PhyCylinder Class Reference

PhyCylinder class. More...

Inheritance diagram for PhyCylinder:

Classes
struct	SegmentColor
	The structure used to define the color of intervals of the cylinder. More...

Public Member Functions
	PhyCylinder (real radius, real height, World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity())
	Create a physics cylinder object and insert it in the world passed. More...
virtual	~PhyCylinder ()
	Destroy this object. More...
bool	graphicalRepresentationNeedsUpdate (void *renderer=NULL)
	Whether the graphical representation should be updated or not. More...
real	height () const
	return the height More...
const QColor &	lowerBaseColor () const
	Returns the color of the lower base. More...
real	radius () const
	return the radius More...
const QList< SegmentColor > &	segmentsColor () const
	Returns the color of segments of the cylinder. More...
void	setLowerBaseColor (QColor color)
	Sets the color of the lower base. More...
void	setSegmentsColor (QColor base, const QList< SegmentColor > &segmentsColor)
	Sets the color of segments of the cylinder. More...
void	setUpperBaseColor (QColor color)
	Sets the color of the upper base. More...
const QColor &	upperBaseColor () const
	Returns the color of the upper base. More...
Public Member Functions inherited from PhyObject
	PhyObject (World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity(), bool cp=true)
	Create a physics object with no-collision-shape and insert it in the world passed. More...
virtual	~PhyObject ()
	Destroy this object. More...
void	addForce (const wVector &force)
void	addImpulse (const wVector &pointDeltaVeloc, const wVector &pointPosit)
void	addTorque (const wVector &torque)
wVector	force ()
bool	getKinematic () const
	Returns true if the object has kinematic behaviour. More...
bool	getStatic () const
	Returns true if the object is static. More...
wVector	inertiaVec () const
wVector	invInertiaVec () const
	Return the inverse of Inertia. More...
wVector	invMassInertiaVec () const
bool	isCollidable () const
	Returns true if this object collides with other object. More...
real	mass ()
	Return the mass. More...
wVector	massInertiaVec () const
	Return the Mass and momentum of Inertia. More...
QString	material () const
wVector	omega ()
void	reset ()
	reset the object: set the velocity to zero set the angural velocity to zero set any residual forces and torques to zero remove any pending collision More...
void	setForce (const wVector &force)
void	setKinematic (bool b, bool c=false)
	Changes between kinematic/dynamic behaviour for the object. More...
void	setMass (real)
	Set the mass without touching the Inertia data. More...
void	setMassInertiaVec (const wVector &)
	Set the Mass and momentum of Inertia: ( mass, Ixx, Iyy, Izz ) More...
void	setMaterial (QString material)
void	setOmega (const wVector &omega)
void	setStatic (bool b)
	Makes the object static or not. More...
void	setTorque (const wVector &torque)
void	setVelocity (const wVector &velocity)
wVector	torque ()
wVector	velocity ()
Public Member Functions inherited from WObject
	WObject (World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity(), bool addToWorld=true)
	create the object and automatically put this into the world More...
virtual	~WObject ()
	destroy the Object and drop it from the world More...
QColor	color () const
	return the color of this object More...
void	drawLocalAxes (bool d)
	Sets whether the object local frame of reference should be drawn or not. More...
bool	isInvisible () const
	return if it is invisible More...
const QString &	label () const
	Returns the text label to render along with the object. More...
const QColor &	labelColor () const
	Returns the color of the label. More...
const wVector &	labelPosition () const
	Returns the label position relative to this object. More...
bool	labelShown () const
	Returns whether the label is shown or not. More...
bool	localAxesDrawn () const
	Returns true if the local frame of refecence of the object should be drawn. More...
const wMatrix &	matrix () const
	return a reference to the transformation matrix More...
QString	name () const
	Return the name of this object. More...
virtual void	postUpdate ()
	postUpdate the WObject this method is called at each step of the world just after the physic update More...
virtual void	preUpdate ()
	preUpdate the WObject this method is called at each step of the world just before the physic update More...
void	setAlpha (int alpha)
	set the value of alpha channel (the transparency) More...
void	setColor (QColor c)
	Set the color to use on rendering. More...
void	setInvisible (bool b)
	set invisibility More...
void	setLabel (QString label)
	Sets a text label to render along with the object. More...
void	setLabel (QString label, wVector pos)
	Sets a text label to render along with the object and its position. More...
void	setLabel (QString label, wVector pos, QColor color)
	Sets a text label to render along with the object and its position and color. More...
void	setLabelColor (const QColor &color)
	Sets the color of the label. More...
void	setLabelPosition (const wVector &pos)
	Sets the label position relative to this object. More...
void	setMatrix (const wMatrix &newm)
	set a new matrix More...
void	setPosition (const wVector &newpos)
	set the position specified in global coordinate frame More...
void	setPosition (real x, real y, real z)
	set the position specified in global coordinate frame More...
void	setTexture (QString textureName)
	Set the texture to use for this WObject when rendered. More...
void	setUseColorTextureOfOwner (bool b)
	set if the object will be rendered with the color and texture of our owner (if we have one) More...
void	showLabel (bool show)
	Sets whether to show the label or not. More...
QString	texture () const
	Return the texture name. More...
bool	useColorTextureOfOwner () const
	if true, we will use color and texture of our owner (if we have one) More...
World *	world ()
	Return the world. More...
const World *	world () const
	Return the world (const version) More...
Public Member Functions inherited from Ownable
	Ownable ()
	Constructor. More...
virtual	~Ownable ()
	Destructor. More...
const QList< Owned > &	owned () const
	Returns the list of objects owned by this one. More...
Ownable *	owner () const
	Returns the owner of this object. More...
void	setOwner (Ownable *owner, bool destroy=true)
	Sets the owner of this object. More...

