Enki::PhysicalObject Class Reference
[Core Enki classes]

#include <PhysicalEngine.h>

Inheritance diagram for Enki::PhysicalObject:

List of all members.

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Detailed Description

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

Public Member Functions
	PhysicalObject ()
	Constructor.
virtual	~PhysicalObject ()
	Destructor.
void	setBoundingSurface (const An::Polygone *bs)
	Set the shape of the object to bs, recompute r, assign color to faces. bs must exists during all object's life.
const An::Polygone &	getTrueBoundingSurface (void) const
	Return the shape of the object in object coordinates.
virtual void	step (double dt)
	A simulation step for this object. It is considered as deinterlaced. The position and orientation are updated, and speed is reduced according to global dynamic friction coefficient.
virtual void	initLocalInteractions ()
	Initialize the collision logic.
virtual void	doLocalInteractions (World *w, PhysicalObject *o, double dt, bool firstInteraction)
	Do the collision with the other PhysicalObject. firstInteraction controls which object collides with which, dt is not used.
virtual void	doLocalWallsInteraction (World *w)
	Do the collisions with the walls of world w.
virtual void	finalizeLocalInteractions (double dt)
	All collisions are finished, deinterlace the object.
virtual void	initGlobalInteractions ()
	Initialize the global interactions, do nothing for PhysicalObject.
virtual void	doGlobalInteractions (World *w, double dt)
	Do the global interactions with the world, do nothing for PhysicalObject.
virtual void	finalizeGlobalInteractions ()
	All global interactions are finished, do nothing for PhysicalObject.
void	collideWithStaticObject (const An::Point &cp1, const An::Point &cp2, const An::Vector &n1, const An::Vector &n2, const An::Vector &dist)
	Dynamics for collision with a static object at points cp1 and cp2 with normals vectors n1 and n2 and a penetrated distance of dist.
void	collideWithObject (PhysicalObject &object, const An::Point &cp, const An::Vector &dist)
	Dynamics for collision with object at point cp with a penetrated distance of dist.
Public Attributes
An::Point	pos
	The position of the object.
double	height
	The height of the object, used for interaction with robot's sensors.
double	angle
	The orientation of the object in the world, standard trigonometric orientation.
An::Vector	speed
	The speed of the object.
double	angSpeed
	The rotation speed of the object, standard trigonometric orientation.
double	mass
	The mass of the object. If below zero, the object can't move (infinite mass).
double	staticFrictionThreshold
	The static friction threshold of the object. If a force is smaller than it, the object will not move.
double	viscousFrictionTau
	The viscous friction time constant. Half-life of speed when object is free. If lower than timestep, speed is forced to zero.
double	viscousMomentFrictionTau
	The viscous friction moment time constant. Half-life of angular speed when object is free. If lower than timestep, angular speed is forced to zero.
double	collisionAngularFrictionFactor
	Upon collision with static objects. The amount of rotation transmitted to the moving object. If zero, moving object slides over static one. If one, moving object is fully rotated.
const An::Polygone *	boundingSurface
	The shape of the object in object coordinates. If NULL, the object is circular and its radius is given by r .
An::Polygone	absBoundingSurface
	The shape of the object in world coordinates, updated on initLocalInteractions(). Invalid if boundingSurface is NULL.
double	r
	The radius of circular objects. If boundingSurface is not NULL, it is automatically computed.
An::Color	color
	The color of the object.
std::valarray< An::Texture >	textures
	Texture for several faces of this object.
Protected Member Functions
void	collideWithStaticObject (const An::Vector &n)
	Do the real rotation due to collision.
void	computeAbsBoundingSurface (void)
	Compute the shape of its object in world coordinates.
Protected Attributes
An::Vector	deinterlaceVector
	Vector used for object collisions. If its norm is greater than staticFrictionThreshold, the object is moved.

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

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

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