#include <VerticalPlane.h>

Inheritance diagram for mvsim::VerticalPlane:

[legend]

Public Member Functions
virtual void	loadConfigFrom (const rapidxml::xml_node< char > *root) override

void	simul_post_timestep (const TSimulContext &context) override

void	simul_pre_timestep (const TSimulContext &context) override

	VerticalPlane (World parent, const rapidxml::xml_node< char > root)

virtual	~VerticalPlane ()

Public Member Functions inherited from mvsim::WorldElementBase
	WorldElementBase (World *parent)

virtual	~WorldElementBase ()

Public Member Functions inherited from mvsim::VisualObject
const std::optional< Shape2p5 > &	collisionShape () const

bool	customVisualVisible () const

void	customVisualVisible (const bool visible)

virtual void	guiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical)

World *	parent ()

const World *	parent () const

void	showCollisionShape (bool show)

	VisualObject (World *parent, bool insertCustomVizIntoViz=true, bool insertCustomVizIntoPhysical=true)

virtual	~VisualObject ()

Public Member Functions inherited from mvsim::Simulable
virtual void	apply_force (const mrpt::math::TVector2D &force, const mrpt::math::TPoint2D &applyPoint=mrpt::math::TPoint2D(0, 0))

b2Body *	b2d_body ()

const b2Body *	b2d_body () const

virtual void	freeOpenGLResources ()

mrpt::poses::CPose2D	getCPose2D () const
	Alternative to getPose() More...

mrpt::poses::CPose3D	getCPose3D () const
	Alternative to getPose() More...

virtual std::optional< float >	getElevationAt ([[maybe_unused]] const mrpt::math::TPoint2D &worldXY) const

mrpt::math::TVector3D	getLinearAcceleration () const

const std::string &	getName () const

mrpt::math::TPose3D	getPose () const

mrpt::math::TPose3D	getPoseNoLock () const
	No thread-safe version. Used internally only. More...

virtual mrpt::math::TPose3D	getRelativePose () const

World *	getSimulableWorldObject ()

const World *	getSimulableWorldObject () const

mrpt::math::TTwist2D	getTwist () const

mrpt::math::TTwist2D	getVelocityLocal () const

bool	hadCollision () const

bool	isInCollision () const

virtual VisualObject *	meAsVisualObject ()

virtual void	registerOnServer (mvsim::Client &c)

void	resetCollisionFlag ()

void	setName (const std::string &s)

void	setPose (const mrpt::math::TPose3D &p, bool notifyChange=true) const

virtual void	setRelativePose (const mrpt::math::TPose3D &p)

void	setTwist (const mrpt::math::TTwist2D &dq) const

	Simulable (World *parent)

Protected Member Functions
virtual void	internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, bool childrenOnly) override

Protected Member Functions inherited from mvsim::VisualObject
void	addCustomVisualization (const mrpt::opengl::CRenderizable::Ptr &glModel, const mrpt::poses::CPose3D &modelPose={}, const float modelScale=1.0f, const std::string &modelName="group", const std::optional< std::string > &modelURI=std::nullopt, const bool initialShowBoundingBox=false)

bool	parseVisual (const JointXMLnode<> &rootNode)

bool	parseVisual (const rapidxml::xml_node< char > &rootNode)
	Returns true if there is at least one `<visual>...</visual>` entry. More...

void	setCollisionShape (const Shape2p5 &cs)

Protected Attributes
b2Body *	b2dBody_ = nullptr

mrpt::img::TColor	color_ = {0xa0, 0xa0, 0xa0, 0xff}

std::string	cull_faces_ = "NONE"

bool	enableShadows_ = true

b2Fixture *	fixture_block_ = nullptr

mrpt::opengl::CTexturedPlane::Ptr	gl_plane_

mrpt::opengl::CSetOfTexturedTriangles::Ptr	gl_plane_text_

mrpt::opengl::CSetOfObjects::Ptr	glGroup_

float	height_ = 3.0f

double	restitution_ = 0.01
	Default: 0.01. More...

std::string	textureFileName_

double	textureSizeX_ = 1.0

double	textureSizeY_ = 1.0

float	x0_ = -10

float	x1_ = -10

float	y0_ = -10

float	y1_ = 10

float	z_ = .0f

Protected Attributes inherited from mvsim::VisualObject
std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCollision_

std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCustomVisual_

int32_t	glCustomVisualId_ = -1

const bool	insertCustomVizIntoPhysical_ = true

const bool	insertCustomVizIntoViz_ = true

World *	world_

Protected Attributes inherited from mvsim::Simulable
std::string	name_

Additional Inherited Members
Public Types inherited from mvsim::WorldElementBase
using	Ptr = std::shared_ptr< WorldElementBase >

Public Types inherited from mvsim::Simulable
using	Ptr = std::shared_ptr< Simulable >

Static Public Member Functions inherited from mvsim::WorldElementBase
static Ptr	factory (World parent, const rapidxml::xml_node< char > xml_node, const char *class_name=nullptr)

Static Public Member Functions inherited from mvsim::VisualObject
static void	FreeOpenGLResources ()

Static Public Attributes inherited from mvsim::VisualObject
static double	GeometryEpsilon = 1e-3

Detailed Description

A vertical plane, visible from one or both sides (see "cull_faces"), conveniently defined by starting and end points (x0,y0)-(x1,y1).

Definition at line 24 of file VerticalPlane.h.

Constructor & Destructor Documentation

◆ VerticalPlane()

VerticalPlane::VerticalPlane	(	World *	parent,
		const rapidxml::xml_node< char > *	root
	)

Definition at line 25 of file VerticalPlane.cpp.

◆ ~VerticalPlane()

VerticalPlane::~VerticalPlane ( )

virtual

Definition at line 33 of file VerticalPlane.cpp.

Member Function Documentation

◆ internalGuiUpdate()

void VerticalPlane::internalGuiUpdate	(	const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	viz,
		const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	physical,
		bool	childrenOnly
	)

overrideprotectedvirtual

Implements mvsim::VisualObject.

Definition at line 118 of file VerticalPlane.cpp.

◆ loadConfigFrom()

void VerticalPlane::loadConfigFrom ( const rapidxml::xml_node< char > * root )

overridevirtual

Implements mvsim::WorldElementBase.

Definition at line 35 of file VerticalPlane.cpp.

◆ simul_post_timestep()

void VerticalPlane::simul_post_timestep ( const TSimulContext & context )

overridevirtual

Override to do any required process right after the integration of dynamic equations for each timestep. IMPORTANT: Reimplementations MUST also call this base method, since it is in charge of important tasks (e.g. update q_, dq_)

Reimplemented from mvsim::Simulable.

Definition at line 251 of file VerticalPlane.cpp.

◆ simul_pre_timestep()

void VerticalPlane::simul_pre_timestep ( const TSimulContext & context )

overridevirtual

Process right before the integration of dynamic equations for each timestep: set action forces from motors, update friction models, etc.

Reimplemented from mvsim::Simulable.

Definition at line 246 of file VerticalPlane.cpp.

Member Data Documentation

◆ b2dBody_

b2Body* mvsim::VerticalPlane::b2dBody_ = nullptr

protected

Definition at line 57 of file VerticalPlane.h.

◆ color_

mrpt::img::TColor mvsim::VerticalPlane::color_ = {0xa0, 0xa0, 0xa0, 0xff}

protected

Definition at line 42 of file VerticalPlane.h.

◆ cull_faces_

std::string mvsim::VerticalPlane::cull_faces_ = "NONE"

protected

Definition at line 51 of file VerticalPlane.h.

◆ enableShadows_

bool mvsim::VerticalPlane::enableShadows_ = true

protected

Definition at line 43 of file VerticalPlane.h.

◆ fixture_block_

b2Fixture* mvsim::VerticalPlane::fixture_block_ = nullptr

protected

Definition at line 59 of file VerticalPlane.h.

◆ gl_plane_

mrpt::opengl::CTexturedPlane::Ptr mvsim::VerticalPlane::gl_plane_

protected

Definition at line 53 of file VerticalPlane.h.

◆ gl_plane_text_

mrpt::opengl::CSetOfTexturedTriangles::Ptr mvsim::VerticalPlane::gl_plane_text_

protected

Definition at line 54 of file VerticalPlane.h.

◆ glGroup_

mrpt::opengl::CSetOfObjects::Ptr mvsim::VerticalPlane::glGroup_

protected

Definition at line 55 of file VerticalPlane.h.

◆ height_

float mvsim::VerticalPlane::height_ = 3.0f

protected

Definition at line 50 of file VerticalPlane.h.

◆ restitution_

double mvsim::VerticalPlane::restitution_ = 0.01

protected

Default: 0.01.

Definition at line 58 of file VerticalPlane.h.

◆ textureFileName_

std::string mvsim::VerticalPlane::textureFileName_

protected

If defined, it overrides the plain color in color_

Definition at line 46 of file VerticalPlane.h.

◆ textureSizeX_

double mvsim::VerticalPlane::textureSizeX_ = 1.0

protected

Definition at line 47 of file VerticalPlane.h.

◆ textureSizeY_

double mvsim::VerticalPlane::textureSizeY_ = 1.0

protected

Definition at line 48 of file VerticalPlane.h.

◆ x0_

float mvsim::VerticalPlane::x0_ = -10

protected

Definition at line 41 of file VerticalPlane.h.

◆ x1_

float mvsim::VerticalPlane::x1_ = -10

protected

Definition at line 41 of file VerticalPlane.h.

◆ y0_

float mvsim::VerticalPlane::y0_ = -10

protected

Definition at line 41 of file VerticalPlane.h.

◆ y1_

float mvsim::VerticalPlane::y1_ = 10

protected

Definition at line 41 of file VerticalPlane.h.

◆ z_

float mvsim::VerticalPlane::z_ = .0f

protected

Definition at line 50 of file VerticalPlane.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VerticalPlane()

◆ ~VerticalPlane()

Member Function Documentation

◆ internalGuiUpdate()

◆ loadConfigFrom()

◆ simul_post_timestep()

◆ simul_pre_timestep()

Member Data Documentation

◆ b2dBody_

◆ color_

◆ cull_faces_

◆ enableShadows_

◆ fixture_block_

◆ gl_plane_

◆ gl_plane_text_

◆ glGroup_

◆ height_

◆ restitution_

◆ textureFileName_

◆ textureSizeX_

◆ textureSizeY_

◆ x0_

◆ x1_

◆ y0_

◆ y1_

◆ z_