ARGoS
3
A parallel, multi-engine simulator for swarm robotics
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39 ptBody->p = cpv(cPosition.
GetX(), cPosition.
GetY());
40 cpBodySetAngle(ptBody, cZAngle.
GetValue());
43 cpCircleShapeNew(ptBody, fRadius, cpvzero));
58 ptBody = cpBodyNewStatic();
59 ptBody->p = cpv(cPosition.
GetX(), cPosition.
GetY());
60 cpBodySetAngle(ptBody, cZAngle.
GetValue());
62 cpShape* ptShape = cpSpaceAddShape(
64 cpCircleShapeNew(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.
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)
CDynamics2DCylinderModel(CDynamics2DEngine &c_engine, CCylinderEntity &c_entity)
Real GetY() const
Returns the y coordinate of this vector.
CVector3 Position
The position of the anchor wrt the global coordinate system.
float Real
Collects all ARGoS code.
CEmbodiedEntity & GetEmbodiedEntity()
Returns the embodied entity associated to this physics model.