Inheritance diagram for WObject:

Public Member Functions
	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
virtual void	changedMatrix ()
	virtual function called when the transformation matrix change More...

Protected Attributes
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...

Additional Inherited Members
Public Types inherited from Ownable
typedef QList< Owned >	OwnedList
	The type for the list of owned objects. More...

Detailed Description

World's Object class.

represent abstract object insertable into the World

Definition at line 39 of file wobject.h.

Constructor & Destructor Documentation

WObject	(	World *	world,
		QString	name = `"unamed"`,
		const wMatrix &	tm = `wMatrix::identity()`,
		bool	addToWorld = `true`
	)

create the object and automatically put this into the world

Parameters

world	the world where object lives
name	the name of the object
tm	rotation and position in global coordinate frame
addToWorld	if true the object is added to the world, if false it is not. This parameter should be set to false when this constructor is called by the constructor of a subclass because otherwise RTTI in this moment (e.g. in RenderWorld) identifies the newly added object as a WObject instead of the actual type (as the subclasses have not been constructed yet when the object is added to the world)

Definition at line 25 of file wobject.cpp.

References WObject::colorv, WObject::invisible, WObject::labelcol, WObject::labeldrawn, WObject::labelpos, WObject::labelv, WObject::localFrameOfReferenceDrawn, WObject::name(), WObject::namev, WObject::texturev, WObject::tm, WObject::usecolortextureofowner, and WObject::worldv.

~WObject ( )

virtual

destroy the Object and drop it from the world

Definition at line 43 of file wobject.cpp.

References WObject::worldv.

Member Function Documentation

void changedMatrix ( )

protectedvirtual

virtual function called when the transformation matrix change

Reimplemented in PhyMarXbot, PhyEpuck, PhyMarXbot, PhyKhepera, and PhyObject.

Definition at line 178 of file wobject.cpp.

Referenced by WObject::setMatrix(), and WObject::setPosition().

QColor color ( ) const

void drawLocalAxes ( bool d )

Sets whether the object local frame of reference should be drawn or not.

By default the local frame of reference is not drawn. Note that some objects don't support drawing the local frame of reference. The X axis is drawn in red, the Y in green and the Z in blue.

Parameters

d	if true the local frame of reference should be drawn

Definition at line 122 of file wobject.cpp.

References WObject::localFrameOfReferenceDrawn.

Referenced by RenderWorld::draw().

bool isInvisible ( ) const

return if it is invisible

Definition at line 114 of file wobject.cpp.

References WObject::invisible.

Referenced by RenderWorld::draw().

const QString & label ( ) const

Returns the text label to render along with the object.

Returns: the label to show

Definition at line 143 of file wobject.cpp.

References WObject::labelv.

Referenced by WObject::setLabel().

const QColor & labelColor ( ) const

Returns the color of the label.

Returns: the color of the label

Definition at line 163 of file wobject.cpp.

References WObject::labelcol.

const wVector & labelPosition ( ) const

Returns the label position relative to this object.

Returns: the label position in the object frame of reference

Definition at line 153 of file wobject.cpp.

References WObject::labelpos.

bool labelShown ( ) const

Returns whether the label is shown or not.

Returns: true if the label is shown

Definition at line 173 of file wobject.cpp.

References WObject::labeldrawn.

Referenced by RenderWorld::draw().

bool localAxesDrawn ( ) const

Returns true if the local frame of refecence of the object should be drawn.

Returns: true if the local frame of reference should be drawn

Definition at line 126 of file wobject.cpp.

References WObject::localFrameOfReferenceDrawn.

Referenced by RenderWorld::draw().

const wMatrix & matrix ( ) const

return a reference to the transformation matrix

Definition at line 47 of file wobject.cpp.

References WObject::tm.

Referenced by PhyBallAndSocket::centre(), PhyFixed::centre(), PhySlider::centre(), PhySuspension::centre(), PhyUniversal::centre(), PhyHinge::centre(), PhyKhepera::changedMatrix(), PhyMarXbot::changedMatrix(), PhyEpuck::changedMatrix(), World::checkContacts(), World::closestPoints(), World::collisionRayCast(), RenderWorld::draw(), PhyMarXbot::enableAttachmentDevice(), PhyBallAndSocket::PhyBallAndSocket(), PhyEpuck::PhyEpuck(), PhyFixed::PhyFixed(), PhyHinge::PhyHinge(), PhyKhepera::PhyKhepera(), PhyMarXbot::PhyMarXbot(), PhySlider::PhySlider(), PhySuspension::PhySuspension(), PhyUniversal::PhyUniversal(), PhyMarXbot::postUpdate(), PhyKhepera::postUpdate(), PhyEpuck::postUpdate(), PhyMarXbot::preUpdate(), PhyKhepera::preUpdate(), PhyEpuck::preUpdate(), SingleIR::update(), PhyBallAndSocket::updateJointInfo(), PhyFixed::updateJointInfo(), PhySlider::updateJointInfo(), PhySuspension::updateJointInfo(), PhyUniversal::updateJointInfo(), PhyHinge::updateJointInfo(), and GraphicalWObject::updateMatrixFromAttachedObject().

QString name ( ) const

Return the name of this object.

Definition at line 69 of file wobject.cpp.

References WObject::namev.

Referenced by World::getObject(), and WObject::WObject().

void postUpdate ( )

virtual

postUpdate the WObject this method is called at each step of the world just after the physic update

Reimplemented in PhyMarXbot, PhyEpuck, PhyKhepera, and PhyMarXbot.

Definition at line 105 of file wobject.cpp.

void preUpdate ( )

virtual

preUpdate the WObject this method is called at each step of the world just before the physic update

Reimplemented in PhyMarXbot, PhyEpuck, PhyKhepera, and PhyMarXbot.

Definition at line 101 of file wobject.cpp.

void setAlpha ( int alpha )

set the value of alpha channel (the transparency)

Definition at line 85 of file wobject.cpp.

References WObject::colorv.

Referenced by RenderWorld::draw().

void setColor ( QColor c )

Set the color to use on rendering.

When the texture is setted, then the color is behind the texture. To display the object with only color set the texture to "none" - setTexture("none")

Definition at line 81 of file wobject.cpp.

References WObject::colorv.

Referenced by PhyEpuck::PhyEpuck(), PhyKhepera::PhyKhepera(), PhyMarXbot::PhyMarXbot(), PhyMarXbot::setDrawFrontMarker(), PhyKhepera::setDrawFrontMarker(), PhyEpuck::setDrawFrontMarker(), and SingleIRGraphic::SingleIRGraphic().

void setInvisible ( bool b )

set invisibility

Invisible means that the object will be never rendered on widgets

Definition at line 118 of file wobject.cpp.

References WObject::invisible.

void setLabel ( QString label )

Sets a text label to render along with the object.

Parameters

label the label to show

Definition at line 131 of file wobject.cpp.

References WObject::label(), and WObject::labelv.

void setLabel	(	QString	label,
		wVector	pos
	)

Sets a text label to render along with the object and its position.

Parameters

label	the label to show
pos	the position of the label in the object frame of reference

void setLabel	(	QString	label,
		wVector	pos,
		QColor	color
	)

Sets a text label to render along with the object and its position and color.

Parameters

label	the label to show
pos	the position of the label in the object frame of reference
color	the color of the label

Definition at line 136 of file wobject.cpp.

References WObject::color(), WObject::label(), WObject::labelcol, WObject::labelpos, and WObject::labelv.

void setLabelColor ( const QColor & color )

Sets the color of the label.

Parameters

color the color of the label

Definition at line 158 of file wobject.cpp.

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

void setLabelPosition ( const wVector & pos )

Sets the label position relative to this object.

Parameters

pos	the label position in the object frame of reference

Definition at line 148 of file wobject.cpp.

References WObject::labelpos.

void setMatrix ( const wMatrix & newm )

set a new matrix

Definition at line 109 of file wobject.cpp.

References WObject::changedMatrix(), and WObject::tm.

Referenced by PhyKhepera::changedMatrix(), PhyMarXbot::changedMatrix(), PhyEpuck::changedMatrix(), PhyMarXbot::enableAttachmentDevice(), PhyEpuck::PhyEpuck(), PhyKhepera::PhyKhepera(), PhyMarXbot::PhyMarXbot(), PhyMarXbot::preUpdate(), PhyKhepera::preUpdate(), PhyEpuck::preUpdate(), and GraphicalWObject::updateMatrixFromAttachedObject().

void setPosition ( const wVector & newpos )

set the position specified in global coordinate frame

Definition at line 51 of file wobject.cpp.

References WObject::changedMatrix(), and WObject::tm.

void setPosition	(	real	x,
		real	y,
		real	z
	)

set the position specified in global coordinate frame

Definition at line 56 of file wobject.cpp.

References WObject::changedMatrix(), and WObject::tm.

void setTexture ( QString textureName )

Set the texture to use for this WObject when rendered.

Definition at line 73 of file wobject.cpp.

References WObject::texturev.

