Inheritance diagram for PhyCylinder:

Classes
struct	SegmentColor
	The structure used to define the color of a single segment of the cylinder. More...

Public Member Functions
	PhyCylinder (real radius, real height, World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity())
	Create a physics cylinder object and insert it in the world passed.

virtual	~PhyCylinder ()
	Destroy this object.

bool	graphicalRepresentationNeedsUpdate ()
	Whether the graphical representation should be updated or not.

real	height () const
	return the height

const QColor &	lowerBaseColor () const
	Returns the color of the lower base.

real	radius () const
	return the radius

const QList< SegmentColor > &	segmentsColor () const
	Returns the color of segments of the cylinder.

void	setLowerBaseColor (QColor color)
	Sets the color of the lower base.

void	setSegmentsColor (QList< SegmentColor > segmentsColor)
	Sets the color of segments of the cylinder.

void	setUpperBaseColor (QColor color)
	Sets the color of the upper base.

const QColor &	upperBaseColor () const
	Returns the color of the upper base.

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

PhyCylinder class.

Motivation: Represent a physical cylinder object.

Description: The cylinder is described by the radius and the height. The local frame of reference has the x axis along the line connecting the center of the two bases and the center of the frame is in the middle of that line. For this object you can either specify a single color (using methods inherited from WObject) or you can use functions provided here to separately specify the colors of the two bases and of sectors of the cylinder (see function description for more information). If you use functions specific to this class, the color of the object retuned by WObject::color() will be invalid. To set a single color for the whole cylinder, simply use WObject::setColor with a valid color. More precisely, as soon as you use one of the functions defined here to set colors (setUpperBaseColor, setLowerBaseColor or setSegmentsColor) those colors are used to draw the cylinder and the WObject::color property is set to an invalid color (the color of other parts of the cylinder are set to WObject::color before making it invalid); if you explicitly use WObject::setColor, the cylinder is drawn with a single color. Textures are ignored when using color functions defined here

Warnings: Warnings

Definition at line 52 of file phycylinder.h.

Constructor & Destructor Documentation

PhyCylinder	(	real	radius,
		real	height,
		World *	world,
		QString	name = `"unamed"`,
		const wMatrix &	tm = `wMatrix::identity()`
	)

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

Parameters

radius	radius of cylinder
height	the height of cylinder (cylinder 'grows up' along its local X axis)
world	The World which object will be inserted
tm	rotation and position at the moment of creation

Definition at line 27 of file phycylinder.cpp.

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

~PhyCylinder ( )

virtual

Destroy this object.

Definition at line 42 of file phycylinder.cpp.

Member Function Documentation

void createPrivateObject ( )

protected

Engine encapsulation.

Definition at line 98 of file phycylinder.cpp.

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

Referenced by PhyCylinder::PhyCylinder().

bool graphicalRepresentationNeedsUpdate ( )

Whether the graphical representation should be updated or not.

This function is called by RenderPhyCylinder to check if a new representation of the cylinder should be generated since the last time this function was called. This function only considers changes to properties like dimensions and color, not position or orientation.

Returns: true if the phycylinder representation should be updated

Definition at line 88 of file phycylinder.cpp.

References WObject::colorv.

real height ( ) const

inline

return the height

Definition at line 123 of file phycylinder.h.

const QColor& lowerBaseColor ( ) const

inline

Returns the color of the lower base.

Returns: the color of the lower base

Definition at line 160 of file phycylinder.h.

real radius ( ) const

inline

return the radius

Definition at line 119 of file phycylinder.h.

Referenced by PhyiCub::PhyiCub().

const QList<SegmentColor>& segmentsColor ( ) const

inline

Returns the color of segments of the cylinder.

Note: The list is guaranteed to be sorted in by ascending angles

Returns: the color of segments of the cylinder

Definition at line 184 of file phycylinder.h.

Referenced by PhyCylinder::setSegmentsColor().

void setLowerBaseColor ( QColor color )

Sets the color of the lower base.

Parameters

color the new color of the upper base. If this is invalid, the base is drawn with slices corresponding to those defined by setSegmentsColor

Definition at line 61 of file phycylinder.cpp.

References WObject::color(), and WObject::colorv.

void setSegmentsColor ( QList< SegmentColor > segmentsColor )

Sets the color of segments of the cylinder.

This function takes a list of SegmentColor objects. The i-th segment starts at segmentColors[i].startingAngle and ends at segmentColors[i+1].startingAngle. The last segment ends where the first starts. If there is only one segment its color is used for the whole cylinder.

Note: The list is sorted by ascending angles

Parameters

segmentColors the list of colors of segments

Definition at line 74 of file phycylinder.cpp.

References WObject::colorv, and PhyCylinder::segmentsColor().

void setUpperBaseColor ( QColor color )

Sets the color of the upper base.

Parameters

color the new color of the upper base. If this is invalid, the base is drawn with slices corresponding to those defined by setSegmentsColor

Definition at line 48 of file phycylinder.cpp.

References WObject::color(), and WObject::colorv.

const QColor& upperBaseColor ( ) const

inline

Returns the color of the upper base.

Returns: the color of the upper base

Definition at line 141 of file phycylinder.h.

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

worldsim/include/phycylinder.h
worldsim/src/phycylinder.cpp

WorldSim - 1.2.3

Classes

Public Member Functions

set the velocity to zero

set the angural velocity to zero

set any residual forces and torques to zero

remove any pending collision

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation