taoWorld Class Reference

container class to hold dynamics charactersA group is a container object for dynamics characters, particle systems, rigid bodies, and articulated bodies. Characters in different groups can not interact, e.g., no collision between characters from two different groups. All characters in a group share common parameters such as integration time step, gravity, etc. More...

#include <taoWorld.h>

Collaboration diagram for taoWorld:

Public Member Functions
	~taoWorld ()
void	setID (deInt i)
const deInt	getID () const
void	setIsFixed (int f)
deInt	getIsFixed ()
deVector3 *	gravity ()
void	setNext (taoWorld *g)
taoWorld *	getNext ()
taoNodeRoot *	getRootList ()
void	addRoot (taoNodeRoot *r, const deInt id)
taoNodeRoot *	removeRoot (const deInt id)
taoNodeRoot *	findRoot (const deInt id)
void	update (const deFloat time, const deFloat dt, const deInt n)
void	simulate (const deFloat dt)
void	updateTransformation ()
taoNodeRoot *	unlinkFixed (taoNodeRoot *root, taoNode *node)
taoNodeRoot *	unlinkFree (taoNodeRoot *root, taoNode *node, deFloat inertia, deFloat damping)
void	sync (taoNodeRoot *root, deFloat time)

Private Attributes
deInt	_id
deInt	_isFixed
deVector3	_gravity
taoNodeRoot *	root_node_
taoWorld *	_next

Detailed Description

container class to hold dynamics characters

A group is a container object for dynamics characters, particle systems, rigid bodies, and articulated bodies. Characters in different groups can not interact, e.g., no collision between characters from two different groups. All characters in a group share common parameters such as integration time step, gravity, etc.

Constructor & Destructor Documentation

taoWorld::~taoWorld

(

)

Edited 2013-08-21 : Samir Menon smeno.nosp@m.n@st.nosp@m.anfor.nosp@m.d.ed.nosp@m.u

Member Function Documentation

void taoWorld::update	(	const deFloat	time,
		const deFloat	dt,
		const deInt	n
	)

Remarks

this can be replaced by following 3 individual call.

simulate(), updateTransformation()

• time control desired goal achieving time. this value is used to compute the goal frames. Also, this value should be greater than the last control time, taoControl::time() and less than equal to the current goal time set by taoControl::setGoalPosition().
• dt integration time step. notice that this value is independent to time.
• n number of iteration of the loop if necessary

---

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

• /home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/dynamics/taoWorld.h
• /home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/dynamics/taoWorld.cpp