argos::CDynamics3DEngine Class Reference

#include <dynamics3d_engine.h>

Inheritance diagram for argos::CDynamics3DEngine:

Collaboration diagram for argos::CDynamics3DEngine:

Public Member Functions
	CDynamics3DEngine ()
virtual	~CDynamics3DEngine ()
virtual void	Init (TConfigurationNode &t_tree)
	Initializes the resource. More...
virtual void	Reset ()
	Resets the resource. More...
virtual void	Update ()
virtual void	Destroy ()
	Undoes whatever was done by Init(). More...
virtual void	PostSpaceInit ()
	Executes extra initialization activities after the space has been initialized. More...
virtual size_t	GetNumPhysicsModels ()
virtual bool	AddEntity (CEntity &c_entity)
	Adds an entity to the physics engine. More...
virtual bool	RemoveEntity (CEntity &c_entity)
	Removes an entity from the physics engine. More...
virtual void	CheckIntersectionWithRay (TEmbodiedEntityIntersectionData &t_data, const CRay3 &c_ray) const
	Check which objects in this engine intersect the given ray. More...
btMultiBodyDynamicsWorld &	GetWorld ()
std::map< std::string, CDynamics3DPlugin * > &	GetPhysicsPlugins ()
btCollisionDispatcher &	GetDispatcher ()
const btCollisionDispatcher &	GetDispatcher () const
btScalar	GetDefaultFriction () const
void	AddPhysicsModel (const std::string &str_id, CDynamics3DModel &c_model)
void	RemovePhysicsModel (const std::string &str_id)
void	AddPhysicsPlugin (const std::string &str_id, CDynamics3DPlugin &c_plugin)
void	RemovePhysicsPlugin (const std::string &str_id)
Public Member Functions inherited from argos::CPhysicsEngine
	CPhysicsEngine ()
virtual	~CPhysicsEngine ()
virtual bool	IsPointContained (const CVector3 &c_point)
	Returns true if the given point is contained in this physics engine. More...
bool	IsEntityTransferNeeded () const
	Returns true if this engine has entities that must be transferred to another engine. More...
bool	IsEntityTransferActive () const
	Returns true if entity transfer is active for this engine. More...
virtual void	ScheduleEntityForTransfer (CEmbodiedEntity &c_entity)
	Schedules an entity of transfer. More...
virtual void	TransferEntities ()
	Executes the transfer of entities to other engines. More...
SVolume &	GetVolume ()
	Returns the boundary faces for the volume associated to this engine. More...
const SVolume &	GetVolume () const
	Returns the boundary faces for the volume associated to this engine. More...
UInt32	GetIterations () const
	Returns the number of iterations per simulation clock tick. More...
Real	GetPhysicsClockTick () const
	Returns the length of the physics engine tick. More...
const std::string &	GetId () const
	Returns the id of this physics engine. More...
void	SetId (const std::string &str_id)
	Sets the id of this physics engine. More...
Public Member Functions inherited from argos::CBaseConfigurableResource
virtual	~CBaseConfigurableResource ()
	Class destructor. More...

Additional Inherited Members
Public Types inherited from argos::CPhysicsEngine
typedef std::vector< CPhysicsEngine * >	TVector
typedef std::map< std::string, CPhysicsEngine *, std::less< std::string > >	TMap
Static Public Member Functions inherited from argos::CPhysicsEngine
static Real	GetSimulationClockTick ()
	Returns the simulation clock tick. More...
static Real	GetInverseSimulationClockTick ()
	Returns the inverse of GetSimulationClockTick(). More...
static void	SetSimulationClockTick (Real f_simulation_clock_tick)
	Sets the simulation clock tick. More...

Detailed Description

Definition at line 45 of file dynamics3d_engine.h.

Constructor & Destructor Documentation

CDynamics3DEngine()

argos::CDynamics3DEngine::CDynamics3DEngine

(

)

Definition at line 22 of file dynamics3d_engine.cpp.

~CDynamics3DEngine()

virtual argos::CDynamics3DEngine::~CDynamics3DEngine ( )

inlinevirtual

Definition at line 51 of file dynamics3d_engine.h.

Member Function Documentation

AddEntity()

bool argos::CDynamics3DEngine::AddEntity ( CEntity &  c_entity )

virtual

Adds an entity to the physics engine.

Important: when you implement this function, you must also take care of adding the physics model to the associated embodied entity.

Returns

true if the entity was added, false otherwise.

Implements argos::CPhysicsEngine.

Definition at line 233 of file dynamics3d_engine.cpp.

AddPhysicsModel()

void argos::CDynamics3DEngine::AddPhysicsModel	(	const std::string &	str_id,
		CDynamics3DModel &	c_model
	)

Definition at line 253 of file dynamics3d_engine.cpp.

AddPhysicsPlugin()

void argos::CDynamics3DEngine::AddPhysicsPlugin	(	const std::string &	str_id,
		CDynamics3DPlugin &	c_plugin
	)

Definition at line 296 of file dynamics3d_engine.cpp.

CheckIntersectionWithRay()

void argos::CDynamics3DEngine::CheckIntersectionWithRay ( TEmbodiedEntityIntersectionData &  t_data, const CRay3 &  c_ray  ) const

virtual

Check which objects in this engine intersect the given ray.

Parameters

t_data	The list of entities that intersect the ray.
c_ray	The test ray.

Implements argos::CPhysicsEngine.

Definition at line 203 of file dynamics3d_engine.cpp.

Destroy()

void argos::CDynamics3DEngine::Destroy ( )

virtual

Undoes whatever was done by Init().

Reimplemented from argos::CPhysicsEngine.

Definition at line 142 of file dynamics3d_engine.cpp.

GetDefaultFriction()

btScalar argos::CDynamics3DEngine::GetDefaultFriction ( ) const

inline

Definition at line 88 of file dynamics3d_engine.h.

GetDispatcher() [1/2]

btCollisionDispatcher& argos::CDynamics3DEngine::GetDispatcher ( )

inline

Definition at line 80 of file dynamics3d_engine.h.

GetDispatcher() [2/2]

const btCollisionDispatcher& argos::CDynamics3DEngine::GetDispatcher ( ) const

inline

Definition at line 84 of file dynamics3d_engine.h.

GetNumPhysicsModels()

size_t argos::CDynamics3DEngine::GetNumPhysicsModels ( )

virtual

Implements argos::CPhysicsEngine.

Definition at line 226 of file dynamics3d_engine.cpp.

GetPhysicsPlugins()

std::map<std::string, CDynamics3DPlugin*>& argos::CDynamics3DEngine::GetPhysicsPlugins ( )

inline

Definition at line 76 of file dynamics3d_engine.h.

GetWorld()

btMultiBodyDynamicsWorld& argos::CDynamics3DEngine::GetWorld ( )

inline

Definition at line 72 of file dynamics3d_engine.h.

Init()

void argos::CDynamics3DEngine::Init ( TConfigurationNode &  t_tree )

virtual

Initializes the resource.

Parameters

t_tree

the base of the XML configuration tree to parse

Exceptions

CARGoSException

if an error occurs

Reimplemented from argos::CPhysicsEngine.

Definition at line 38 of file dynamics3d_engine.cpp.

PostSpaceInit()

void argos::CDynamics3DEngine::PostSpaceInit ( )

virtual

Executes extra initialization activities after the space has been initialized.

By default, this method does nothing. The order in which initialization takes place is:

• CPhysicsEngine::Init()
• CSpace::Init()
• CPhysicsEngine::PostSpaceInit()

Exceptions

CARGoSException

if an error occurs

See also

Init()

CSpace::Init()

Reimplemented from argos::CPhysicsEngine.

Definition at line 64 of file dynamics3d_engine.cpp.

RemoveEntity()

bool argos::CDynamics3DEngine::RemoveEntity ( CEntity &  c_entity )

virtual

Removes an entity from the physics engine.

Important: when you implement this function, you must also take care of removing the physics model to the associated embodied entity.

Returns

true if the entity was added, false otherwise.

Implements argos::CPhysicsEngine.

Definition at line 243 of file dynamics3d_engine.cpp.

RemovePhysicsModel()

void argos::CDynamics3DEngine::RemovePhysicsModel

(

const std::string &

str_id

)

Definition at line 270 of file dynamics3d_engine.cpp.

RemovePhysicsPlugin()

void argos::CDynamics3DEngine::RemovePhysicsPlugin

(

const std::string &

str_id

)

Definition at line 304 of file dynamics3d_engine.cpp.

Reset()

void argos::CDynamics3DEngine::Reset ( )

virtual

Resets the resource.

Reimplemented from argos::CPhysicsEngine.

Definition at line 72 of file dynamics3d_engine.cpp.

Update()

void argos::CDynamics3DEngine::Update ( )

virtual

Implements argos::CPhysicsEngine.

Definition at line 172 of file dynamics3d_engine.cpp.