ARGoS 3
A parallel, multi-engine simulator for swarm robotics
dynamics2d_stretchable_object_model.cpp
Go to the documentation of this file.
1#include "dynamics2d_stretchable_object_model.h"
2#include "dynamics2d_gripping.h"
3
4namespace argos {
5
6 /****************************************/
7 /****************************************/
8
9 CDynamics2DStretchableObjectModel::CDynamics2DStretchableObjectModel(CDynamics2DEngine& c_engine,
10 CComposableEntity& c_entity) :
11 CDynamics2DSingleBodyObjectModel(c_engine, c_entity),
12 m_fMass(0.0f),
13 m_pcGrippable(nullptr),
14 m_ptLinearFriction(nullptr),
15 m_ptAngularFriction(nullptr) {}
16
17 /****************************************/
18 /****************************************/
19
20 CDynamics2DStretchableObjectModel::~CDynamics2DStretchableObjectModel() {
21 if(m_pcGrippable != nullptr) delete m_pcGrippable;
22 if(m_ptLinearFriction != nullptr) {
23 cpSpaceRemoveConstraint(GetDynamics2DEngine().GetPhysicsSpace(), m_ptLinearFriction);
24 cpConstraintFree(m_ptLinearFriction);
25 }
26 if(m_ptAngularFriction != nullptr) {
27 cpSpaceRemoveConstraint(GetDynamics2DEngine().GetPhysicsSpace(), m_ptAngularFriction);
28 cpConstraintFree(m_ptAngularFriction);
29 }
30 }
31
32 /****************************************/
33 /****************************************/
34
35 void CDynamics2DStretchableObjectModel::MoveTo(const CVector3& c_position,
36 const CQuaternion& c_orientation) {
37 if(m_pcGrippable != nullptr) {
38 /* Release all attached entities */
39 m_pcGrippable->ReleaseAll();
40 }
41 CDynamics2DSingleBodyObjectModel::MoveTo(c_position, c_orientation);
42 }
43
44 /****************************************/
45 /****************************************/
46
47 void CDynamics2DStretchableObjectModel::Reset() {
48 if(m_pcGrippable != nullptr) {
49 /* Release all attached entities */
50 m_pcGrippable->ReleaseAll();
51 }
52 CDynamics2DSingleBodyObjectModel::Reset();
53 }
54
55 /****************************************/
56 /****************************************/
57
58 void CDynamics2DStretchableObjectModel::SetLinearFriction(Real f_max_bias,
59 Real f_max_force) {
60 m_ptLinearFriction =
61 cpSpaceAddConstraint(GetDynamics2DEngine().GetPhysicsSpace(),
62 cpPivotJointNew2(GetDynamics2DEngine().GetGroundBody(),
63 GetBody(),
64 cpvzero,
65 cpvzero));
66 m_ptLinearFriction->maxBias = f_max_bias;
67 m_ptLinearFriction->maxForce = f_max_force; // emulate linear friction
68 }
69
70 /****************************************/
71 /****************************************/
72
73 void CDynamics2DStretchableObjectModel::SetAngularFriction(Real f_max_bias,
74 Real f_max_force) {
75 m_ptAngularFriction =
76 cpSpaceAddConstraint(GetDynamics2DEngine().GetPhysicsSpace(),
77 cpGearJointNew(GetDynamics2DEngine().GetGroundBody(),
78 GetBody(),
79 0.0f,
80 1.0f));
81 m_ptAngularFriction->maxBias = f_max_bias;
82 m_ptAngularFriction->maxForce = f_max_force; // emulate angular friction
83 }
84
85 /****************************************/
86 /****************************************/
87
88}
Real
float Real
Collects all ARGoS code.
Definition datatypes.h:39
argos
The namespace containing all the ARGoS related code.
Definition ci_actuator.h:12
argos::CComposableEntity
Basic class for an entity that contains other entities.
Definition composable_entity.h:32
argos::CVector3
A 3D vector class.
Definition vector3.h:31
argos::CDynamics2DModel::GetDynamics2DEngine
CDynamics2DEngine & GetDynamics2DEngine()
Returns the dynamics 2D engine state.
Definition dynamics2d_model.h:48
argos::CDynamics2DSingleBodyObjectModel
Base class for object models with a single body.
Definition dynamics2d_single_body_object_model.h:47
argos::CDynamics2DSingleBodyObjectModel::MoveTo
virtual void MoveTo(const CVector3 &c_position, const CQuaternion &c_orientation)
Definition dynamics2d_single_body_object_model.cpp:40
argos::CDynamics2DSingleBodyObjectModel::GetBody
cpBody * GetBody()
Returns the body as non-const pointer.
Definition dynamics2d_single_body_object_model.h:86
argos::CDynamics2DStretchableObjectModel::MoveTo
virtual void MoveTo(const CVector3 &c_position, const CQuaternion &c_orientation)
Definition dynamics2d_stretchable_object_model.cpp:35
argos::CDynamics2DStretchableObjectModel::CDynamics2DStretchableObjectModel
CDynamics2DStretchableObjectModel(CDynamics2DEngine &c_engine, CComposableEntity &c_entity)
Definition dynamics2d_stretchable_object_model.cpp:9
argos::CDynamics2DStretchableObjectModel::SetLinearFriction
void SetLinearFriction(Real f_max_bias, Real f_max_force)
Sets the linear friction of this object.
Definition dynamics2d_stretchable_object_model.cpp:58
argos::CDynamics2DStretchableObjectModel::SetAngularFriction
void SetAngularFriction(Real f_max_bias, Real f_max_force)
Sets the angular friction of this object.
Definition dynamics2d_stretchable_object_model.cpp:73