World Class Reference

World class. More...

Inheritance diagram for World:

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 222 of file world.h.

Member Enumeration Documentation

anonymous enum

Custom Event Types.

Definition at line 450 of file world.h.

enum w_state

define the state of the World

Definition at line 372 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 156 of file world.cpp.

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

~World ( )

virtual

Destructor.

Definition at line 203 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 242 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 377 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 549 of file world.cpp.

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

Referenced by World::smartCheckContacts().

void cleanUpMemory

(

)

Clean up memory.

Definition at line 525 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 673 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 622 of file world.cpp.

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

const contactMap & contacts

(

)

return the contact map

Definition at line 545 of file world.cpp.

void customEvent ( QEvent *  e )

protected

Custom Events.

Definition at line 314 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 408 of file world.cpp.

real elapsedTime

(

)

const

Get the elapsed time.

Definition at line 339 of file world.cpp.

References World::time.

void enableCollision	(	PhyObject *	obj1,
		PhyObject *	obj2
	)

Enable collision.

Definition at line 413 of file world.cpp.

void finalize ( )

slot

Operation performed at the end of the simulation.

Definition at line 276 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 392 of file world.cpp.

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

real gravityForce

(

)

const

Return the gravity force.

Definition at line 373 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 229 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 351 of file world.cpp.

const QLinkedList< PhyJoint * > joints

(

)

Return the vector of joints present in this world.

Definition at line 400 of file world.cpp.

References World::jointsv.

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

(

)

Map object -> joints.

Definition at line 404 of file world.cpp.

References World::mapObjJoints.

MaterialDB& materials ( )

inline

return the MaterialDB object for managing World's materials

Definition at line 335 of file world.h.

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

QString name

(

)

const

Return the name.

Definition at line 225 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 388 of file world.cpp.

References World::objs.

Referenced by RenderWObjectContainer::resourceChanged().

void pause ( )

slot

Pause the World.

Definition at line 292 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 284 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 343 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 428 of file world.cpp.

void setGravityForce

(

real

g

)

Set the gravity force.

Definition at line 369 of file world.cpp.

References World::gforce.

void setIsRealTime

(

bool

b

)

Enable/Disable Real-time advance.

Definition at line 347 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 359 of file world.cpp.

void setMultiThread

(

int

numThreads

)

Set the multi-thread functionality.

Definition at line 438 of file world.cpp.

References farsa::max().

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

See Physic Engine Documentation.

Definition at line 445 of file world.cpp.

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

void setSolverModel

(

QString

model

)

See Physic Engine Documentation.

Definition at line 418 of file world.cpp.

void setTimeStep

(

real

ts

)

Set the time step.

Definition at line 355 of file world.cpp.

References World::timestepv.

void size	(	wVector &	minPoint,
		wVector &	maxPoint
	)

Get the bounding box of the world.

Definition at line 454 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 591 of file world.cpp.

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

w_state status ( )

inline

return the actual state

Definition at line 374 of file world.h.

void stop ( )

slot

Stop the World.

Definition at line 300 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 309 of file world.cpp.

References World::advance().

real timeStep

(

)

const

get the time step setted

Definition at line 365 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 646 of file world.cpp.

Referenced by SingleIR::update().

Member Data Documentation

real gforce

protected

Gravity Force.

Definition at line 424 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 440 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 442 of file world.h.

Referenced by World::mapObjectsToJoints().

wVector minP

protected

Size of the Newton world.

Definition at line 426 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 436 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 420 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 422 of file world.h.

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

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

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