ARGoS
3
A parallel, multi-engine simulator for swarm robotics
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2 #include <argos3/core/simulator/entity/embodied_entity.h>
12 m_cPM3DEngine(c_engine) {
44 for(std::map<std::string, CPointMass3DModel*>::const_iterator it =
GetPM3DEngine().GetPhysicsModels().begin();
46 if((it->second !=
this) &&
const SAnchor & GetOriginAnchor() const
Returns a const reference to the origin anchor associated to this entity.
std::map< std::string, CPointMass3DModel * > & GetPhysicsModels()
virtual void CalculateBoundingBox()=0
Calculates the axis-aligned box that contains the entire physics model.
virtual bool IsCollidingWithSomething() const
Returns true if this model is colliding with another model.
The namespace containing all the ARGoS related code.
virtual void UpdateEntityStatus()
Updates the status of the associated entity.
bool Intersects(const SBoundingBox &s_bb) const
This entity is a link to a body in the physics engine.
An anchor related to the body of an entity.
void RegisterAnchorMethod(const SAnchor &s_anchor, void(MODEL::*pt_method)(SAnchor &))
Registers an anchor method.
virtual void MoveTo(const CVector3 &c_position, const CQuaternion &c_orientation)
CVector3 m_cAcceleration
The acceleration of this model in the engine.
CVector3 m_cVelocity
The linear velocity of this model in the engine.
const SBoundingBox & GetBoundingBox() const
Returns an axis-aligned box that contains the physics model.
CVector3 m_cPosition
The position of the model in this engine.
virtual void UpdateOriginAnchor(SAnchor &s_anchor)
Updates the origin anchor associated to the embodied entity.
CPointMass3DModel(CPointMass3DEngine &c_engine, CEmbodiedEntity &c_entity)
CVector3 Position
The position of the anchor wrt the global coordinate system.
CPointMass3DEngine & GetPM3DEngine()
Returns a reference to the physics engine controlling this model.
CEmbodiedEntity & GetEmbodiedEntity()
Returns the embodied entity associated to this physics model.