PhyBox Class Reference

PhyBox class. More...

Inheritance diagram for PhyBox:

Public Member Functions
	PhyBox (real side_x, real side_y, real side_z, World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity())
	Create a physics Box object and insert it in the world passed.
virtual	~PhyBox ()
	Destroy this object.
real	sideX () const
	return the side X
real	sideY () const
	return the side Y
real	sideZ () const
	return the side Z
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.
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 ()
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
virtual	~WObject ()
	destroy the Object and drop it from the world
QColor	color () const
	return the color of this object
bool	isInvisible ()
	return if it is invisible
const wMatrix &	matrix () const
	return a reference to the transformation matrix
QString	name () const
	Return the name of this object.
virtual void	postUpdate ()
	postUpdate the WObject this method is called at each step of the world just after the physic update
virtual void	preUpdate ()
	preUpdate the WObject this method is called at each step of the world just before the physic update
void	setAlpha (int alpha)
	set the value of alpha channel (the transparency)
void	setColor (QColor c)
	Set the color to use on rendering.
void	setInvisible (bool b)
	set invisibility
void	setMatrix (const wMatrix &newm)
	set a new matrix
void	setPosition (const wVector &newpos)
	set the position specified in global coordinate frame
void	setPosition (real x, real y, real z)
	set the position specified in global coordinate frame
void	setTexture (QString textureName)
	Set the texture to use for this WObject when rendered.
void	setUseColorTextureOfOwner (bool b)
	set if the object will be rendered with the color and texture of our owner (if we have one)
QString	texture () const
	Return the texture name.
bool	useColorTextureOfOwner () const
	if true, we will use color and texture of our owner (if we have one)
World *	world ()
	Return the world.
const World *	world () const
	Return the world (const version)
Public Member Functions inherited from Ownable
	Ownable ()
	Constructor.
virtual	~Ownable ()
	Destructor.
const QList< Owned > &	owned () const
	Returns the list of objects owned by this one.
Ownable *	owner () const
	Returns the owner of this object.
void	setOwner (Ownable *owner, bool destroy=true)
	Sets the owner of this object.

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

Additional Inherited Members
Public Types inherited from Ownable
typedef QList< Owned >	OwnedList
	The type for the list of owned objects.
Protected Attributes inherited from PhyObject
PhyObjectPrivate *	priv
	Engine encapsulation.
WorldPrivate *	worldpriv

Detailed Description

PhyBox class.

\

Motivation

Represent a physical Box object.

Description

Warnings

Warnings

Definition at line 37 of file phybox.h.

Constructor & Destructor Documentation

PhyBox	(	real	side_x,
		real	side_y,
		real	side_z,
		World *	world,
		QString	name = "unamed",
		const wMatrix &	tm = wMatrix::identity()
	)

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

Parameters

side_x	dimension of the side aligned with X axis
side_y	dimension of the side aligned with Y axis
side_z	dimension of the side aligned with Z axis
world	The World which object will be inserted
tm	rotation and position at the moment of creation

Definition at line 26 of file phybox.cpp.

References PhyObject::changedMatrix(), and PhyBox::createPrivateObject().

~PhyBox ( )

virtual

Destroy this object.

Definition at line 36 of file phybox.cpp.

Member Function Documentation

void createPrivateObject ( )

protected

Engine encapsulation.

Definition at line 42 of file phybox.cpp.

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

Referenced by PhyBox::PhyBox().

real sideX ( ) const

inline

return the side X

Definition at line 51 of file phybox.h.

Referenced by PhyiCub::PhyiCub().

real sideY ( ) const

inline

return the side Y

Definition at line 55 of file phybox.h.

real sideZ ( ) const

inline

return the side Z

Definition at line 59 of file phybox.h.

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

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