CDynamics3DOperationRemove ## SPACE_ENTITY : public CDynamics3DOperationRemoveEntity { \
   public:                                                              \
   CDynamics3DOperationRemove ## SPACE_ENTITY() {}                      \
   virtual ~CDynamics3DOperationRemove ## SPACE_ENTITY() {}             \
   SOperationOutcome ApplyTo(CDynamics3DEngine& c_engine,               \
                SPACE_ENTITY& c_entity) {                               \
      c_engine.RemovePhysicsModel(c_entity.GetId());                    \
      c_entity.                                                         \
         GetComponent<CEmbodiedEntity>("body").                         \
         RemovePhysicsModel(c_engine.GetId());                          \
      return SOperationOutcome(true);                                   \
   }                                                                    \
   };                                                                   \
   REGISTER_DYNAMICS3D_OPERATION(CDynamics3DOperationRemoveEntity,      \
                                 CDynamics3DOperationRemove ## SPACE_ENTITY, \
                                 SPACE_ENTITY);

Definition at line 164 of file dynamics3d_engine.h.

REGISTER_STANDARD_DYNAMICS3D_OPERATIONS_ON_ENTITY

#define REGISTER_STANDARD_DYNAMICS3D_OPERATIONS_ON_ENTITY	(		SPACE_ENTITY,
			DYN3D_ENTITY
	)

Value:

   REGISTER_STANDARD_DYNAMICS3D_OPERATION_ADD_ENTITY(SPACE_ENTITY, DYN3D_ENTITY) \
   REGISTER_STANDARD_DYNAMICS3D_OPERATION_REMOVE_ENTITY(SPACE_ENTITY)

Definition at line 182 of file dynamics3d_engine.h.