#include <Block.h>

Inheritance diagram for mvsim::Block:

Classes
struct	GeometryParams
	Params for the <geometry> XML tag: More...

Public Types
using	Ptr = std::shared_ptr< Block >

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

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

	Block (World *parent)

const mrpt::img::TColor	block_color () const

void	block_color (const mrpt::img::TColor &c)

double	block_z_max () const

void	block_z_max (double v)

double	block_z_min () const

void	block_z_min (double v)

const mrpt::math::TPolygon2D &	blockShape () const

void	blockShape (const mrpt::math::TPolygon2D &p)

virtual void	create_multibody_system (b2World &world)

bool	default_block_z_min_max () const

size_t	getBlockIndex () const

b2Body *	getBox2DBlockBody ()

std::optional< float >	getElevationAt (const mrpt::math::TPoint2D &worldXY) const override

virtual double	getMass () const

virtual float	getMaxBlockRadius () const

double	ground_friction () const

void	ground_friction (double newValue)

bool	isStatic () const

double	mass () const

void	mass (double newValue)

VisualObject *	meAsVisualObject () override

void	setBlockIndex (size_t idx)

void	setIsStatic (bool b)

virtual void	simul_post_timestep (const TSimulContext &context) override

virtual void	simul_pre_timestep (const TSimulContext &context) override

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
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 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)

Static Public Member Functions
static Ptr	factory (World parent, const rapidxml::xml_node< char > xml_node)

static Ptr	factory (World *parent, const std::string &xml_text)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

static void	register_block_class (const World &parent, const rapidxml::xml_node< char > *xml_node)

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

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

void	updateMaxRadiusFromPoly ()

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
mrpt::img::TColor	block_color_ {0x00, 0x00, 0xff}

mrpt::math::TPoint2D	block_com_ {.0, .0}
	In local coordinates. More...

mrpt::math::TPolygon2D	block_poly_

double	block_z_max_ = std::numeric_limits<double>::quiet_NaN()

double	block_z_min_ = std::numeric_limits<double>::quiet_NaN()

size_t	blockIndex_ = 0

b2Fixture *	fixture_block_

std::vector< b2FrictionJoint * >	friction_joints_

double	groundFriction_ = 0.5
	Default: 0.5. More...

bool	intangible_ = false

bool	isStatic_ = false

double	lateral_friction_ = 0.5
	Default: 0.5. More...

double	mass_ = 30.0

double	maxRadius_

const TParameterDefinitions	params_

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

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_

Private Member Functions
void	internal_internalGuiUpdate_forces (mrpt::opengl::COpenGLScene &scene)

void	internal_parseGeometry (const rapidxml::xml_node< char > &xml_geom_node)

Private Attributes
std::vector< mrpt::math::TSegment3D >	force_segments_for_rendering_

std::mutex	force_segments_for_rendering_cs_

GeometryParams	geomParams_

mrpt::opengl::CSetOfObjects::Ptr	gl_block_

mrpt::opengl::CSetOfLines::Ptr	gl_forces_

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

Detailed Description

A non-vehicle "actor" for the simulation, typically obstacle blocks.

Definition at line 50 of file Block.h.

Member Typedef Documentation

◆ Ptr

using mvsim::Block::Ptr = std::shared_ptr<Block>

Definition at line 53 of file Block.h.

Constructor & Destructor Documentation

◆ Block()

Block::Block ( World * parent )

Definition at line 38 of file Block.cpp.

Member Function Documentation

◆ apply_force()

void Block::apply_force	(	const mrpt::math::TVector2D &	force,
		const mrpt::math::TPoint2D &	applyPoint = `mrpt::math::TPoint2D(0, 0)`
	)

overridevirtual

Override to register external forces exerted by other WorldElements. Force is (fx,fy) in global coordinates. Application point is (local_ptx,local_pty) in the body local frame

Reimplemented from mvsim::Simulable.

Definition at line 407 of file Block.cpp.

◆ block_color() [1/2]

const mrpt::img::TColor mvsim::Block::block_color ( ) const

inline

Definition at line 114 of file Block.h.

◆ block_color() [2/2]

void mvsim::Block::block_color ( const mrpt::img::TColor & c )

inline

Definition at line 115 of file Block.h.

◆ block_z_max() [1/2]

double mvsim::Block::block_z_max ( ) const

inline

Definition at line 122 of file Block.h.

◆ block_z_max() [2/2]

void mvsim::Block::block_z_max ( double v )

inline

Definition at line 128 of file Block.h.

◆ block_z_min() [1/2]

double mvsim::Block::block_z_min ( ) const

inline

Definition at line 121 of file Block.h.

◆ block_z_min() [2/2]

void mvsim::Block::block_z_min ( double v )

inline

Definition at line 123 of file Block.h.

◆ blockShape() [1/2]

const mrpt::math::TPolygon2D& mvsim::Block::blockShape ( ) const

inline

Get the 2D shape of the block, as set from the config file (only used for collision detection)

Definition at line 89 of file Block.h.

◆ blockShape() [2/2]

void mvsim::Block::blockShape ( const mrpt::math::TPolygon2D & p )

inline

Definition at line 91 of file Block.h.

◆ create_multibody_system()

void Block::create_multibody_system ( b2World & world )

virtual

Create bodies, fixtures, etc. for the dynamical simulation. May be overrided by derived classes

Create bodies, fixtures, etc. for the dynamical simulation

Definition at line 316 of file Block.cpp.

◆ default_block_z_min_max()

bool Block::default_block_z_min_max ( ) const

returns true if none of the min/max block z limits has been set explicitly yet. Used while parsing the shape_from_visual tag.

Definition at line 591 of file Block.cpp.

◆ factory() [1/2]

Block::Ptr Block::factory	(	World *	parent,
		const rapidxml::xml_node< char > *	xml_node
	)

static

Class factory: Creates a block from XML description of type "<block>...</block>".

Definition at line 64 of file Block.cpp.

◆ factory() [2/2]

Block::Ptr Block::factory	(	World *	parent,
		const std::string &	xml_text
	)

static

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 198 of file Block.cpp.

◆ getBlockIndex()

size_t mvsim::Block::getBlockIndex ( ) const

inline

Get the block index in the World

Definition at line 101 of file Block.h.

◆ getBox2DBlockBody()

b2Body* mvsim::Block::getBox2DBlockBody ( )

inline

Definition at line 81 of file Block.h.

◆ getElevationAt()

std::optional< float > mvsim::Block::getElevationAt ( const mrpt::math::TPoint2D & worldXY ) const

override

Definition at line 597 of file Block.cpp.

◆ getMass()

virtual double mvsim::Block::getMass ( ) const

inlinevirtual

Get the block mass

Definition at line 80 of file Block.h.

◆ getMaxBlockRadius()

virtual float mvsim::Block::getMaxBlockRadius ( ) const

inlinevirtual

Get (an approximation of) the max radius of the block, from its point of reference (in meters)

Definition at line 78 of file Block.h.

◆ ground_friction() [1/2]

double mvsim::Block::ground_friction ( ) const

inline

Definition at line 105 of file Block.h.

◆ ground_friction() [2/2]

void mvsim::Block::ground_friction ( double newValue )

inline

Definition at line 106 of file Block.h.

◆ internal_internalGuiUpdate_forces()

void Block::internal_internalGuiUpdate_forces ( mrpt::opengl::COpenGLScene & scene )

private

Definition at line 287 of file Block.cpp.

◆ internal_parseGeometry()

void Block::internal_parseGeometry ( const rapidxml::xml_node< char > & xml_geom_node )

private

Definition at line 443 of file Block.cpp.

◆ internalGuiUpdate()

void Block::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 232 of file Block.cpp.

◆ isStatic()

bool Block::isStatic ( ) const

Definition at line 416 of file Block.cpp.

◆ mass() [1/2]

double mvsim::Block::mass ( ) const

inline

Definition at line 108 of file Block.h.

◆ mass() [2/2]

void mvsim::Block::mass ( double newValue )

inline

Definition at line 109 of file Block.h.

◆ meAsVisualObject()

VisualObject* mvsim::Block::meAsVisualObject ( )

inlineoverridevirtual

Reimplemented from mvsim::Simulable.

Definition at line 138 of file Block.h.

◆ register_block_class()

void Block::register_block_class	(	const World &	parent,
		const rapidxml::xml_node< char > *	xml_node
	)

static

Register a new class of blocks from XML description of type "<block:class name='name'>...</block:class>".

Register a new class of vehicles from XML description of type "<vehicle:class name='name'>...</vehicle:class>".

Definition at line 50 of file Block.cpp.

◆ setBlockIndex()

void mvsim::Block::setBlockIndex ( size_t idx )

inline

Set the block index in the World

Definition at line 99 of file Block.h.

◆ setIsStatic()

void Block::setIsStatic ( bool b )

Definition at line 423 of file Block.cpp.

◆ simul_post_timestep()

void Block::simul_post_timestep ( const TSimulContext & context )

overridevirtual

Override to do any required process right after the integration of dynamic equations for each timestep

Reimplemented from mvsim::Simulable.

Definition at line 227 of file Block.cpp.

◆ simul_pre_timestep()

void Block::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 220 of file Block.cpp.

◆ updateMaxRadiusFromPoly()

void Block::updateMaxRadiusFromPoly ( )

protected

Definition at line 303 of file Block.cpp.

Member Data Documentation

◆ block_color_

mrpt::img::TColor mvsim::Block::block_color_ {0x00, 0x00, 0xff}

protected

Definition at line 165 of file Block.h.

◆ block_com_

mrpt::math::TPoint2D mvsim::Block::block_com_ {.0, .0}

protected

In local coordinates.

Definition at line 166 of file Block.h.

◆ block_poly_

mrpt::math::TPolygon2D mvsim::Block::block_poly_

protected

Definition at line 156 of file Block.h.

