Inheritance diagram for PhyObject:

Public Member Functions
	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.
virtual	~PhyObject ()
	Destroy this object.
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.
bool	getStatic () const
	Returns true if the object is static.
wVector	inertiaVec () const
wVector	invInertiaVec () const
	Return the inverse of Inertia.
wVector	invMassInertiaVec () const
real	mass ()
	Return the mass.
wVector	massInertiaVec () const
	Return the Mass and momentum of Inertia.
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
void	setForce (const wVector &force)
void	setKinematic (bool b, bool c=false)
	Changes between kinematic/dynamic behaviour for the object.
void	setMass (real)
	Set the mass without touching the Inertia data.
void	setMassInertiaVec (const wVector &)
	Set the Mass and momentum of Inertia: ( mass, Ixx, Iyy, Izz )
void	setMaterial (QString material)
void	setOmega (const wVector &omega)
void	setStatic (bool b)
	Makes the object static or not.
void	setTorque (const wVector &torque)
void	setVelocity (const wVector &velocity)
wVector	torque ()
wVector	velocity ()
Protected Member Functions
virtual void	changedMatrix ()
	syncronize this object with underlying physic object
void	createPrivateObject ()
Protected Attributes
PhyObjectPrivate *	priv
	Engine encapsulation.
WorldPrivate *	worldpriv
Friends
class	PhyCompoundObject
class	PhyJoint
class	PhyObjectPrivate
class	World
class	WorldPrivate

Detailed Description

PhyObject class.

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Motivation: The PhyObject represent a physical object.

Description

Warnings: Warnings

Definition at line 46 of file phyobject.h.

Constructor & Destructor Documentation

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.

Parameters:

world	The World which object will be inserted
tm	rotation and position at the moment of creation
cp	is for internal use; ignore it

Definition at line 26 of file phyobject.cpp.

References PhyObject::changedMatrix(), and PhyObject::priv.

~PhyObject ( ) [virtual]

Destroy this object.

Definition at line 45 of file phyobject.cpp.

References PhyObject::priv.

Member Function Documentation

void changedMatrix ( ) [protected, virtual]

syncronize this object with underlying physic object

Reimplemented from WObject.

Definition at line 143 of file phyobject.cpp.

References PhyObject::priv, and WObject::tm.

Referenced by PhyBox::PhyBox(), PhyCompoundObject::PhyCompoundObject(), PhyCone::PhyCone(), PhyCylinder::PhyCylinder(), PhyObject::PhyObject(), and PhySphere::PhySphere().

bool getKinematic ( ) const [inline]

Returns true if the object has kinematic behaviour.

Returns:: true if the object has kinematic behaviour

Definition at line 72 of file phyobject.h.

Referenced by World::smartCheckContacts().

bool getStatic ( ) const [inline]

Returns true if the object is static.

Returns:: true if the object is static

Definition at line 87 of file phyobject.h.

Referenced by World::smartCheckContacts().

wVector invInertiaVec ( ) const

Return the inverse of Inertia.

Definition at line 199 of file phyobject.cpp.

real mass ( )

Return the mass.

Definition at line 232 of file phyobject.cpp.

Referenced by PhyCompoundObject::createPrivateObject(), and PhyiCub::PhyiCub().

wVector massInertiaVec ( ) const

Return the Mass and momentum of Inertia.

Definition at line 191 of file phyobject.cpp.

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

Definition at line 118 of file phyobject.cpp.

References PhyObject::priv.

void setKinematic	(	bool	b,
		bool	c = `false`
	)

Changes between kinematic/dynamic behaviour for the object.

A kinematic object doesn't interact at all with other objects; it can only be moved directly setting its transformation matrix. By default the object is dynamic

Parameters:

b	if true the object is set to kinematic behaviour
c	if true the object collides with other objects even in kinematic mode, influencing them without being influenced (technically, we set its mass to 0 in Newton Game Dynamics engine)

Definition at line 55 of file phyobject.cpp.

References PhyObject::priv, and WObject::tm.

Referenced by PhyObjectsGroup::setKinematic().

void setMass ( real newmass )

Set the mass without touching the Inertia data.

Definition at line 208 of file phyobject.cpp.

References PhyObject::priv.

Referenced by PhySphere::createPrivateObject(), PhyCylinder::createPrivateObject(), PhyCone::createPrivateObject(), PhyCompoundObject::createPrivateObject(), PhyBox::createPrivateObject(), PhyiCub::PhyiCub(), and PhyMarXbot::PhyMarXbot().

void setMassInertiaVec ( const wVector & mi )

Set the Mass and momentum of Inertia: ( mass, Ixx, Iyy, Izz )

Definition at line 182 of file phyobject.cpp.

References PhyObject::priv.