Inheritance diagram for WObject:

Public Member Functions
	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
virtual void	changedMatrix ()
	virtual function called when the transformation matrix change

Protected Attributes
QColor	colorv
	Color, it contains also alpha channel.

bool	invisible
	if TRUE it will not renderized

QString	namev
	Name of the WObject.

QString	texturev
	Texture name.

wMatrix	tm
	Trasformation matrix.

bool	usecolortextureofowner
	if true, we will use color and texture of our owner (if we have one).

World *	worldv
	World.

Additional Inherited Members
Public Types inherited from Ownable
typedef QList< Owned >	OwnedList
	The type for the list of owned objects.

Detailed Description

World's Object class.

represent abstract object insertable into the World

Definition at line 39 of file wobject.h.

Constructor & Destructor Documentation

WObject	(	World *	world,
		QString	name = `"unamed"`,
		const wMatrix &	tm = `wMatrix::identity()`,
		bool	addToWorld = `true`
	)

create the object and automatically put this into the world

Parameters

world	the world where object lives
name	the name of the object
tm	rotation and position in global coordinate frame
addToWorld	if true the object is added to the world, if false it is not. This parameter should be set to false when this constructor is called by the constructor of a subclass because otherwise RTTI in this moment (e.g. in RenderWorld) identifies the newly added object as a WObject instead of the actual type (as the subclasses have not been constructed yet when the object is added to the world)

Definition at line 25 of file wobject.cpp.

References WObject::colorv, WObject::invisible, WObject::name(), WObject::namev, WObject::texturev, WObject::tm, WObject::usecolortextureofowner, and WObject::worldv.

~WObject ( )

virtual

destroy the Object and drop it from the world

Definition at line 38 of file wobject.cpp.

References WObject::worldv.

Member Function Documentation

void changedMatrix ( )

protectedvirtual

virtual function called when the transformation matrix change

Reimplemented in PhyMarXbot, PhyiCub, PhyEpuck, PhyMarXbot, PhyKhepera, and PhyObject.

Definition at line 117 of file wobject.cpp.

Referenced by WObject::setMatrix(), and WObject::setPosition().

QColor color ( ) const

return the color of this object

Definition at line 84 of file wobject.cpp.

References WObject::colorv.

Referenced by CircularGraphicalMarker::render(), PlanarArrowGraphicalMarker::render(), PhyCylinder::setLowerBaseColor(), RenderWObjectContainer::setupColorTexture(), and PhyCylinder::setUpperBaseColor().

bool isInvisible ( )

return if it is invisible

Definition at line 109 of file wobject.cpp.

References WObject::invisible.

Referenced by RenderWorld::draw(), and RenderCamera::paintGL().

const wMatrix & matrix ( ) const

return a reference to the transformation matrix

Definition at line 42 of file wobject.cpp.

References WObject::tm.

Referenced by PhyObjectsGroup::addObject(), PhyBallAndSocket::centre(), PhyFixed::centre(), PhySuspension::centre(), PhyUniversal::centre(), PhyHinge::centre(), PhyKhepera::changedMatrix(), PhyMarXbot::changedMatrix(), PhyEpuck::changedMatrix(), World::checkContacts(), World::closestPoints(), World::collisionRayCast(), RenderWorld::draw(), PhyMarXbot::enableAttachmentDevice(), PhyBallAndSocket::PhyBallAndSocket(), PhyEpuck::PhyEpuck(), PhyFixed::PhyFixed(), PhyHinge::PhyHinge(), PhyiCub::PhyiCub(), PhyKhepera::PhyKhepera(), PhyMarXbot::PhyMarXbot(), PhyObjectsGroup::PhyObjectsGroup(), PhySuspension::PhySuspension(), PhyUniversal::PhyUniversal(), PhyMarXbot::postUpdate(), PhyKhepera::postUpdate(), PhyEpuck::postUpdate(), PhyMarXbot::preUpdate(), PhyKhepera::preUpdate(), PhyEpuck::preUpdate(), PhyObjectsGroup::setDOFPosition(), SingleIR::update(), PhyBallAndSocket::updateJointInfo(), PhyFixed::updateJointInfo(), PhySuspension::updateJointInfo(), PhyUniversal::updateJointInfo(), PhyHinge::updateJointInfo(), GraphicalWObject::updateMatrixFromAttachedObject(), PhyObjectsGroup::updateRelativePositions(), and WCamera::WCamera().

QString name ( ) const

Return the name of this object.

Definition at line 64 of file wobject.cpp.

References WObject::namev.

Referenced by PhyiCub::enableCameras(), PhyiCub::enableRightArmCartesianController(), World::getObject(), YarpObject::registerServerControlBoard(), YarpObject::registerServerFrameGrabber(), YarpObject::removeServerControlBoard(), WCamera::WCamera(), WObject::WObject(), and WorldController::WorldController().

void postUpdate ( )

virtual

postUpdate the WObject this method is called at each step of the world just after the physic update

Reimplemented in PhyMarXbot, PhyObjectsGroup, PhyiCub, PhyEpuck, PhyKhepera, WCamera, and PhyMarXbot.

Definition at line 100 of file wobject.cpp.

void preUpdate ( )

virtual

preUpdate the WObject this method is called at each step of the world just before the physic update

Reimplemented in PhyMarXbot, PhyObjectsGroup, PhyiCub, PhyEpuck, PhyKhepera, WCamera, and PhyMarXbot.

Definition at line 96 of file wobject.cpp.

void setAlpha ( int alpha )

set the value of alpha channel (the transparency)

Definition at line 80 of file wobject.cpp.

References WObject::colorv.

Referenced by RenderWorld::draw().

void setColor ( QColor c )

Set the color to use on rendering.

When the texture is setted, then the color is behind the texture. To display the object with only color set the texture to "none" - setTexture("none")

Definition at line 76 of file wobject.cpp.

References WObject::colorv.

Referenced by PhyEpuck::PhyEpuck(), PhyKhepera::PhyKhepera(), PhyMarXbot::PhyMarXbot(), PhyMarXbot::setDrawFrontMarker(), PhyKhepera::setDrawFrontMarker(), PhyEpuck::setDrawFrontMarker(), SingleIRGraphic::SingleIRGraphic(), and WCamera::WCamera().

void setInvisible ( bool b )

set invisibility

Invisible means that the object will be never rendered on widgets

Definition at line 113 of file wobject.cpp.

References WObject::invisible.

void setMatrix ( const wMatrix & newm )

set a new matrix

Definition at line 104 of file wobject.cpp.

References WObject::changedMatrix(), and WObject::tm.