Protected Member Functions
void	createPrivateObject ()
	Engine encapsulation. More...
Protected Member Functions inherited from PhyObject
virtual void	changedMatrix ()
	syncronize this object with underlying physic object More...
void	createPrivateObject ()

Additional Inherited Members
Public Types inherited from Ownable
typedef QList< Owned >	OwnedList
	The type for the list of owned objects. More...
Protected Attributes inherited from PhyObject
PhyObjectPrivate *	priv
	Engine encapsulation. More...
WorldPrivate *	worldpriv
Protected Attributes inherited from WObject
QColor	colorv
	Color, it contains also alpha channel. More...
bool	invisible
	if TRUE it will not renderized More...
QColor	labelcol
	The color of the label. More...
bool	labeldrawn
	Whether the label should be rendered or not. More...
wVector	labelpos
	The position of the label in the object frame of reference. More...
QString	labelv
	The text label of the object. More...
bool	localFrameOfReferenceDrawn
	If true, the local frame of reference of the object is drawn. More...
QString	namev
	Name of the WObject. More...
QString	texturev
	Texture name. More...
wMatrix	tm
	Trasformation matrix. More...
bool	usecolortextureofowner
	if true, we will use color and texture of our owner (if we have one). More...
World *	worldv
	World. More...

Detailed Description

PhyCylinder class.

Motivation

Represent a physical cylinder object.

Description

The cylinder is described by the radius and the height. The local frame of reference has the x axis along the line connecting the center of the two bases and the center of the frame is in the middle of that line. For this object you can either specify a single color (using methods inherited from WObject) or you can use functions provided here to separately specify the colors of the two bases and of sectors of the cylinder (see function description for more information). If you use functions specific to this class, the color of the object retuned by WObject::color() will be invalid. To set a single color for the whole cylinder, simply use WObject::setColor with a valid color. More precisely, as soon as you use one of the functions defined here to set colors (setUpperBaseColor, setLowerBaseColor or setSegmentsColor) those colors are used to draw the cylinder and the WObject::color property is set to an invalid color (the color of other parts of the cylinder are set to WObject::color before making it invalid); if you explicitly use WObject::setColor, the cylinder is drawn with a single color

Warnings

Warnings

Definition at line 53 of file phycylinder.h.

Constructor & Destructor Documentation

PhyCylinder	(	real	radius,
		real	height,
		World *	world,
		QString	name = "unamed",
		const wMatrix &	tm = wMatrix::identity()
	)

Create a physics cylinder object and insert it in the world passed.

Parameters

radius	radius of cylinder
height	the height of cylinder (cylinder 'grows up' along its local X axis)
world	The World which object will be inserted
tm	rotation and position at the moment of creation

Definition at line 27 of file phycylinder.cpp.

References PhyObject::changedMatrix(), WObject::colorv, and PhyCylinder::createPrivateObject().

~PhyCylinder ( )

virtual

Destroy this object.

Definition at line 45 of file phycylinder.cpp.

Member Function Documentation

void createPrivateObject ( )

protected

Engine encapsulation.

Definition at line 196 of file phycylinder.cpp.

References wMatrix::identity(), PhyObject::priv, and PhyObject::setMass().

Referenced by PhyCylinder::PhyCylinder().

bool graphicalRepresentationNeedsUpdate

(

void *

renderer = NULL

)

Whether the graphical representation should be updated or not.

This function is called by RenderPhyCylinder to check if a new representation of the cylinder should be generated since the last time this function was called. This function only considers changes to properties like dimensions and color, not position or orientation. This function also takes a pointer which is used to keep separate states. This means that if there is a change and the graphical representatation needs to be updated, this function will return true not only on the first call but also in all subsequent calls with a different renderer parameter

Parameters

renderer

a pointer to the renderer, to keep separate states

Returns

true if the phycylinder representation should be updated

Definition at line 158 of file phycylinder.cpp.

References WObject::color(), Ownable::owner(), and WObject::useColorTextureOfOwner().

real height ( ) const

inline

return the height

Definition at line 113 of file phycylinder.h.

const QColor& lowerBaseColor ( ) const

inline

Returns the color of the lower base.

Returns

the color of the lower base

Definition at line 150 of file phycylinder.h.

real radius ( ) const

inline

return the radius

Definition at line 109 of file phycylinder.h.

const QList<SegmentColor>& segmentsColor ( ) const

inline

Returns the color of segments of the cylinder.

Note

All intervals are simple intervals, contiguous and go from -pi to pi

Returns

the color of segments of the cylinder

Definition at line 180 of file phycylinder.h.

Referenced by PhyMarXbot::segmentsColor(), and PhyEpuck::segmentsColor().

void setLowerBaseColor

(

QColor

color

)

Sets the color of the lower base.

Parameters

color

the new color of the upper base. If this is invalid, the base is drawn with slices corresponding to those defined by setSegmentsColor

Definition at line 64 of file phycylinder.cpp.

References WObject::color(), and WObject::colorv.

Referenced by PhyMarXbot::setLedColors(), and PhyEpuck::setLedColors().

void setSegmentsColor	(	QColor	base,
		const QList< SegmentColor > &	segmentsColor
	)

Sets the color of segments of the cylinder.

This function takes a base color and a list of SegmentColor objects. The base color is used for all the portions of the cylinder which are not covered by SegmentColor specified in the list. The intervals in the list are clamped to [-pi, pi], values outside are discarded. A color later in the list is covered by earlier one. All angles are in radians and are counterclockwise from the Y axis looking at the cylinder from the tip of the X axis (on the YZ plane, remember that the cylinder grows along X). Note that internally the list of colors is stored in a different format, so the list you pass here is probably not the one you get with the function segmentsColor()

Parameters

base	the base color of the cylinder
segmentColors	the list of colors of segments

Definition at line 104 of file phycylinder.cpp.

References WObject::color(), WObject::colorv, and Intervals::isEmpty().

Referenced by PhyMarXbot::setLedColors(), and PhyEpuck::setLedColors().

void setUpperBaseColor

(

QColor

color

)

Sets the color of the upper base.

Parameters

color

the new color of the upper base. If this is invalid, the base is drawn with slices corresponding to those defined by setSegmentsColor

Definition at line 51 of file phycylinder.cpp.

References WObject::color(), and WObject::colorv.

Referenced by PhyMarXbot::setLedColors(), and PhyEpuck::setLedColors().

const QColor& upperBaseColor ( ) const

inline

Returns the color of the upper base.

Returns

the color of the upper base

Definition at line 131 of file phycylinder.h.

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

• worldsim/include/phycylinder.h
• worldsim/src/phycylinder.cpp