World class. More...

Public Types
enum	{ E_Advance = 1200, E_Play = 1201, E_Stop = 1202, E_Pause = 1203 }
	Custom Event Types. More...
enum	w_state { playingS, pausedS, stoppedS }
	define the state of the World More...
Public Slots
void	advance ()
	Do a step of the World.
void	finalize ()
	Operation performed at the end of the simulation.
void	initialize ()
	Initialize the World, it doesn't do anything if it's already initialized.
void	pause ()
	Pause the World.
int	play ()
	run the World calling advance as fast as possibile (return the timerId)
void	stop ()
	Stop the World.
Signals
void	addedJoint (PhyJoint *)
	emitted when an PhyJoint has been added
void	addedObject (WObject *)
	emitted when an WObject has been added
void	advanced ()
	When exit from advance method.
void	finished ()
	When exit from finalize method.
void	initialized ()
	When exit from initialize method.
void	paused ()
	When the stop method is called.
void	removedJoint (PhyJoint *)
	emitted when an PhyJoint has been removed
void	removedObject (WObject *)
	emitted when an WObject has been removed
void	resized ()
	emitted when the World change its size
void	stopped ()
	When the stopped method is called.
Public Member Functions
	World (QString worldname, bool LocalYarpPorts=false)
	Constructor.
virtual	~World ()
	Destructor.
void	advanceUntil (real time)
	Advance the World until the time passed is reached (approx.
bool	checkContacts (PhyObject obj1, PhyObject obj2, int maxContacts=4, QVector< wVector > contacts=NULL, QVector< wVector > normals=NULL, QVector< real > *penetra=NULL)
	Checks whether two objects collide or not.
void	cleanUpMemory ()
	Clean up memory.
bool	closestPoints (PhyObject objA, PhyObject objB, wVector &pointA, wVector &pointB)
	calculate the two closest points between the two objects;
real	collisionRayCast (PhyObject obj, wVector start, wVector end, wVector normal=NULL)
	Checks whether the ray from start to end intersects obj.
const contactMap &	contacts ()
	return the contact map
void	disableCollision (PhyObject obj1, PhyObject obj2)
	Disable collision between bodies.
real	elapsedTime () const
	Get the elapsed time.
void	enableCollision (PhyObject obj1, PhyObject obj2)
	Enable collision.
WObject *	getObject (QString name)
	Return the WObject with name specified, otherwise return NULL.
real	gravityForce () const
	Return the gravity force.
bool	isRealTime () const
	return true is real-time is enabled ; false otherwise
const QLinkedList< PhyJoint * >	joints ()
	Return the vector of joints present in this world.
const QHash< WObject , QList < PhyJoint > >	mapObjectsToJoints ()
	Map object -> joints.
MaterialDB &	materials ()
	return the MaterialDB object for managing World's materials
QString	name () const
	Return the name.
const QLinkedList< WObject * >	objects ()
	Return the vector of objects present in this world.
void	popJoint (PhyJoint *)
void	popObject (WObject *)
void	pushJoint (PhyJoint *)
void	pushObject (WObject *)
void	resetElapsedTime ()
	Reset the time counter and restart from zero seconds.
void	setFrictionModel (QString model)
	See Physic Engine Documentation.
void	setGravityForce (real g)
	Set the gravity force.
void	setIsRealTime (bool b)
	Enable/Disable Real-time advance.
void	setMinimumFrameRate (unsigned int frames)
	Set the minimum frame rate; in other word the number of integration steps per seconds regardless the time step setted.
void	setMultiThread (int numThreads)
	Set the multi-thread functionality.
void	setSize (const wVector &minPoint, const wVector &maxPoint)
	See Physic Engine Documentation.
void	setSolverModel (QString model)
	See Physic Engine Documentation.
void	setTimeStep (real)
	Set the time step.
void	size (wVector &minPoint, wVector &maxPoint)
	Get the bounding box of the world.
bool	smartCheckContacts (PhyObject obj1, PhyObject obj2, int maxContacts=4, QVector< wVector > *contacts=NULL)
	Checks whether two objects collide or not.
w_state	status ()
	return the actual state
real	timeStep () const
	get the time step setted
rayCastHitVector	worldRayCast (wVector start, wVector end, bool onlyClosest, const QSet< PhyObject * > &ignoredObjs=QSet< PhyObject * >())
	Returns the bodyes which intersect the ray from start to end.
Protected Member Functions
void	customEvent (QEvent *e)
	Custom Events.
void	timerEvent (QTimerEvent *e)
	Event for handling play/stop in order to stay syncronized with QT main thread.
Protected Attributes
real	gforce
	Gravity Force.
QLinkedList< PhyJoint * >	jointsv
	Vector of Joints inside the World.
QHash< WObject , QList < PhyJoint > >	mapObjJoints
	Map object -> joints.
wVector	maxP
wVector	minP
	Size of the Newton world.
QLinkedList< WObject * >	objs
	Vector of WObject inside the World.
real	time
	The elapsed simulation-time from last calls of initialize()
real	timestepv
	The time step.
Friends
class	MaterialDB
class	PhyJoint
class	PhyObject
class	WorldPrivate

Detailed Description

World class.

Motivation: The World represent the environment in which robots are inserted and interacts with.
The World contains all objects: actives and passives.
The World has a continuous temporal dimension. It's possibile set the time step of integration.

Description: Description coming soon

Warnings: Warnings

Definition at line 351 of file world.h.

Member Enumeration Documentation

anonymous enum

Custom Event Types.

Definition at line 579 of file world.h.

enum w_state

define the state of the World

Definition at line 501 of file world.h.

Constructor & Destructor Documentation

World	(	QString	worldname,
		bool	LocalYarpPorts = `false`
	)

Constructor.

Parameters:

worldname	is the reference name for the World, in particular it will be the root yarp port for all YarpObject (Devices) contained into this world
LocalYarpPorts	set a boolean variable that setup YARP network in local mode if true

Definition at line 170 of file world.cpp.

References World::gforce, World::minP, World::name(), World::time, and World::timestepv.

~World ( ) [virtual]

Destructor.

Definition at line 214 of file world.cpp.

References World::jointsv, World::objs, and Ownable::owner().

Member Function Documentation

void addedJoint ( PhyJoint * ) [signal]

emitted when an PhyJoint has been added

void addedObject ( WObject * ) [signal]

emitted when an WObject has been added

void advance ( ) [slot]

Do a step of the World.

Note:: The sequence of actions here is: update motor controllers; call preUpdate on all objects; call preUpdate on all joints; perform the actual physical simulation step; call postUpdate on all objects; call postUpdate on all joints

Definition at line 253 of file world.cpp.

References World::advanced(), World::initialize(), World::jointsv, World::objs, SimpleTimer::tac(), SimpleTimer::tic(), World::time, and World::timestepv.

Referenced by World::advanceUntil(), World::customEvent(), and World::timerEvent().

void advanced ( ) [signal]

When exit from advance method.

Referenced by World::advance().

void advanceUntil ( real time )

Advance the World until the time passed is reached (approx.

per difetto)

Warning:: This method block the signals, so no signals will be emitted; this method ignore real-time settings, it always go as fast as possible

Definition at line 386 of file world.cpp.

References World::advance(), and World::time.

bool checkContacts	(	PhyObject *	obj1,
		PhyObject *	obj2,
		int	maxContacts = `4`,
		QVector< wVector > *	contacts = `NULL`,
		QVector< wVector > *	normals = `NULL`,
		QVector< real > *	penetra = `NULL`
	)

Checks whether two objects collide or not.

Parameters:

obj1	first object
obj2	second object
maxContacts	the maxium number of contacts to report
contacts	if not null, the vector is filled with collision contact points in the world frame of reference
normals	if not null, the vector is filled with collision contact normals in the world frame of reference
penetra	if not null, the vector is filled with collision penetration at each point

Returns:: true if the two object are in contacts

Definition at line 536 of file world.cpp.

References WObject::matrix(), and PhyObject::priv.

Referenced by World::smartCheckContacts().

void cleanUpMemory ( )

Clean up memory.

Definition at line 512 of file world.cpp.

bool closestPoints	(	PhyObject *	objA,
		PhyObject *	objB,
		wVector &	pointA,
		wVector &	pointB
	)

calculate the two closest points between the two objects;

Parameters:

objA	first object
objB	second object
pointA	the point on objA's shape closest to objB
pointB	the point on objB's shape closest to objA

Returns:: true is the calculation has been done, false if the object are colliding In the case of colliding objects the points will be setted to zero

Definition at line 660 of file world.cpp.

References WObject::matrix(), and PhyObject::priv.

real collisionRayCast	(	PhyObject *	obj,
		wVector	start,
		wVector	end,
		wVector *	normal = `NULL`
	)

Checks whether the ray from start to end intersects obj.

Parameters:

obj	the object whose collision with the ray we have to check
start	the starting point of the ray (in the global frame of reference)
end	the ending point of the ray (in the global frame of reference)
normal	if not null the pointed wVector will store the normal to the contact point

Returns:: a value between 0.0 and 1.0 indicating the point along the ray which intersects the object (with 0.0 being the starting point and 1.0 the ending point). If the ray misses the objects, the returned value is greater than 1.0

Definition at line 609 of file world.cpp.

References wMatrix::inverse(), WObject::matrix(), PhyObject::priv, and wMatrix::transformVector().

const contactMap & contacts ( )

return the contact map

Definition at line 532 of file world.cpp.

void customEvent ( QEvent * e ) [protected]

Custom Events.

Definition at line 323 of file world.cpp.

References World::advance(), World::pause(), World::play(), and World::stop().

void disableCollision	(	PhyObject *	obj1,
		PhyObject *	obj2
	)

Disable collision between bodies.

If you want create an object that doesn't collide with anything, set the nonCollidableMaterial to the object

Definition at line 417 of file world.cpp.

real elapsedTime ( ) const

Get the elapsed time.

Definition at line 348 of file world.cpp.

References World::time.

void enableCollision	(	PhyObject *	obj1,
		PhyObject *	obj2
	)

Enable collision.

Definition at line 422 of file world.cpp.

void finalize ( ) [slot]

Operation performed at the end of the simulation.

Definition at line 285 of file world.cpp.

References World::finished().

Referenced by World::initialize(), and World::stop().

void finished ( ) [signal]

When exit from finalize method.

Referenced by World::finalize().

WObject * getObject ( QString name )

Return the WObject with name specified, otherwise return NULL.

Definition at line 401 of file world.cpp.

References World::name(), WObject::name(), and World::objs.

real gravityForce ( ) const

Return the gravity force.

Definition at line 382 of file world.cpp.

References World::gforce.

Referenced by MaterialDB::gravityForce().

void initialize ( ) [slot]

Initialize the World, it doesn't do anything if it's already initialized.

Definition at line 240 of file world.cpp.

References World::finalize(), World::initialized(), SimpleTimer::tic(), and World::time.

Referenced by World::advance().

void initialized ( ) [signal]

When exit from initialize method.

Referenced by World::initialize().

bool isRealTime ( ) const

return true is real-time is enabled ; false otherwise

Definition at line 360 of file world.cpp.

const QLinkedList< PhyJoint * > joints ( )

Return the vector of joints present in this world.

Definition at line 409 of file world.cpp.

References World::jointsv.

const QHash< WObject *, QList< PhyJoint * > > mapObjectsToJoints ( )

Map object -> joints.

Definition at line 413 of file world.cpp.

References World::mapObjJoints.

MaterialDB& materials ( ) [inline]

return the MaterialDB object for managing World's materials

Definition at line 464 of file world.h.

Referenced by PhyiCub::PhyiCub(), and PhyMarXbot::PhyMarXbot().

QString name ( ) const

Return the name.

Definition at line 236 of file world.cpp.

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

const QLinkedList< WObject * > objects ( )

Return the vector of objects present in this world.

Definition at line 397 of file world.cpp.

References World::objs.

Referenced by RenderWObjectContainer::resourceChanged().

void pause ( ) [slot]

Pause the World.

Definition at line 301 of file world.cpp.

References World::paused().

Referenced by World::customEvent().

void paused ( ) [signal]

When the stop method is called.

Referenced by World::pause().

int play ( ) [slot]

run the World calling advance as fast as possibile (return the timerId)

Definition at line 293 of file world.cpp.

Referenced by World::customEvent().

void removedJoint ( PhyJoint * ) [signal]

emitted when an PhyJoint has been removed

void removedObject ( WObject * ) [signal]

emitted when an WObject has been removed

void resetElapsedTime ( )

Reset the time counter and restart from zero seconds.

Definition at line 352 of file world.cpp.

References World::time.

void resized ( ) [signal]

emitted when the World change its size

Referenced by World::setSize().

void setFrictionModel ( QString model )

See Physic Engine Documentation.

Definition at line 437 of file world.cpp.

void setGravityForce ( real g )

Set the gravity force.

Definition at line 378 of file world.cpp.

References World::gforce.

void setIsRealTime ( bool b )

Enable/Disable Real-time advance.

Definition at line 356 of file world.cpp.

void setMinimumFrameRate ( unsigned int frames )

Set the minimum frame rate; in other word the number of integration steps per seconds regardless the time step setted.

Definition at line 368 of file world.cpp.

void setMultiThread ( int numThreads )

Set the multi-thread functionality.

Definition at line 447 of file world.cpp.

References farsa::max().

void setSize	(	const wVector &	minPoint,
		const wVector &	maxPoint
	)

See Physic Engine Documentation.

Definition at line 454 of file world.cpp.

References World::minP, and World::resized().

void setSolverModel ( QString model )

See Physic Engine Documentation.

Definition at line 427 of file world.cpp.

void setTimeStep ( real ts )

Set the time step.

Definition at line 364 of file world.cpp.

References World::timestepv.

void size	(	wVector &	minPoint,
		wVector &	maxPoint
	)

Get the bounding box of the world.

Definition at line 463 of file world.cpp.

References World::minP.

Referenced by RenderWObjectContainer::drawSkyGroundBox(), RenderWorld::init(), and RenderWorld::resourceChanged().

bool smartCheckContacts	(	PhyObject *	obj1,
		PhyObject *	obj2,
		int	maxContacts = `4`,
		QVector< wVector > *	contacts = `NULL`
	)

Checks whether two objects collide or not.

This function uses checkContacts if at least one object is kinematic or if both objects are static, otherwise collision information are taken from contactMap

Parameters:

obj1	first object
obj2	second object
maxContacts	the maxium number of contacts to report
contacts	if not null, the vector is filled with collision contact points in the world frame of reference

Returns:: true if the two object are in contacts

Definition at line 578 of file world.cpp.

References World::checkContacts(), PhyObject::getKinematic(), and PhyObject::getStatic().

w_state status ( ) [inline]

return the actual state

Definition at line 503 of file world.h.

void stop ( ) [slot]

Stop the World.

Definition at line 309 of file world.cpp.

References World::finalize(), and World::stopped().

Referenced by World::customEvent().

void stopped ( ) [signal]

When the stopped method is called.

Referenced by World::stop().

void timerEvent ( QTimerEvent * e ) [protected]

Event for handling play/stop in order to stay syncronized with QT main thread.

Definition at line 318 of file world.cpp.

References World::advance().

real timeStep ( ) const

get the time step setted

Definition at line 374 of file world.cpp.

References World::timestepv.

Referenced by DOFStatusListener::update(), MultiMotorController::update(), PhySuspension::updateJointInfo(), and PhyHinge::updateJointInfo().

rayCastHitVector worldRayCast	(	wVector	start,
		wVector	end,
		bool	onlyClosest,
		const QSet< PhyObject * > &	ignoredObjs = `QSet<PhyObject*>()`
	)

Returns the bodyes which intersect the ray from start to end.

Parameters:

start	the starting point of the ray (in the global frame of reference)
end	the ending point of the ray (in the global frame of reference)
onlyClosest	if true only the object closest to the ray start is returned, otherwise all objects which intersect the ray are returned
ignoredObjs	the set of objects to ignore when checking collisions. They are never inserted in returned list of intersected objects. This means that if onlyClosest is true, the first colliding object that doesn't belong to this set is returned

Returns:: the list of objects intersected by the ray. If onlyClosest is true the list contains at most one object (the intersected one closest to the ray start). If no object is intersected by the ray, an empty list is returned

Definition at line 633 of file world.cpp.

Referenced by SingleIR::update().

Member Data Documentation

real gforce [protected]

Gravity Force.

Definition at line 553 of file world.h.

Referenced by World::gravityForce(), World::setGravityForce(), and World::World().

QLinkedList<PhyJoint*> jointsv [protected]

Vector of Joints inside the World.

See objs description for an explanation of why we use QLinkedList.

Definition at line 569 of file world.h.

Referenced by World::advance(), World::joints(), and World::~World().

QHash<WObject*, QList<PhyJoint*> > mapObjJoints [protected]

Map object -> joints.

Definition at line 571 of file world.h.

Referenced by World::mapObjectsToJoints().

wVector minP [protected]

Size of the Newton world.

Definition at line 555 of file world.h.

Referenced by World::setSize(), World::size(), and World::World().

QLinkedList<WObject*> objs [protected]

Vector of WObject inside the World.

Here we use QLinkedList because we need to modify the list while iterating on it. It could happend that during World destruction we destroy an object that owns other objects which follow it in the list. In this situation the destructor of the object would take care of destroying owned objects. Owned objects destructors would then call popObject() which must be able to remove the object from this list, otherwise World destructor would try to access already freed objects. If instead owned objects precede their owner they are automatically skipped

Definition at line 565 of file world.h.

Referenced by World::advance(), World::getObject(), World::objects(), and World::~World().

real time [protected]

The elapsed simulation-time from last calls of initialize()

Definition at line 549 of file world.h.

Referenced by World::advance(), World::advanceUntil(), World::elapsedTime(), World::initialize(), World::resetElapsedTime(), and World::World().

real timestepv [protected]

The time step.

Definition at line 551 of file world.h.

Referenced by World::advance(), World::setTimeStep(), World::timeStep(), and World::World().

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

worldsim/include/world.h
worldsim/src/world.cpp

WorldSim - 0.6.0

World Class Reference

Public Types

Public Slots

Signals

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation