A physical object, i.e. with physics properties (e.g. collisions) modelled by Box2D. More...

#include <objects.h>

Inheritance diagram for PhysicalObject:

Public Member Functions
	PhysicalObject (uint16_t _id, float _x, float _y, ObjectGeometry &geom, b2WorldId world_id, float _linear_damping=0.0f, float _angular_damping=0.0f, float _density=10.0f, float _friction=0.3f, float _restitution=0.5f, std::string const &_category="objects")
	Constructs a PhysicalObject.
	PhysicalObject (Simulation *simulation, uint16_t _id, float _x, float _y, b2WorldId world_id, Configuration const &config, std::string const &_category="objects")
	Constructs a PhysicalObject from a configuration entry.
virtual void	launch_user_step (float t) override
	Launches the user-defined step function. For PhysicalObject, it is also used to compute acceleration statistics.
virtual b2Vec2	get_position () const
	Retrieves the object's current position.
float	get_angle () const
	Retrieves the object's current orientation angle.
float	get_angular_velocity () const
	Retrieves the object's current angular velocity.
b2Vec2	get_linear_acceleration () const
	Retrieves the object's current angular velocity.
virtual void	render (SDL_Renderer *renderer, b2WorldId world_id) const override=0
	Renders the object on the given SDL renderer.
virtual void	move (float x, float y, float theta=NAN) override
	Move the object to a given coordinate.
virtual bool	is_tangible () const override
	Returns whether this object is tangible (e.g. collisions, etc) or not.
virtual arena_polygons_t	generate_contours (std::size_t points_per_contour=0) const override
	Return one or more polygonal contours that represent the geometry of the object.
Public Member Functions inherited from Object
	Object (float _x, float _y, ObjectGeometry &_geom, std::string const &_category="objects")
	Constructs an Object.
	Object (Simulation *simulation, float _x, float _y, Configuration const &config, std::string const &_category="objects")
	Constructs an Object from a configuration entry.
virtual	~Object ()
	Destructor.
ObjectGeometry *	get_geometry ()
	Return the object's geometry.

Public Attributes
uint16_t	id
	Object identifier.
Public Attributes inherited from Object
float	x
	X position.
float	y
	Y position.
float	theta
	Orientation (in rad).
std::string	category
	Category of the object.

Protected Member Functions
virtual void	parse_configuration (Configuration const &config, Simulation *simulation) override
	Parse a provided configuration and set associated members values.
virtual void	create_body (b2WorldId world_id)
	Creates the object's physical body in the simulation.

Protected Attributes
float	linear_damping
float	angular_damping
float	density
float	friction
float	restitution
b2BodyId	body_id
	Box2D body identifier.
float	_estimated_dt = 0.0f
float	_last_time = 0.0f
b2Vec2	_prev_v = {NAN, NAN}
b2Vec2	_lin_acc = {NAN, NAN}
Protected Attributes inherited from Object
ObjectGeometry *	geom
	Geometry of the object.

Detailed Description

A physical object, i.e. with physics properties (e.g. collisions) modelled by Box2D.

Constructor & Destructor Documentation

◆ PhysicalObject() [1/2]

PhysicalObject::PhysicalObject	(	uint16_t	_id,
		float	_x,
		float	_y,
		ObjectGeometry &	geom,
		b2WorldId	world_id,
		float	_linear_damping = 0.0f,
		float	_angular_damping = 0.0f,
		float	_density = 10.0f,
		float	_friction = 0.3f,
		float	_restitution = 0.5f,
		std::string const &	_category = "objects" )

Constructs a PhysicalObject.

Parameters

_id	Unique object identifier.
x	Initial x-coordinate in the simulation.
y	Initial y-coordinate in the simulation.
geom	Object's geometry.
world_id	The Box2D world identifier.
_linear_damping	Linear damping value for the physical body (default is 0.0f).
_angular_damping	Angular damping value for the physical body (default is 0.0f).
_density	Density of the body shape (default is 10.0f).
_friction	Friction coefficient of the body shape (default is 0.3f).
_restitution	Restitution (bounciness) of the body shape (default is 0.5f).
category	Name of the category of the object.

