MaterialDB Class Reference

the MaterialDB class managea the material properties More...

Public Member Functions
bool	createMaterial (QString name)
	Create a new material It return false if already exists a material with name passed.
void	enableCollision (QString mat1, QString mat2, bool enable=true)
	Enable/Disable the collision between materials passed.
real	gravityForce (QString mat)
	Return the corresponding gravity force setted If no setted, that World::gravityForce will be returned.
void	setElasticity (QString mat1, QString mat2, real)
	configure the default Elasticity between materials specified the order doesn't matter
void	setFrictions (QString mat1, QString mat2, real st, real kn)
	configure the default Friction between materials specified
void	setGravityForce (QString mat, real force)
	configure the force gravity that will be applied to object of material specified
void	setProperties (QString mat1, QString mat2, real fs, real fk, real el, real sf, bool en=true)
	set Frictions, Elasticity, Softness and Enabled/Disable collision between materials
void	setSoftness (QString mat1, QString mat2, real)
	configure the default Softness between materials specified the order doesn't matter
World *	world ()
	return the world associate with these materials

Friends
class	World

Detailed Description

the MaterialDB class managea the material properties

It's not possibile to instantiate it, but it's automatically create when a World is created. For accessing it, use the World::materials() method.
there are some predefined materials:

Default: with default properties of physic engine used

nonCollidable: a material that doesn't collide with anything

Definition at line 62 of file world.h.

Member Function Documentation

bool createMaterial

(

QString

name

)

Create a new material It return false if already exists a material with name passed.

Definition at line 50 of file world.cpp.

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

void enableCollision	(	QString	mat1,
		QString	mat2,
		bool	enable = true
	)

Enable/Disable the collision between materials passed.

the order doesn't matter

Definition at line 129 of file world.cpp.

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

real gravityForce

(

QString

mat

)

Return the corresponding gravity force setted If no setted, that World::gravityForce will be returned.

Definition at line 120 of file world.cpp.

References World::gravityForce().

void setElasticity	(	QString	mat1,
		QString	mat2,
		real	el
	)

configure the default Elasticity between materials specified the order doesn't matter

Definition at line 90 of file world.cpp.

Referenced by PhyMarXbot::PhyMarXbot(), and MaterialDB::setProperties().

void setFrictions	(	QString	mat1,
		QString	mat2,
		real	st,
		real	kn
	)

configure the default Friction between materials specified

Parameters

st	Static Friction coefficient
kn	Kinetic Friction coefficient the order doesn't matter

Definition at line 76 of file world.cpp.

Referenced by MaterialDB::setProperties().

void setGravityForce	(	QString	mat,
		real	force
	)

configure the force gravity that will be applied to object of material specified

Parameters

force

the gravity force in m/s^2

Definition at line 116 of file world.cpp.

Referenced by PhyiCub::PhyiCub().

void setProperties	(	QString	mat1,
		QString	mat2,
		real	fs,
		real	fk,
		real	el,
		real	sf,
		bool	en = true
	)

set Frictions, Elasticity, Softness and Enabled/Disable collision between materials

Parameters

fs	Static Friction coefficient
fk	Kinetic Friction coefficient
el	Elastiticy coefficient
sf	Softness coefficient
en	Enable/Disable collisions

Definition at line 141 of file world.cpp.

References MaterialDB::enableCollision(), MaterialDB::setElasticity(), MaterialDB::setFrictions(), and MaterialDB::setSoftness().

Referenced by PhyEpuck::PhyEpuck(), and PhyKhepera::PhyKhepera().

void setSoftness	(	QString	mat1,
		QString	mat2,
		real	sf
	)

configure the default Softness between materials specified the order doesn't matter

Definition at line 103 of file world.cpp.

Referenced by PhyMarXbot::PhyMarXbot(), and MaterialDB::setProperties().

World* world ( )

inline

return the world associate with these materials

Definition at line 65 of file world.h.

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

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