World class More...
#include <stage.hh>
Classes | |
| class | Event |
Public Member Functions | |
| virtual void | AddModel (Model *mod) |
| void | AddModelName (Model *mod, const std::string &name) |
| void | AddPowerPack (PowerPack *pp) |
| SuperRegion * | AddSuperRegion (const stg_point_int_t &coord) |
| void | AddUpdateCallback (stg_world_callback_t cb, void *user) |
| void | CancelQuit () |
| void | CancelQuitAll () |
| void | ClearRays () |
| virtual std::string | ClockString (void) const |
| void | ConsumeQueue (unsigned int queue_num) |
| Model * | CreateModel (Model *parent, const std::string &typestr) |
| SuperRegion * | CreateSuperRegion (stg_point_int_t origin) |
| void | DestroySuperRegion (SuperRegion *sr) |
| void | Enqueue (unsigned int queue_num, stg_usec_t delay, Model *mod) |
| void | ExpireSuperRegion (SuperRegion *sr) |
| void | Extend (stg_point3_t pt) |
| void | ForEachCellInLine (const stg_point_int_t &pt1, const stg_point_int_t &pt2, CellPtrVec &cells) |
| unsigned int | GetEventQueue (Model *mod) |
| const stg_bounds3d_t & | GetExtent () |
| Model * | GetGround () |
| Model * | GetModel (const std::string &name) const |
| SuperRegion * | GetSuperRegion (const stg_point_int_t &coord) |
| SuperRegion * | GetSuperRegionCached (int32_t x, int32_t y) |
| SuperRegion * | GetSuperRegionCached (const stg_point_int_t &coord) |
| uint64_t | GetUpdateCount () |
| Worldfile * | GetWorldFile () |
| virtual bool | IsGUI () const |
| virtual void | Load (const char *worldfile_path) |
| void | LoadBlock (Worldfile *wf, int entity) |
| void | LoadBlockGroup (Worldfile *wf, int entity) |
| void | LoadModel (Worldfile *wf, int entity) |
| void | Log (Model *mod) |
| stg_point_int_t | MetersToPixels (const stg_point_t &pt) |
| int32_t | MetersToPixels (stg_meters_t x) |
| void | NeedRedraw () |
| bool | PastQuitTime () |
| bool | Paused () |
| virtual void | PopColor () |
| virtual void | PushColor (double r, double g, double b, double a) |
| virtual void | PushColor (Color col) |
| void | Quit () |
| void | QuitAll () |
| void | Raytrace (const Pose &pose, const stg_meters_t range, const stg_radians_t fov, const stg_ray_test_func_t func, const Model *finder, const void *arg, stg_raytrace_result_t *samples, const uint32_t sample_count, const bool ztest) |
| stg_raytrace_result_t | Raytrace (const Pose &pose, const stg_meters_t range, const stg_ray_test_func_t func, const Model *finder, const void *arg, const bool ztest) |
| stg_raytrace_result_t | Raytrace (const Ray &ray) |
| virtual Model * | RecentlySelectedModel () |
| void | RecordRay (double x1, double y1, double x2, double y2) |
| void | RegisterOption (Option *opt) |
| Register an Option for pickup by the GUI. | |
| virtual void | Reload () |
| virtual void | RemoveModel (Model *mod) |
| void | RemovePowerPack (PowerPack *pp) |
| int | RemoveUpdateCallback (stg_world_callback_t cb, void *user) |
| double | Resolution () |
| virtual bool | Save (const char *filename) |
| void | ShowClock (bool enable) |
| Control printing time to stdout. | |
| stg_usec_t | SimTimeNow (void) |
| virtual void | Start () |
| virtual void | Stop () |
| bool | TestQuit () |
| virtual void | TogglePause () |
| void | TryCharge (PowerPack *pp, const Pose &pose) |
| virtual void | UnLoad () |
| virtual bool | Update (void) |
| World (const std::string &name="MyWorld", double ppm=DEFAULT_PPM) | |
| virtual | ~World () |
Static Public Member Functions | |
| static void * | update_thread_entry (std::pair< World *, int > *info) |
| static bool | UpdateAll () |
Public Attributes | |
| std::set< Model * > | active_energy |
| std::set< Model * > | active_velocity |
| std::vector < std::priority_queue< Event > > | event_queues |
| Model * | ground |
| bool | paused |
| if true, the simulation is stopped | |
| PointIntVec | rt_candidate_cells |
| PointIntVec | rt_cells |
| stg_usec_t | sim_interval |
Static Public Attributes | |
