#include <model_body.h>

Inheritance diagram for flatland_server::ModelBody:

Collaboration diagram for flatland_server::ModelBody:

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Public Member Functions
	ModelBody (b2World physics_world, CollisionFilterRegistry cfr, Model *model, const std::string &name, const Color &color, const Pose &pose, b2BodyType body_type, const YAML::Node &properties, double linear_damping, double angular_damping)
	Constructor for the Model Body. More...

const CollisionFilterRegistry *	GetCfr () const

void	LoadFootprints (YamlReader &footprints_reader)
	Load footprints (Box2D fixtures) into the body. More...

void	ConfigFootprintDef (YamlReader &footprint_reader, b2FixtureDef &fixture_def)
	Configures the common properties of footprints. More...

void	LoadCircleFootprint (YamlReader &footprint_reader)
	Loads a circle footprint. More...

void	LoadPolygonFootprint (YamlReader &footprint_reader)
	Loads a circle footprint. More...

Public Member Functions inherited from flatland_server::Body
	Body (b2World physics_world, Entity entity, const std::string &name, const Color &color, const Pose &pose, b2BodyType body_type, const YAML::Node &properties, double linear_damping=0, double angular_damping=0)
	constructor for body, takes in all the required parameters More...

void	DebugOutput () const
	logs the debugging information for the body

Entity *	GetEntity ()

const std::string &	GetName () const

b2Body *	GetPhysicsBody ()
	Get the Box2D body, use this to manipulate the body in physics through the Box2D methods. More...

int	GetFixturesCount () const
	Count the number of fixtures. More...

const Color &	GetColor () const

void	SetColor (const Color &color)
	Set of the color of the body.

virtual	~Body ()

	Body (const Body &)=delete

Body &	operator= (const Body &)=delete

Static Public Member Functions
static ModelBody *	MakeBody (b2World physics_world, CollisionFilterRegistry cfr, Model *model, YamlReader &body_node)
	Factory method to create a model body. More...

Public Attributes
CollisionFilterRegistry *	cfr_
	collision filter registry

Public Attributes inherited from flatland_server::Body
Entity *	entity_
	The entity the body belongs to.

std::string	name_
	name of the body, unique within a model

b2Body *	physics_body_
	Box2D physics body.

Color	color_
	color, for visualization

YAML::Node	properties_
	Properties document for plugins to use.

Detailed Description

This class defines a model body which is a body that is always used together with a model. It contains members and useful methods that is specfic for a body in a model

Constructor & Destructor Documentation

flatland_server::ModelBody::ModelBody	(	b2World *	physics_world,
		CollisionFilterRegistry *	cfr,
		Model *	model,
		const std::string &	name,
		const Color &	color,
		const Pose &	pose,
		b2BodyType	body_type,
		const YAML::Node &	properties,
		double	linear_damping,
		double	angular_damping
	)

Constructor for the Model Body.

Parameters

[in]	physics_world	Box2D physics world
[in]	cfr	Collision filter registry
[in]	model	Model the body belongs to
[in]	name	Name of the body
[in]	color	Color of the body for visualization
[in]	pose	The pose to place the body at
[in]	body_type	Type of Box2D body, either dynamic, static, or kinematic
[in]	properties	per-object YAML properties for plugins to reference
[in]	linear_damping	Box2D body linear damping
[in]	angular_damping	Box2D body angular damping

Member Function Documentation

void flatland_server::ModelBody::ConfigFootprintDef	(	YamlReader &	footprint_reader,
		b2FixtureDef &	fixture_def
	)

Configures the common properties of footprints.

Parameters

[in]	footprint_reader	YAML reader for node containing the footprint parameters
[out]	fixture_def	Box2D fixture definition

const CollisionFilterRegistry * flatland_server::ModelBody::GetCfr ( ) const

Returns: The collision filter registry

void flatland_server::ModelBody::LoadCircleFootprint ( YamlReader & footprint_reader )

Loads a circle footprint.

Parameters

[in] footprint_reader YAML reader for node containing the footprint parameters

void flatland_server::ModelBody::LoadFootprints ( YamlReader & footprints_reader )

Load footprints (Box2D fixtures) into the body.

Parameters

[in] footprints_reader YAML reader for node containing the footprints parameters

void flatland_server::ModelBody::LoadPolygonFootprint ( YamlReader & footprint_reader )

Loads a circle footprint.

Parameters

[in] footprint_reader YAML reader for node containing the footprint parameters

ModelBody * flatland_server::ModelBody::MakeBody	(	b2World *	physics_world,
		CollisionFilterRegistry *	cfr,
		Model *	model,
		YamlReader &	body_node
	)

static

Factory method to create a model body.

Parameters

[in]	physics_world	Box2D physics world
[in]	cfr	Collision filter registry
[in]	model	The model this model body belongs to
[in]	body_node	YAML reader for node containing the body parameters

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

flatland_server/include/flatland_server/model_body.h
flatland_server/src/model_body.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation