ARGoS
3
A parallel, multi-engine simulator for swarm robotics
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25 cpVect tVertices[] = {
26 cpv(-cHalfSize.
GetX(), -cHalfSize.
GetY()),
27 cpv(-cHalfSize.
GetX(), cHalfSize.
GetY()),
28 cpv( cHalfSize.
GetX(), cHalfSize.
GetY()),
29 cpv( cHalfSize.
GetX(), -cHalfSize.
GetY())
49 ptBody->p = cpv(cPosition.
GetX(), cPosition.
GetY());
50 cpBodySetAngle(ptBody, cZAngle.
GetValue());
54 cpPolyShapeNew(ptBody,
72 ptBody = cpBodyNewStatic();
73 ptBody->p = cpv(cPosition.
GetX(), cPosition.
GetY());
74 cpBodySetAngle(ptBody, cZAngle.
GetValue());
78 cpPolyShapeNew(ptBody,
const SAnchor & GetOriginAnchor() const
Returns a const reference to the origin anchor associated to this entity.
CQuaternion Orientation
The orientation of the anchor wrt the global coordinate system.
Real GetZ() const
Returns the z coordinate of this vector.
A stretchable and grippable object model for the dynamics 2D engine.
The namespace containing all the ARGoS related code.
CDynamics2DEngine & GetDynamics2DEngine()
Returns the dynamics 2D engine state.
It defines the basic type CRadians, used to store an angle value in radians.
void SetGrippable(CDynamics2DGrippable *pc_grippable)
REGISTER_STANDARD_DYNAMICS2D_OPERATIONS_ON_ENTITY(CEPuckEntity, CDynamics2DEPuckModel)
Real GetX() const
Returns the x coordinate of this vector.
void SetAngularFriction(Real f_max_bias, Real f_max_force)
Sets the angular friction of this object.
Real GetValue() const
Returns the value in radians.
void ToEulerAngles(CRadians &c_z_angle, CRadians &c_y_angle, CRadians &c_x_angle) const
void SetLinearFriction(Real f_max_bias, Real f_max_force)
Sets the linear friction of this object.
virtual void SetBody(cpBody *pt_body, Real f_height)
Sets the body and registers the default origin anchor method.
void SetMass(Real f_mass)
Real GetY() const
Returns the y coordinate of this vector.
CDynamics2DBoxModel(CDynamics2DEngine &c_engine, CBoxEntity &c_entity)
const CVector3 & GetSize() const
CVector3 Position
The position of the anchor wrt the global coordinate system.
CEmbodiedEntity & GetEmbodiedEntity()
Returns the embodied entity associated to this physics model.