| static std::vector< std::string > | args |
| static std::string | ctrlargs |
| static const int | DEFAULT_PPM = 50 |
Protected Member Functions | |
| void | CallUpdateCallbacks () |
| Call all calbacks in cb_list, removing any that return true;. | |
Protected Attributes | |
| std::list< std::pair < stg_world_callback_t, void * > > | cb_list |
| List of callback functions and arguments. | |
| stg_bounds3d_t | extent |
| Describes the 3D volume of the world. | |
| bool | graphics |
| true iff we have a GUI | |
| std::set< Option * > | option_table |
| GUI options (toggles) registered by models. | |
| std::list< PowerPack * > | powerpack_list |
| List of all the powerpacks attached to models in the world. | |
| stg_usec_t | quit_time |
| std::list< float * > | ray_list |
| List of rays traced for debug visualization. | |
| stg_usec_t | sim_time |
| the current sim time in this world in microseconds | |
| SuperRegion * | sr_cached |
| The last superregion looked up by this world. | |
| std::map< stg_point_int_t, SuperRegion * > | superregions |
| std::vector< ModelPtrVec > | update_lists |
| uint64_t | updates |
| the number of simulated time steps executed so far | |
| Worldfile * | wf |
| If set, points to the worldfile used to create this world. | |
Private Member Functions | |
| void | FiducialErase (Model *mod) |
| void | FiducialInsert (Model *mod) |
Static Private Member Functions | |
| static void | UpdateCb (World *world) |
Private Attributes | |
| bool | destroy |
| bool | dirty |
| iff true, a gui redraw would be required | |
| std::set< Model * > | models |
| std::map< std::string, Model * > | models_by_name |
| std::map< int, Model * > | models_by_wfentity |
| ModelPtrVec | models_with_fiducials |
| double | ppm |
| the resolution of the world model in pixels per meter | |
| bool | quit |
| quit this world ASAP | |
| bool | show_clock |
| iff true, print the sim time on stdout | |
| unsigned int | show_clock_interval |
| updates between clock outputs | |
| pthread_mutex_t | thread_mutex |
| protect the worker thread management stuff | |
| pthread_cond_t | threads_done_cond |
| signalled by last worker thread to unblock main thread | |
| pthread_cond_t | threads_start_cond |
| signalled to unblock worker threads | |
| unsigned int | threads_working |
| the number of worker threads not yet finished | |
| int | total_subs |
| the total number of subscriptions to all models | |
| unsigned int | worker_threads |
| the number of worker threads to use | |
Static Private Attributes | |
| static unsigned int | next_id |
| initially zero, used to allocate unique sequential world ids | |
| static bool | quit_all |
| quit all worlds ASAP | |
| static std::set< World * > | world_set |
| all the worlds that exist | |
Friends | |
| class | Block |
| class | Canvas |
| class | Model |
| class | ModelFiducial |
World class
Definition at line 755 of file stage.hh.
| Stg::World::World | ( | const std::string & | name = "MyWorld", |
|
| double | ppm = DEFAULT_PPM | |||
| ) |
| virtual Stg::World::~World | ( | ) | [virtual] |
| virtual void Stg::World::AddModel | ( | Model * | mod | ) | [virtual] |
Reimplemented in Stg::WorldGui.
| void Stg::World::AddModelName | ( | Model * | mod, | |
| const std::string & | name | |||
| ) |
| void Stg::World::AddPowerPack | ( | PowerPack * | pp | ) |
| SuperRegion* Stg::World::AddSuperRegion | ( | const stg_point_int_t & | coord | ) |
| void Stg::World::AddUpdateCallback | ( | stg_world_callback_t | cb, | |
| void * | user | |||
| ) |
Attach a callback function, to be called with the argument at the end of a complete update step
| void Stg::World::CallUpdateCallbacks | ( | ) | [protected] |
Call all calbacks in cb_list, removing any that return true;.
| void Stg::World::ClearRays | ( | ) |
| virtual std::string Stg::World::ClockString | ( | void | ) | const [virtual] |
Get human readable string that describes the current simulation time.
