A situated object in the world with mass, geometry properties, physical properties, ... More...

Inheritance diagram for Enki::PhysicalObject:

Classes
struct	Hull
	A hull is a vector of Hull. More...

class	Part
	A part is one of the convex geometrical element that composes the physical object. More...

class	UserData
	User specific data that can be attached to any object in the world. More...

Public Types
enum	ButtonCode { LEFT_MOUSE_BUTTON = 1<<0, RIGHT_MOUSE_BUTTON = 1<<1, MIDDLE_MOUSE_BUTTON = 1<<3 }

Public Member Functions
	PhysicalObject ()
	Constructor.

virtual	~PhysicalObject ()
	Destructor.

double	getRadius () const

double	getHeight () const

bool	isCylindric () const

const Hull &	getHull () const

const Color &	getColor () const

double	getMass () const

double	getMomentOfInertia () const

double	getInterlacedDistance () const

void	setCylindric (double radius, double height, double mass)
	Make the object cylindric with a given mass.

void	setRectangular (double l1, double l2, double height, double mass)
	Make the object rectangular of size l1 x l2 with a given mass.

void	setCustomHull (const Hull &hull, double mass)
	Set a custom shape and mass to the object.

void	setColor (const Color &color)
	Set the overall color of this object, if hull is empty or if it does not contain any texture.

virtual void	clickedInteraction (bool pressed, unsigned int buttonCode, double pointX, double pointY, double pointZ)
	called for robot if a click is performed on it

Public Attributes
UserData *	userData
	Data attached by the user to this physical object. If non-null, will be destroyed with the object.

double	collisionElasticity
	Elasticity of collisions of this object. If 0, soft collision, 100% energy dissipation; if 1, elastic collision, 0% energy dissipation. Actual elasticity is the product of the elasticity of the two colliding objects. Walls are fully elastics.

double	dryFrictionCoefficient
	The dry friction coefficient mu.

double	viscousFrictionCoefficient
	The viscous friction coefficient. Premultiplied by mass. A value of k applies a force of -k * speed * mass.

double	viscousMomentFrictionCoefficient
	The viscous friction moment coefficient. Premultiplied by momentOfInertia. A value of k applies a force of -k * speed * momentOfInertia.

Point	pos
	The position of the object.

double	angle
	The orientation of the object in the world, standard trigonometric orientation.

Vector	speed
	The speed of the object.

double	angSpeed
	The rotation speed of the object, standard trigonometric orientation.

Protected Member Functions
virtual void	controlStep (double dt)
	Control step, not oversampled.

virtual void	applyForces (double dt)
	Apply forces, typically friction to reduce speed, but one can override to change behaviour.

virtual void	collisionEvent (PhysicalObject *o)
	The object collided with o during the current physical step, if o is null, it collided with walls. Called just before the object is de-interlaced.

virtual void	initLocalInteractions (double dt, World *w)
	Initialize the object specific interactions, do nothing for PhysicalObject.

virtual void	doLocalInteractions (double dt, World w, PhysicalObject o)
	Do the interactions with the other PhysicalObject, do nothing for PhysicalObject.

virtual void	doLocalWallsInteraction (double dt, World *w)
	Do the interactions with the walls of world w, do nothing for PhysicalObject.

virtual void	finalizeLocalInteractions (double dt, World *w)
	All interactions are finished, do nothing for PhysicalObject.

virtual void	initGlobalInteractions (double dt, World *w)
	Initialize the global interactions, do nothing for PhysicalObject.

virtual void	doGlobalInteractions (double dt, World *w)
	Do the global interactions with the world, do nothing for PhysicalObject.

virtual void	finalizeGlobalInteractions (double dt, World *w)
	All global interactions are finished, do nothing for PhysicalObject.

Private Member Functions
void	dirtyUserData ()
	When a physical parameter (color, shape, ...) has been changed, the user data must be updated.

void	computeMomentOfInertia ()
	Compute the moment of inertia tensor depending on radius, mass, height, and hull, assuming that the hull is centered around the center of mass, which is done by setupCentorOfMass()

void	setupCenterOfMass ()
	Compute the center of mass and move bounding surfaces accordingly. Does not update the moment of inertia tensor.

void	computeTransformedShape ()
	Compute the hull of this object in world coordinates.

void	initPhysicsInteractions (double dt)
	Initialize the collision logic.

void	finalizePhysicsInteractions (double dt)
	All collisions are finished, deinterlace the object.

void	collideWithStaticObject (const Vector &n, const Point &cp)
	Dynamics for collision with a static object at points cp with normal vector n.

void	collideWithObject (PhysicalObject &that, const Point &cp, const Vector &dist)
	Dynamics for collision with that at point cp with a penetrated distance of dist.

Private Attributes
Vector	posBeforeCollision
	position before collision, used to compute interlacedDistance

double	interlacedDistance
	How much this object did penetrate other objects in the course of physics steps since last control step.

double	mass
	The mass of the object. If below zero, the object can't move (infinite mass).

double	momentOfInertia
	! The moment of inertia tensor

Hull	hull
	The hull of this object, which can be composed of several Hull.

double	r
	The radius of circular objects or, if hull is not empty, the bounding circle.

double	height
	The height of circular object or, if hull is not empty, the maximum height.

Color	color
	The overall color of this object, if hull is empty or if it does not contain any texture.

Detailed Description

A situated object in the world with mass, geometry properties, physical properties, ...

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

Classes