Referenced by PhyMarXbot::setDrawFrontMarker(), PhyKhepera::setDrawFrontMarker(), PhyEpuck::setDrawFrontMarker(), and SingleIRGraphic::SingleIRGraphic().

void setUseColorTextureOfOwner ( bool b )

set if the object will be rendered with the color and texture of our owner (if we have one)

Definition at line 97 of file wobject.cpp.

References WObject::usecolortextureofowner.

Referenced by PhyMarXbot::PhyMarXbot(), PhyMarXbot::setDrawFrontMarker(), PhyKhepera::setDrawFrontMarker(), PhyEpuck::setDrawFrontMarker(), PhyMarXbot::setLedColors(), PhyEpuck::setLedColors(), and SingleIRGraphic::SingleIRGraphic().

void showLabel ( bool show )

Sets whether to show the label or not.

Parameters

show	if true shows the label

Definition at line 168 of file wobject.cpp.

References WObject::labeldrawn.

Referenced by RenderWorld::draw().

QString texture ( ) const

Return the texture name.

Definition at line 77 of file wobject.cpp.

References WObject::texturev.

Referenced by RenderWObjectContainer::setupColorTexture().

bool useColorTextureOfOwner ( ) const

if true, we will use color and texture of our owner (if we have one)

Definition at line 93 of file wobject.cpp.

References WObject::usecolortextureofowner.

Referenced by PhyCylinder::graphicalRepresentationNeedsUpdate(), RenderWObjectContainer::setupColorTexture(), and RenderPhyCylinder::updateRepresentation().

World * world ( )

Return the world.

Definition at line 61 of file wobject.cpp.

References WObject::worldv.

Referenced by PhyCompoundObject::createPrivateObject(), PhyMarXbot::enableAttachmentDevice(), PhyJoint::PhyJoint(), PhyMarXbot::PhyMarXbot(), PhyMarXbot::preUpdate(), PhyKhepera::preUpdate(), PhyEpuck::preUpdate(), PhyMarXbot::setDrawFrontMarker(), PhyKhepera::setDrawFrontMarker(), PhyEpuck::setDrawFrontMarker(), and SingleIR::update().

const World * world ( ) const

Return the world (const version)

Definition at line 65 of file wobject.cpp.

References WObject::worldv.

Member Data Documentation

QColor colorv

protected

Color, it contains also alpha channel.

Definition at line 199 of file wobject.h.

Referenced by WObject::color(), PhyCylinder::PhyCylinder(), WObject::setAlpha(), WObject::setColor(), PhyCylinder::setLowerBaseColor(), PhyCylinder::setSegmentsColor(), PhyCylinder::setUpperBaseColor(), and WObject::WObject().

bool invisible

protected

if TRUE it will not renderized

Definition at line 201 of file wobject.h.

Referenced by WObject::isInvisible(), WObject::setInvisible(), and WObject::WObject().

QColor labelcol

protected

The color of the label.

Definition at line 211 of file wobject.h.

Referenced by WObject::labelColor(), WObject::setLabel(), WObject::setLabelColor(), and WObject::WObject().

bool labeldrawn

protected

Whether the label should be rendered or not.

Definition at line 213 of file wobject.h.

Referenced by WObject::labelShown(), WObject::showLabel(), and WObject::WObject().

wVector labelpos

protected

The position of the label in the object frame of reference.

Definition at line 209 of file wobject.h.

Referenced by WObject::labelPosition(), WObject::setLabel(), WObject::setLabelPosition(), and WObject::WObject().

QString labelv

protected

The text label of the object.

Definition at line 207 of file wobject.h.

Referenced by WObject::label(), WObject::setLabel(), and WObject::WObject().

bool localFrameOfReferenceDrawn

protected

If true, the local frame of reference of the object is drawn.

Definition at line 205 of file wobject.h.

Referenced by WObject::drawLocalAxes(), WObject::localAxesDrawn(), and WObject::WObject().

QString namev

protected

Name of the WObject.

Definition at line 195 of file wobject.h.

Referenced by WObject::name(), and WObject::WObject().

QString texturev

protected

Texture name.

Definition at line 197 of file wobject.h.

Referenced by WObject::setTexture(), WObject::texture(), and WObject::WObject().

wMatrix tm

protected

bool usecolortextureofowner

protected

if true, we will use color and texture of our owner (if we have one).

True by default

Definition at line 203 of file wobject.h.

Referenced by WObject::setUseColorTextureOfOwner(), WObject::useColorTextureOfOwner(), and WObject::WObject().

World* worldv

protected

World.

Definition at line 191 of file wobject.h.

Referenced by WObject::WObject(), WObject::world(), and WObject::~WObject().

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

worldsim/include/wobject.h
worldsim/src/wobject.cpp

WorldSim - 1.4.5

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation