ARGoS
3
A parallel, multi-engine simulator for swarm robotics
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7 #ifndef DYNAMICS2D_SINGLE_BODY_OBJECT_MODEL_H
8 #define DYNAMICS2D_SINGLE_BODY_OBJECT_MODEL_H
11 class CDynamics2DSingleBodyObjectModel;
14 #include <argos3/plugins/simulator/physics_engines/dynamics2d/dynamics2d_model.h>
15 #include <argos3/plugins/simulator/physics_engines/dynamics2d/chipmunk-physics/include/chipmunk.h>
133 virtual void SetBody(cpBody* pt_body,
virtual ~CDynamics2DSingleBodyObjectModel()
Class destructor.
void UpdateOriginAnchor(SAnchor &s_anchor)
Updates the origin anchor associated to the embodied entity.
virtual void CalculateBoundingBox()
Calculates the axis-aligned box that contains the entire physics model.
The namespace containing all the ARGoS related code.
CComposableEntity & GetComposableEntity()
Returns the associated composable entity as a non-const reference.
Basic class for an entity that contains other entities.
CDynamics2DSingleBodyObjectModel(CDynamics2DEngine &c_engine, CComposableEntity &c_entity)
Class constructor.
Base class for object models with a single body.
const CComposableEntity & GetComposableEntity() const
Returns the associated composable entity as a const reference.
virtual bool IsCollidingWithSomething() const
Returns true if this model is colliding with another model.
An anchor related to the body of an entity.
virtual void UpdateEntityStatus()
Updates the status of the associated entity.
cpBody * GetBody()
Returns the body as non-const pointer.
const cpBody * GetBody() const
Returns the body as const pointer.
virtual void SetBody(cpBody *pt_body, Real f_height)
Sets the body and registers the default origin anchor method.
The base class for models in the dynamics 2D engine.
virtual void UpdateFromEntityStatus()=0
Updates the state of this model from the status of the associated entity.
virtual void MoveTo(const CVector3 &c_position, const CQuaternion &c_orientation)
float Real
Collects all ARGoS code.