◆ block_z_max_

double mvsim::Block::block_z_max_ = std::numeric_limits<double>::quiet_NaN()

protected

Definition at line 163 of file Block.h.

◆ block_z_min_

double mvsim::Block::block_z_min_ = std::numeric_limits<double>::quiet_NaN()

protected

Definition at line 162 of file Block.h.

◆ blockIndex_

size_t mvsim::Block::blockIndex_ = 0

protected

user-supplied index number: must be set/get'ed with setblockIndex() getblockIndex() (default=0)

Definition at line 149 of file Block.h.

◆ fixture_block_

b2Fixture* mvsim::Block::fixture_block_

protected

Definition at line 192 of file Block.h.

◆ force_segments_for_rendering_

std::vector<mrpt::math::TSegment3D> mvsim::Block::force_segments_for_rendering_

private

Definition at line 227 of file Block.h.

◆ force_segments_for_rendering_cs_

std::mutex mvsim::Block::force_segments_for_rendering_cs_

private

Definition at line 226 of file Block.h.

◆ friction_joints_

std::vector<b2FrictionJoint*> mvsim::Block::friction_joints_

protected

Definition at line 151 of file Block.h.

◆ geomParams_

GeometryParams mvsim::Block::geomParams_

private

Definition at line 222 of file Block.h.

◆ gl_block_

mrpt::opengl::CSetOfObjects::Ptr mvsim::Block::gl_block_

private

Definition at line 224 of file Block.h.

◆ gl_forces_

mrpt::opengl::CSetOfLines::Ptr mvsim::Block::gl_forces_

private

Definition at line 225 of file Block.h.

◆ groundFriction_

double mvsim::Block::groundFriction_ = 0.5

protected

Default: 0.5.

Definition at line 169 of file Block.h.

◆ intangible_

bool mvsim::Block::intangible_ = false

protected

If intangible, a block will be rendered visually but will be neither detected by sensors, nor collide

Definition at line 174 of file Block.h.

◆ isStatic_

bool mvsim::Block::isStatic_ = false

protected

Definition at line 155 of file Block.h.

◆ lateral_friction_

double mvsim::Block::lateral_friction_ = 0.5

protected

Default: 0.5.

Definition at line 168 of file Block.h.

◆ mass_

double mvsim::Block::mass_ = 30.0

protected

Definition at line 154 of file Block.h.

◆ maxRadius_

double mvsim::Block::maxRadius_

protected

Automatically computed from block_poly_ upon each change via updateMaxRadiusFromPoly()

Definition at line 160 of file Block.h.

◆ params_

const TParameterDefinitions mvsim::Block::params_

protected

Initial value:

= {
                {"mass", {"%lf", &mass_}},
                {"zmin", {"%lf", &block_z_min_}},
                {"zmax", {"%lf", &block_z_max_}},
                {"ground_friction", {"%lf", &groundFriction_}},
                {"lateral_friction", {"%lf", &lateral_friction_}},
                {"restitution", {"%lf", &restitution_}},
                {"color", {"%color", &block_color_}},
                {"intangible", {"%bool", &intangible_}},
                {"static", {"%bool", &isStatic_}}
                
        }

Definition at line 176 of file Block.h.

◆ restitution_

double mvsim::Block::restitution_ = 0.01

protected

Default: 0.01.

Definition at line 170 of file Block.h.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Ptr

Constructor & Destructor Documentation

◆ Block()

Member Function Documentation

◆ apply_force()

◆ block_color() [1/2]

◆ block_color() [2/2]

◆ block_z_max() [1/2]

◆ block_z_max() [2/2]

◆ block_z_min() [1/2]

◆ block_z_min() [2/2]

◆ blockShape() [1/2]

◆ blockShape() [2/2]

◆ create_multibody_system()

◆ default_block_z_min_max()

◆ factory() [1/2]

◆ factory() [2/2]

◆ getBlockIndex()

◆ getBox2DBlockBody()

◆ getElevationAt()

◆ getMass()

◆ getMaxBlockRadius()

◆ ground_friction() [1/2]

◆ ground_friction() [2/2]

◆ internal_internalGuiUpdate_forces()

◆ internal_parseGeometry()

◆ internalGuiUpdate()

◆ isStatic()

◆ mass() [1/2]

◆ mass() [2/2]

◆ meAsVisualObject()

◆ register_block_class()

◆ setBlockIndex()

◆ setIsStatic()

◆ simul_post_timestep()

◆ simul_pre_timestep()

◆ updateMaxRadiusFromPoly()

Member Data Documentation

◆ block_color_

◆ block_com_

◆ block_poly_

◆ block_z_max_

◆ block_z_min_

◆ blockIndex_

◆ fixture_block_

◆ force_segments_for_rendering_

◆ force_segments_for_rendering_cs_

◆ friction_joints_

◆ geomParams_

◆ gl_block_

◆ gl_forces_

◆ groundFriction_

◆ intangible_

◆ isStatic_

◆ lateral_friction_

◆ mass_

◆ maxRadius_

◆ params_

◆ restitution_