CscWorldElement Class Reference

#include <CscWorldElement.h>

Inheritance diagram for CscWorldElement:

Public Member Functions
	CscWorldElement (const CscWorldElementId &id, const string &name, CscPoint3d *positionIn, CscPoint3d *rotationEulerIn, CscPhysicsType physicsType=CscPhysicsType::BOUNDING_BOX, float mass=5.0, vector< CscWorldElementPart * > *parts=nullptr, vector< CscPoint3d * > *positions=nullptr, vector< CscPoint3d * > *normals=nullptr, vector< CscPolygon * > *polygons=nullptr, vector< const CscLocationTag * > *locationTags=nullptr, float minX=0, float minY=0, float minZ=0, float depth=0, float height=0, float width=0)
virtual	~CscWorldElement ()
virtual CscPoint3d	getMinPositionInWorldCoordinates () const
const CscPoint3d *	getPosition () const
void	setPosition (float x, float y, float z)
const CscPoint3d *	getRotationEulerAsPoint () const
void	setRotationEuler (double x, double y, double z)
void	setRotationQuaternion (double w, double x, double y, double z)
bool	isIn3DArea (const CscArea3d *area) const
const string &	getName () const
virtual CscWorldElementId	getId () const
float	getMass ()
virtual CscSize3d	getDimensions () const
float *	getVerticesArray () const
float *	getPolygonsArray () const
int	getVerticesCount () const
int	getPolygonsCount () const
void	repositionateToZeroOriginPositions ()
void	repositionateToZeroOriginPolygons ()
vector< CscPoint3d * > *	getPositions () const
vector< CscPolygon * > *	getPolygons () const
vector< CscPolygon * >	getPolygonsInWorldCoordinates () const
vector< CscPoint3d * >	getYPlanSlicePoints (double sliceY, double precisionCm=5.0) const
vector< CscPoint3d * > *	getNormals () const
const vector< CscWorldElementPart * > *	getParts () const
vector< CscPoint3d * > *	getReconstructedVerticesFromPolygons (const int stepInCm=10) const
CscPhysicsType	getPhysicsType () const
const CscLocationTag *	getLocationTagByName (const string &name) const
void	forcePolygons (const vector< CscPolygon * > &newPolygons)
void	addTag (const string &tag)
void	removeTag (const string &tag)
bool	hasTag (const string &tag) const
const double *const	getRotationQuaternionArray () const
CscQuaternion	getRotationQuaternion () const
CscRotation3dEuler	getRotationEuler () const

Static Public Member Functions
static CscWorldElementId	nextId ()

Public Attributes
float	depth = 0
float	height = 0
float	width = 0
float	minX
float	minY
float	minZ
float	mass = 1.0
float	restitution = 0.3
float	dampingLinear = 0.3
float	dampingAngular = 0.3
float	friction = 1.0
bool	collideWithOthers = true
float	certitude = 0.0

Protected Member Functions
virtual const CscPoint3d &	getBaseRotation () const

Protected Attributes
const CscWorldElementId	id
vector< const CscLocationTag * > *	locationTags

Constructor & Destructor Documentation

CscWorldElement()

CscWorldElement::CscWorldElement	(	const CscWorldElementId &	id,
		const string &	name,
		CscPoint3d *	positionIn,
		CscPoint3d *	rotationEulerIn,
		CscPhysicsType	physicsType = CscPhysicsType::BOUNDING_BOX,
		float	mass = 5.0,
		vector< CscWorldElementPart * > *	parts = nullptr,
		vector< CscPoint3d * > *	positions = nullptr,
		vector< CscPoint3d * > *	normals = nullptr,
		vector< CscPolygon * > *	polygons = nullptr,
		vector< const CscLocationTag * > *	locationTags = nullptr,
		float	minX = 0,
		float	minY = 0,
		float	minZ = 0,
		float	depth = 0,
		float	height = 0,
		float	width = 0
	)

~CscWorldElement()

CscWorldElement::~CscWorldElement ( )

virtual

Member Function Documentation

addTag()

void CscWorldElement::addTag

(

const string &

tag

)

forcePolygons()

void CscWorldElement::forcePolygons

(

const vector< CscPolygon * > &

newPolygons

)

backward compatibility method which breaks encapsulation - PLEASE DO NOT USE NOTE: given vector will be copied

getBaseRotation()

const CscPoint3d & CscWorldElement::getBaseRotation ( ) const

protectedvirtual

Returns

base rotation for this element type. Some element types have a base rotation (for instance places => CscWorldPlace::placeDaeToCscEulerXYZ)

Reimplemented in CscWorldPlace, and CscWorldEntity.

getDimensions()

CscSize3d CscWorldElement::getDimensions ( ) const

virtual

Return this element's size in Conscience reference frame. This is the safe way to get element's initial dimensions. Before applying any rotation.

For instance for places: CSC depth => place.width => CSC X axis - size.x CSC width => place.height => CSC Z axis - size.z CSC height => place.depth => CSC Y axis - size.y

Reimplemented in CscWorldObject.

getId()

CscWorldElementId CscWorldElement::getId ( ) const

virtual

getLocationTagByName()

const CscLocationTag * CscWorldElement::getLocationTagByName

(

const string &

name

)

const

searches for a location tag with given name and return it if exists, or nullptr if not

getMass()

float CscWorldElement::getMass

(

)

getMinPositionInWorldCoordinates()

CscPoint3d CscWorldElement::getMinPositionInWorldCoordinates ( ) const

virtual

Returns

min position of this element in Conscience world's coordinates

Reimplemented in CscWorldPlace.

getName()

const string & CscWorldElement::getName

(

)

const

getNormals()

vector< CscPoint3d * > * CscWorldElement::getNormals

(

)

const

Returns

a pointer to a field. DO NOT DELETE

getParts()

const vector< CscWorldElementPart * > * CscWorldElement::getParts

(

)

const

Returns

a pointer to a field. DO NOT DELETE

getPhysicsType()

CscPhysicsType CscWorldElement::getPhysicsType

(

)

const

getPolygons()

vector< CscPolygon * > * CscWorldElement::getPolygons

(

)

const

Returns

a pointer to a field. DO NOT DELETE

getPolygonsArray()

float * CscWorldElement::getPolygonsArray

(

)

const

getPolygonsCount()

int CscWorldElement::getPolygonsCount

(

)

const

getPolygonsInWorldCoordinates()

vector< CscPolygon * > CscWorldElement::getPolygonsInWorldCoordinates

(

)

const

Converts polygon based on element's rotation and translate with position. This is the safe way to get current polygons for this element.

Returns

vector of NEW pointers. Should be DELETED.

getPosition()

const CscPoint3d * CscWorldElement::getPosition

(

)

const

get position of the center of this entity (x,y,z in centimeters)

Warning

for a place -> will be x-most / y-least / z-least

See also

getMinPositionInWorldCoordinates()

getPositions()

vector< CscPoint3d * > * CscWorldElement::getPositions

(

)

const

Returns

a pointer to a field. DO NOT DELETE

getReconstructedVerticesFromPolygons()

vector< CscPoint3d * > * CscWorldElement::getReconstructedVerticesFromPolygons

(

const int

stepInCm = 10

)

const

Generates vertices for this element based on polygons. Those points are not rotated and not shifted by element's position. It needs to be done manually

Parameters

stepInCm

wich resolution is required to build additionnal vertices in cm (defaulty 10cm)

Returns

a NEW vector of NEW points. You HAVE TO DELETE points and vector after use

getRotationEuler()

CscRotation3dEuler CscWorldElement::getRotationEuler

(

)

const

getRotationEulerAsPoint()

const CscPoint3d * CscWorldElement::getRotationEulerAsPoint

(

)

const

This is only there for backward compatibility purpose. Please use getRotationEuler(). Warning: pointXYZ = PYR (rotation on Z, Y and X axis respectively)

See also

CscRotation3dEuler getRotationEuler()

getRotationQuaternion()

getRotationQuaternion()

CscQuaternion CscWorldElement::getRotationQuaternion

(

)

const

getRotationQuaternionArray()

const double *const CscWorldElement::getRotationQuaternionArray

(

)

const

Returns

4 elements array: w,x,y,z

getVerticesArray()

float * CscWorldElement::getVerticesArray

(

)

const

getVerticesCount()

int CscWorldElement::getVerticesCount

(

)

const

getYPlanSlicePoints()

vector< CscPoint3d * > CscWorldElement::getYPlanSlicePoints	(	double	sliceY,
		double	precisionCm = 5.0
	)		const

Gets all points in world coordinates (i.e. with place rotation / position taken in account) computed using intersection with polygons at given Y height.

Parameters

sliceY

plan's Y in centimeters

Returns

new points to be DELETED

hasTag()

bool CscWorldElement::hasTag

(

const string &

tag

)

const

isIn3DArea()

bool CscWorldElement::isIn3DArea

(

const CscArea3d *

area

)

const

nextId()

static CscWorldElementId CscWorldElement::nextId ( )

inlinestatic

generates an automatic unique ID based on a numeric value

removeTag()

void CscWorldElement::removeTag

(

const string &

tag

)

repositionateToZeroOriginPolygons()

void CscWorldElement::repositionateToZeroOriginPolygons

(

)

repositionateToZeroOriginPositions()

void CscWorldElement::repositionateToZeroOriginPositions

(

)

setPosition()

void CscWorldElement::setPosition	(	float	x,
		float	y,
		float	z
	)

x,y,z expected in centimeters

setRotationEuler()

void CscWorldElement::setRotationEuler	(	double	x,
		double	y,
		double	z
	)

warning: not in sync with setRotationQuaternion

setRotationQuaternion()

void CscWorldElement::setRotationQuaternion	(	double	w,
		double	x,
		double	y,
		double	z
	)

warning: not in sync with setRotationEuler

Member Data Documentation

certitude

float CscWorldElement::certitude = 0.0

collideWithOthers

bool CscWorldElement::collideWithOthers = true

dampingAngular

float CscWorldElement::dampingAngular = 0.3

dampingLinear

float CscWorldElement::dampingLinear = 0.3

depth

float CscWorldElement::depth = 0

friction

float CscWorldElement::friction = 1.0

height

float CscWorldElement::height = 0

id

const CscWorldElementId CscWorldElement::id

protected

locationTags

vector<const CscLocationTag*>* CscWorldElement::locationTags

protected

mass

float CscWorldElement::mass = 1.0

minX

float CscWorldElement::minX

minY

float CscWorldElement::minY

minZ

float CscWorldElement::minZ

restitution

float CscWorldElement::restitution = 0.3

width

float CscWorldElement::width = 0

---

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

• CoreObjects/CscWorldElement.h
• CoreObjects/CscWorldElement.cpp