The graphical representation of the single IR sensor. More...

Inheritance diagram for SingleIRGraphic:

Public Member Functions
	SingleIRGraphic (WObject *object, const wMatrix &offset, const QVector< wVector > &startingRayPoints, const QVector< wVector > &endingRayPoints, bool drawRay, bool drawRealRay, QString name="unamed")
	Constructor.

	~SingleIRGraphic ()
	Destructor.

Public Member Functions inherited from GraphicalWObject
	GraphicalWObject (World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity())
	Constructor.

virtual	~GraphicalWObject ()
	Destructor.

WObject *	attachedObject () const
	The object to which we are attached.

void	attachToObject (WObject *object, bool makeOwner=false, const wMatrix &displacement=wMatrix::identity())
	Attaches this object to another WObject.

const wMatrix &	getDisplacement () const
	Returns the displacement matrix relative to the object to which we are attached.

void	setDisplacement (const wMatrix &displacement)
	Sets the displacement matrix relative to the object to which we are attached.

void	updateAndCalculateAABB (wVector &minPoint, wVector &maxPoint, const wMatrix tm)
	Returns the min and max points of the Axis-Aligned Bounding Box (AABB)

void	updateAndCalculateOBB (wVector &dimension, wVector &minPoint, wVector &maxPoint)
	Returns the dimension of the Oriented Bounding Box (OBB) in the object local frame.

void	updateAndRender (RenderWObject renderer, QGLContext gw)
	Performs the actual drawing.

void	updateAndRenderAABB (RenderWObject renderer, RenderWorld gw)
	The function rendering the Axis-Aligned Bounding Box (AABB)

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
virtual void	render (RenderWObject renderer, QGLContext gw)
	Performs the actual drawing.

Protected Member Functions inherited from GraphicalWObject
virtual void	calculateAABB (wVector &minPoint, wVector &maxPoint, const wMatrix tm)
	Returns the min and max points of the Axis-Aligned Bounding Box (AABB)

virtual void	calculateOBB (wVector &dimension, wVector &minPoint, wVector &maxPoint)
	Returns the dimension of the Oriented Bounding Box (OBB) in the object local frame If there is no meaningful OBB, set dimension, minPoint and maxPoint to (0, 0, 0), as the default implementation does.

virtual void	renderAABB (RenderWObject renderer, RenderWorld gw)
	The function rendering the Axis-Aligned Bounding Box (AABB)

void	updateMatrixFromAttachedObject ()
	Updates the transformation matrix from the object to which we are attached (if there is one)

Protected Member Functions inherited from WObject
virtual void	changedMatrix ()
	virtual function called when the transformation matrix change

Protected Attributes
const bool	m_drawRay
	If true a red segments giving the direction of the sensor rays are drawn.

const bool	m_drawRealRay
	Whether to draw the actual ray lengths or not.

const QVector< wVector >	m_endingRayPoints
	The vector with ending points of the rays.

WObject *const	m_object
	The object to which this graphicalc representation is attached.

const wMatrix	m_offset
	The displacement matrix relative to the object to which we are attached.

const QVector< wVector >	m_startingRayPoints
	The vector with starting points of the rays.

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

Detailed Description

The graphical representation of the single IR sensor.

Definition at line 74 of file sensorcontrollers.cpp.

Constructor & Destructor Documentation

SingleIRGraphic	(	WObject *	object,
		const wMatrix &	offset,
		const QVector< wVector > &	startingRayPoints,
		const QVector< wVector > &	endingRayPoints,
		bool	drawRay,
		bool	drawRealRay,
		QString	name = `"unamed"`
	)

inline

Constructor.

This also sets a default color for the piece and sets the object to which the sensor is attached to be our owner

Parameters

object	the object to which this graphical representation is attached
offset	the displacement matrix relative to the object to which we are attached
startingRayPoints	The vector with starting points of the rays. The points are in the frame of reference of the solid to which the sensor is attached
endingRayPoints	The vector with ending points of the rays. The points are in the frame of reference of the solid to which the sensor is attached
drawRay	if true a red segment giving the direction of the sensor is drawn. The red segment is along the local Z axis and its length is fixed
drawRealRay	If true the rays are drawn using their actual range (from the starting point to the ending point), otherwise only fixed length rays are drawn which only give the direction
name	the name of this object

Definition at line 104 of file sensorcontrollers.cpp.

References GraphicalWObject::attachToObject(), SingleIRGraphic::m_object, WObject::setColor(), WObject::setTexture(), and WObject::setUseColorTextureOfOwner().

~SingleIRGraphic ( )

inline

Destructor.

Definition at line 128 of file sensorcontrollers.cpp.

Member Function Documentation

virtual void render	(	RenderWObject *	renderer,
		QGLContext *	gw
	)

inlineprotectedvirtual

Performs the actual drawing.

Draws the fingertip

Parameters

renderer	the RenderWObject object associated with this one. Use it e.g. to access the container
gw	the OpenGL context

Implements GraphicalWObject.

Definition at line 141 of file sensorcontrollers.cpp.

References RenderWObject::container(), SingleIRGraphic::m_drawRay, SingleIRGraphic::m_drawRealRay, SingleIRGraphic::m_endingRayPoints, SingleIRGraphic::m_offset, SingleIRGraphic::m_startingRayPoints, wVectorT< Shared >::scale(), RenderWObjectContainer::setupColorTexture(), and WObject::tm.

Member Data Documentation

const bool m_drawRay

protected

If true a red segments giving the direction of the sensor rays are drawn.

Definition at line 282 of file sensorcontrollers.cpp.

Referenced by SingleIRGraphic::render().

const bool m_drawRealRay

protected

Whether to draw the actual ray lengths or not.

If true the rays are drawn using their actual range (from the starting point to the ending point), otherwise only fixed length rays are drawn which only give the direction

Definition at line 291 of file sensorcontrollers.cpp.

Referenced by SingleIRGraphic::render().

const QVector<wVector> m_endingRayPoints

protected

The vector with ending points of the rays.

The points are in the frame of reference of the solid to which the sensor is attached

Definition at line 276 of file sensorcontrollers.cpp.

Referenced by SingleIRGraphic::render().

WObject* const m_object

protected

The object to which this graphicalc representation is attached.

Definition at line 254 of file sensorcontrollers.cpp.