Reimplemented in Stg::WorldGui.
| void Stg::World::ConsumeQueue | ( | unsigned int | queue_num | ) |
consume events from the queue up to and including the current sim_time
| SuperRegion* Stg::World::CreateSuperRegion | ( | stg_point_int_t | origin | ) |
| void Stg::World::DestroySuperRegion | ( | SuperRegion * | sr | ) |
| void Stg::World::Enqueue | ( | unsigned int | queue_num, | |
| stg_usec_t | delay, | |||
| Model * | mod | |||
| ) |
| void Stg::World::ExpireSuperRegion | ( | SuperRegion * | sr | ) |
| void Stg::World::Extend | ( | stg_point3_t | pt | ) |
Enlarge the bounding volume to include this point
| void Stg::World::FiducialErase | ( | Model * | mod | ) | [inline, private] |
| void Stg::World::FiducialInsert | ( | Model * | mod | ) | [inline, private] |
| void Stg::World::ForEachCellInLine | ( | const stg_point_int_t & | pt1, | |
| const stg_point_int_t & | pt2, | |||
| CellPtrVec & | cells | |||
| ) |
add a Cell pointer to the vector for each cell on the line from pt1 to pt2 inclusive
| unsigned int Stg::World::GetEventQueue | ( | Model * | mod | ) |
returns an event queue index number for a model to use for updates
| const stg_bounds3d_t& Stg::World::GetExtent | ( | ) | [inline] |
| Model* Stg::World::GetGround | ( | ) | [inline] |
| Model* Stg::World::GetModel | ( | const std::string & | name | ) | const |
Returns a pointer to the model identified by name, or NULL if nonexistent
| SuperRegion* Stg::World::GetSuperRegion | ( | const stg_point_int_t & | coord | ) |
| SuperRegion* Stg::World::GetSuperRegionCached | ( | int32_t | x, | |
| int32_t | y | |||
| ) |
| SuperRegion* Stg::World::GetSuperRegionCached | ( | const stg_point_int_t & | coord | ) |
| uint64_t Stg::World::GetUpdateCount | ( | ) | [inline] |
| virtual bool Stg::World::IsGUI | ( | ) | const [inline, virtual] |
Reimplemented in Stg::WorldGui.
| virtual void Stg::World::Load | ( | const char * | worldfile_path | ) | [virtual] |
Reimplemented in Stg::WorldGui.
| void Stg::World::LoadBlock | ( | Worldfile * | wf, | |
| int | entity | |||
| ) |
| void Stg::World::LoadBlockGroup | ( | Worldfile * | wf, | |
| int | entity | |||
| ) |
| void Stg::World::LoadModel | ( | Worldfile * | wf, | |
| int | entity | |||
| ) |
| stg_point_int_t Stg::World::MetersToPixels | ( | const stg_point_t & | pt | ) | [inline] |
| int32_t Stg::World::MetersToPixels | ( | stg_meters_t | x | ) | [inline] |
| void Stg::World::NeedRedraw | ( | ) | [inline] |
| bool Stg::World::PastQuitTime | ( | ) |
Returns true iff the current time is greater than the time we should quit
| virtual void Stg::World::PopColor | ( | ) | [inline, virtual] |
Reimplemented in Stg::WorldGui.
| virtual void Stg::World::PushColor | ( | double | r, | |
| double | g, | |||
| double | b, | |||
| double | a | |||
| ) | [inline, virtual] |
Reimplemented in Stg::WorldGui.
| virtual void Stg::World::PushColor | ( | Color | col | ) | [inline, virtual] |
Reimplemented in Stg::WorldGui.
| void Stg::World::Raytrace | ( | const Pose & | pose, | |
| const stg_meters_t | range, | |||
| const stg_radians_t | fov, | |||
| const stg_ray_test_func_t | func, | |||
| const Model * | finder, | |||
| const void * | arg, | |||
| stg_raytrace_result_t * | samples, | |||
| const uint32_t | sample_count, | |||
| const bool | ztest | |||
| ) |
| stg_raytrace_result_t Stg::World::Raytrace | ( | const Pose & | pose, | |
| const stg_meters_t | range, | |||
| const stg_ray_test_func_t | func, | |||
| const Model * | finder, | |||
| const void * | arg, | |||
| const bool | ztest | |||
| ) |
| stg_raytrace_result_t Stg::World::Raytrace | ( | const Ray & | ray | ) |
trace a ray.
