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

Public Member Functions
	Part (const Polygone &shape, double height)
	Constructor, builds a shaped part without any texture; shape must be closed and convex.

	Part (const Polygone &shape, double height, const Textures &textures)
	Constructor, builds a shaped part with a textured shape; shape must be closed and convex.

	Part (double l1, double l2, double height)
	Constructor, builds a rectangular part of size l1xl2, with a given height and color, and update radius.

void	applyTransformation (const Matrix22 &rot, const Point &trans, double *radius)
	Compute the shape of this part wrt a particular rotation and translation.

double	getHeight () const

double	getArea () const

const Polygone &	getShape () const

const Polygone &	getTransformedShape () const

const Point &	getCentroid () const

const Point &	getTransformedCentroid () const

const Textures &	getTextures () const

bool	isTextured () const

Private Member Functions
void	computeAreaAndCentroid ()
	Compute the area and the centroid (barycenter) of this shape in object coordinates.

void	computeTransformedShape (const Matrix22 &rot, const Point &trans)
	Compute the shape of this part in world coordinates with respect to object.

Private Attributes
double	height
	The height of the part, used for interaction with the sensors of other robots.

double	area
	The area of this part.

Polygone	shape
	The shape of the part in object coordinates.

Polygone	transformedShape
	The shape of the part in world coordinates, updated on initPhysicsInteractions().

Point	centroid
	The centroid (barycenter) of the part in object coordinates.

Point	transformedCentroid
	The centroid (barycenter) of the part in world coordinates, updated on initPhysicsInteractions().

Textures	textures
	Texture for several faces of this object.

Detailed Description

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

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

Public Member Functions