Enki::World Class Reference

The world is the container of all objects and robots. More...

#include <PhysicalEngine.h>

Classes
struct	GroundTexture
	2-D Texture for ground More...

Public Types
enum	WallsType { WALLS_SQUARE = 0, WALLS_CIRCULAR, WALLS_NONE }
	Type of walls around the world. More...
typedef std::set< PhysicalObject * >	Objects
typedef Objects::iterator	ObjectsIterator

Public Member Functions
	World (double width, double height, const Color &wallsColor=Color::gray, const GroundTexture &groundTexture=GroundTexture())
	Construct a world with square walls, takes width and height of the world arena in cm.
	World (double r, const Color &wallsColor=Color::gray, const GroundTexture &groundTexture=GroundTexture())
	Construct a world with circle walls, takes radius of the world arena in cm.
	World ()
	Construct a world with no walls.
virtual	~World ()
	Destructor, destroy all objects.
bool	hasGroundTexture () const
	Return whether the ground has a texture.
Color	getGroundColor (const Point &p) const
	Return the color of the ground at a given point, or white.
virtual void	step (double dt, unsigned physicsOversampling=1)
	Simulate a timestep of dt. dt should be below 1 (typically .02-.1); physicsOversampling is the amount of time the physics is run per step, as usual collisions require a more precise simulation than the sensor-motor loop frequency.
void	addObject (PhysicalObject *o)
	Add an object to the world, simply add it to the vector. More...
void	removeObject (PhysicalObject *o)
	Remove an object from the world and destroy it. If object is not in the world, do nothing.
void	disconnectExternalObjectsUserData ()
	Set to 0 the userData member of all object whose value userData->deletedWithObject are false; call this before the creator of user data is destroyed, this method is typically called from a viewer just before its destruction.
void	setRandomSeed (unsigned long seed)
	Set the seed of the random generator.
void	initBluetoothBase ()
	Initialise and activate the Bluetooth base.
BluetoothBase *	getBluetoothBase ()
	Return the address of the Bluetooth base.

Static Public Member Functions
static void	takeObjectOwnership (bool doTake)
	Choose whether the world should take ownership of PhysicalObjects added, and delete them. Default is true.

Public Attributes
const WallsType	wallsType
	type of walls this world is using
const double	w
	The width of the world, if wallsType is WALLS_SQUARE.
const double	h
	The height of the world, if wallsType is WALLS_SQUARE.
const double	r
	The radius of the world, if wallsType is WALLS_CIRCLE.
const Color	color
	The color of the world walls and ground.
const GroundTexture	groundTexture
	Current ground texture.
Objects	objects
	All the objects in the world.
BluetoothBase *	bluetoothBase
	Base for the Bluetooth connections between robots.

Protected Member Functions
void	collideCircleWithShape (PhysicalObject *circularObject, PhysicalObject *shapedObject, const Polygone &shape)
	Do the collision of a circular object with one with a different shape (convex boundingsurface)
void	collideObjects (PhysicalObject *object1, PhysicalObject *object2)
	Collide two objects. Correct functions will be called depending on type of object (circular or other shape).
void	collideWithSquareWalls (PhysicalObject *object)
	Collide the object with square walls.
void	collideWithCircularWalls (PhysicalObject *object)
	Collide the object with circular walls.
bool	isPointInside (const Point &p, const Point &c, const Polygone &bs, Vector *distVector)
	Return true if point p of object of center c is inside polygone bs and return deinterlacement distVector.
virtual void	controlStep (double dt)
	Can implement world specific control. By default do nothing.

Detailed Description

The world is the container of all objects and robots.

It is either a rectangular arena with walls at all sides, a circular area with walls, or an infinite surface.

Member Enumeration Documentation

enum Enki::World::WallsType

Type of walls around the world.

Enumerator
WALLS_SQUARE	square walls, use w and h for size
WALLS_CIRCULAR	circle walls, use r for radius
WALLS_NONE	no walls

Member Function Documentation

void Enki::World::addObject

(

PhysicalObject *

o

)

Add an object to the world, simply add it to the vector.

Object will be automatically deleted when world will be destroyed. If the object is already in the world, do nothing

References objects.

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The documentation for this class was generated from the following files:

• enki/PhysicalEngine.h
• enki/PhysicalEngine.cpp