| virtual Model* Stg::World::RecentlySelectedModel | ( | ) | [inline, virtual] |
| void Stg::World::RecordRay | ( | double | x1, | |
| double | y1, | |||
| double | x2, | |||
| double | y2 | |||
| ) |
store rays traced for debugging purposes
| void Stg::World::RegisterOption | ( | Option * | opt | ) |
Register an Option for pickup by the GUI.
| virtual void Stg::World::Reload | ( | ) | [virtual] |
| virtual void Stg::World::RemoveModel | ( | Model * | mod | ) | [virtual] |
| void Stg::World::RemovePowerPack | ( | PowerPack * | pp | ) |
| int Stg::World::RemoveUpdateCallback | ( | stg_world_callback_t | cb, | |
| void * | user | |||
| ) |
Remove a callback function. Any argument data passed to AddUpdateCallback is not automatically freed.
| double Stg::World::Resolution | ( | ) | [inline] |
| virtual bool Stg::World::Save | ( | const char * | filename | ) | [virtual] |
Reimplemented in Stg::WorldGui.
| void Stg::World::ShowClock | ( | bool | enable | ) | [inline] |
| stg_usec_t Stg::World::SimTimeNow | ( | void | ) |
| virtual void Stg::World::Start | ( | ) | [inline, virtual] |
Reimplemented in Stg::WorldGui.
| virtual void Stg::World::Stop | ( | ) | [inline, virtual] |
Reimplemented in Stg::WorldGui.
| virtual void Stg::World::UnLoad | ( | ) | [virtual] |
Reimplemented in Stg::WorldGui.
| virtual bool Stg::World::Update | ( | void | ) | [virtual] |
Reimplemented in Stg::WorldGui.
| static void* Stg::World::update_thread_entry | ( | std::pair< World *, int > * | info | ) | [static] |
| static bool Stg::World::UpdateAll | ( | ) | [static] |
returns true when time to quit, false otherwise
| static void Stg::World::UpdateCb | ( | World * | world | ) | [static, private] |
friend class Canvas [friend] |
Reimplemented from Stg::Ancestor.
Reimplemented in Stg::WorldGui.
friend class Model [friend] |
Reimplemented in Stg::WorldGui.
friend class ModelFiducial [friend] |
| std::set<Model*> Stg::World::active_energy |
| std::set<Model*> Stg::World::active_velocity |
std::vector<std::string> Stg::World::args [static] |
contains the command line arguments passed to Stg::Init(), so that controllers can read them.
std::list<std::pair<stg_world_callback_t,void*> > Stg::World::cb_list [protected] |
std::string Stg::World::ctrlargs [static] |
const int Stg::World::DEFAULT_PPM = 50 [static] |
bool Stg::World::destroy [private] |
bool Stg::World::dirty [private] |
| std::vector<std::priority_queue<Event> > Stg::World::event_queues |
stg_bounds3d_t Stg::World::extent [protected] |
bool Stg::World::graphics [protected] |
std::set<Model*> Stg::World::models [private] |
std::map<std::string, Model*> Stg::World::models_by_name [private] |
std::map<int,Model*> Stg::World::models_by_wfentity [private] |
ModelPtrVec Stg::World::models_with_fiducials [private] |
unsigned int Stg::World::next_id [static, private] |
std::set<Option*> Stg::World::option_table [protected] |
| bool Stg::World::paused |
std::list<PowerPack*> Stg::World::powerpack_list [protected] |
double Stg::World::ppm [private] |
bool Stg::World::quit [private] |
bool Stg::World::quit_all [static, private] |
stg_usec_t Stg::World::quit_time [protected] |
World::quit is set true when this simulation time is reached
std::list<float*> Stg::World::ray_list [protected] |
bool Stg::World::show_clock [private] |
unsigned int Stg::World::show_clock_interval [private] |
stg_usec_t Stg::World::sim_time [protected] |
SuperRegion* Stg::World::sr_cached [protected] |
std::map<stg_point_int_t,SuperRegion*> Stg::World::superregions [protected] |
pthread_mutex_t Stg::World::thread_mutex [private] |
pthread_cond_t Stg::World::threads_done_cond [private] |
pthread_cond_t Stg::World::threads_start_cond [private] |
unsigned int Stg::World::threads_working [private] |
int Stg::World::total_subs [private] |
std::vector<ModelPtrVec> Stg::World::update_lists [protected] |
uint64_t Stg::World::updates [protected] |
Worldfile* Stg::World::wf [protected] |
unsigned int Stg::World::worker_threads [private] |
std::set<World*> Stg::World::world_set [static, private] |
