ARGoS 3
A parallel, multi-engine simulator for swarm robotics
Public Member Functions | Protected Attributes | List of all members
argos::CDynamics3DMultiBodyObjectModel::CLink Class Reference

#include <dynamics3d_multi_body_object_model.h>

+ Inheritance diagram for argos::CDynamics3DMultiBodyObjectModel::CLink:

Public Member Functions

 CLink (CDynamics3DMultiBodyObjectModel &c_model, UInt32 un_link_index, SAnchor *ps_anchor, const std::shared_ptr< btCollisionShape > &ptr_shape, const SData &s_data)
 
virtual ~CLink ()
 
virtual void Reset ()
 
virtual void AddToWorld (btMultiBodyDynamicsWorld &c_world)
 
virtual void RemoveFromWorld (btMultiBodyDynamicsWorld &c_world)
 
virtual void ApplyForce (const btVector3 &c_force)
 
virtual void ApplyForce (const btVector3 &c_force, const btVector3 &c_offset)
 
virtual void ApplyTorque (const btVector3 &c_torque)
 
virtual btTransform & GetTransform ()
 
UInt32 GetIndex () const
 
- Public Member Functions inherited from argos::CDynamics3DModel::CAbstractBody
 CAbstractBody (CDynamics3DModel &c_model, SAnchor *ps_anchor, const std::shared_ptr< btCollisionShape > &ptr_shape, const SData &s_data)
 
virtual ~CAbstractBody ()
 
CDynamics3DModel & GetModel ()
 
SAnchor & GetAnchor ()
 
btCollisionShape & GetShape ()
 
const SData & GetData () const
 
void UpdateAnchor ()
 

Protected Attributes

CDynamics3DMultiBodyObjectModel & m_cModel
 
UInt32 m_unLinkIndex
 
btMultiBodyLinkCollider m_cMultiBodyLink
 
- Protected Attributes inherited from argos::CDynamics3DModel::CAbstractBody
CDynamics3DModel & m_cModel
 
SAnchor * m_psAnchor
 
std::shared_ptr< btCollisionShape > m_ptrShape
 
SData m_sData
 

Additional Inherited Members

- Public Types inherited from argos::CDynamics3DModel::CAbstractBody
using TVector = std::vector<std::shared_ptr<CAbstractBody> >
 
using TVectorIterator = std::vector<std::shared_ptr<CAbstractBody> >::iterator
 

Detailed Description

Definition at line 40 of file dynamics3d_multi_body_object_model.h.

Constructor & Destructor Documentation

◆ CLink()

argos::CDynamics3DMultiBodyObjectModel::CLink::CLink ( CDynamics3DMultiBodyObjectModel & c_model,
UInt32 un_link_index,
SAnchor * ps_anchor,
const std::shared_ptr< btCollisionShape > & ptr_shape,
const SData & s_data )

Definition at line 165 of file dynamics3d_multi_body_object_model.cpp.

◆ ~CLink()

virtual argos::CDynamics3DMultiBodyObjectModel::CLink::~CLink ( )
inlinevirtual

Definition at line 50 of file dynamics3d_multi_body_object_model.h.

Member Function Documentation

◆ AddToWorld()

void argos::CDynamics3DMultiBodyObjectModel::CLink::AddToWorld ( btMultiBodyDynamicsWorld & c_world)
virtual

Implements argos::CDynamics3DModel::CAbstractBody.

Definition at line 196 of file dynamics3d_multi_body_object_model.cpp.

◆ ApplyForce() [1/2]

void argos::CDynamics3DMultiBodyObjectModel::CLink::ApplyForce ( const btVector3 & c_force)
virtual

Implements argos::CDynamics3DModel::CAbstractBody.

Reimplemented in argos::CDynamics3DMultiBodyObjectModel::CBase.

Definition at line 212 of file dynamics3d_multi_body_object_model.cpp.

◆ ApplyForce() [2/2]

void argos::CDynamics3DMultiBodyObjectModel::CLink::ApplyForce ( const btVector3 & c_force,
const btVector3 & c_offset )
virtual

Implements argos::CDynamics3DModel::CAbstractBody.

Reimplemented in argos::CDynamics3DMultiBodyObjectModel::CBase.

Definition at line 220 of file dynamics3d_multi_body_object_model.cpp.

◆ ApplyTorque()

void argos::CDynamics3DMultiBodyObjectModel::CLink::ApplyTorque ( const btVector3 & c_torque)
virtual

Implements argos::CDynamics3DModel::CAbstractBody.

Reimplemented in argos::CDynamics3DMultiBodyObjectModel::CBase.

Definition at line 230 of file dynamics3d_multi_body_object_model.cpp.

◆ GetIndex()

UInt32 argos::CDynamics3DMultiBodyObjectModel::CLink::GetIndex ( ) const

Definition at line 245 of file dynamics3d_multi_body_object_model.cpp.

◆ GetTransform()

btTransform & argos::CDynamics3DMultiBodyObjectModel::CLink::GetTransform ( )
virtual

Implements argos::CDynamics3DModel::CAbstractBody.

Definition at line 238 of file dynamics3d_multi_body_object_model.cpp.

◆ RemoveFromWorld()

void argos::CDynamics3DMultiBodyObjectModel::CLink::RemoveFromWorld ( btMultiBodyDynamicsWorld & c_world)
virtual

Implements argos::CDynamics3DModel::CAbstractBody.

Definition at line 205 of file dynamics3d_multi_body_object_model.cpp.

◆ Reset()

void argos::CDynamics3DMultiBodyObjectModel::CLink::Reset ( )
virtual

Implements argos::CDynamics3DModel::CAbstractBody.

Reimplemented in argos::CDynamics3DMultiBodyObjectModel::CBase.

Definition at line 178 of file dynamics3d_multi_body_object_model.cpp.

Member Data Documentation

◆ m_cModel

CDynamics3DMultiBodyObjectModel& argos::CDynamics3DMultiBodyObjectModel::CLink::m_cModel
protected

Definition at line 71 of file dynamics3d_multi_body_object_model.h.

◆ m_cMultiBodyLink

btMultiBodyLinkCollider argos::CDynamics3DMultiBodyObjectModel::CLink::m_cMultiBodyLink
protected

Definition at line 73 of file dynamics3d_multi_body_object_model.h.

◆ m_unLinkIndex

UInt32 argos::CDynamics3DMultiBodyObjectModel::CLink::m_unLinkIndex
protected

Definition at line 72 of file dynamics3d_multi_body_object_model.h.

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