◆ PhysicalObject() [2/2]

PhysicalObject::PhysicalObject	(	Simulation *	simulation,
		uint16_t	_id,
		float	_x,
		float	_y,
		b2WorldId	world_id,
		Configuration const &	config,
		std::string const &	_category = "objects" )

Constructs a PhysicalObject from a configuration entry.

Parameters

simulation	Pointer to the underlying simulation.
_id	Unique object identifier.
x	Initial x-coordinate in the simulation.
y	Initial y-coordinate in the simulation.
world_id	The Box2D world identifier.
config	Configuration entry describing the object properties.
category	Name of the category of the object.

Member Function Documentation

◆ create_body()

void PhysicalObject::create_body ( b2WorldId world_id )

protectedvirtual

Creates the object's physical body in the simulation.

Constructs a dynamic body in the Box2D world at the specified position, defines its shape based on the provided geometry.

Parameters

world_id The Box2D world identifier.

◆ generate_contours()

arena_polygons_t PhysicalObject::generate_contours ( std::size_t points_per_contour = 0 ) const

overridevirtual

Return one or more polygonal contours that represent the geometry of the object.

Parameters

points_per_contour Desired number of vertices for each contour (a rectangle has one contour, a disk has one, an arena may have many – one per wall).

Returns: arena_polygons_t A vector of closed polygons (counter‑clockwise, last vertex different from the first – the caller may close the loop if needed).

Reimplemented from Object.

Reimplemented in MembraneObject.

◆ get_angle()

float PhysicalObject::get_angle ( ) const

Retrieves the object's current orientation angle.

Computes and returns the orientation angle (in radians) of the object's body.

Returns: float The orientation angle.

◆ get_angular_velocity()

float PhysicalObject::get_angular_velocity ( ) const

Retrieves the object's current angular velocity.

Returns: float The angular velocity

◆ get_linear_acceleration()

b2Vec2 PhysicalObject::get_linear_acceleration ( ) const

Retrieves the object's current angular velocity.

Returns: float The angular velocity

◆ get_position()

b2Vec2 PhysicalObject::get_position ( ) const

virtual

Retrieves the object's current position.

Returns the position of the object's physical body as a Box2D vector.

Returns: b2Vec2 The current position.

Reimplemented in MembraneObject.

◆ is_tangible()

virtual bool PhysicalObject::is_tangible ( ) const

inlineoverridevirtual

Returns whether this object is tangible (e.g. collisions, etc) or not.

Reimplemented from Object.

Reimplemented in MembraneObject, and Pogowall.

◆ launch_user_step()

void PhysicalObject::launch_user_step ( float t )

overridevirtual

Launches the user-defined step function. For PhysicalObject, it is also used to compute acceleration statistics.

Reimplemented from Object.

Reimplemented in PogobotObject.

◆ move()

void PhysicalObject::move	(	float	x,
		float	y,
		float	theta = NAN )

overridevirtual

Move the object to a given coordinate.

Parameters

x	X coordinate.
y	Y coordinate.
theta	Orientation, in rad.

Reimplemented from Object.

Reimplemented in MembraneObject, and Pogowall.

◆ parse_configuration()

void PhysicalObject::parse_configuration	(	Configuration const &	config,
		Simulation *	simulation )

overrideprotectedvirtual

Parse a provided configuration and set associated members values.

Parameters

config Configuration entry describing the object properties.

Reimplemented from Object.

Reimplemented in ActiveObject, MembraneObject, PassiveObject, and PogobotObject.

◆ render()

virtual void PhysicalObject::render	(	SDL_Renderer *	renderer,
		b2WorldId	world_id ) const

overridepure virtual

Renders the object on the given SDL renderer.

Parameters

renderer	Pointer to the SDL_Renderer.
world_id	The Box2D world identifier (unused in rendering).

Implements Object.

Implemented in ActiveObject, MembraneObject, PassiveObject, PogobjectObject, PogobotObject, and Pogowall.

Member Data Documentation

◆ _estimated_dt

float PhysicalObject::_estimated_dt = 0.0f

protected

◆ _last_time

float PhysicalObject::_last_time = 0.0f

protected

◆ _lin_acc

b2Vec2 PhysicalObject::_lin_acc = {NAN, NAN}

protected

◆ _prev_v

b2Vec2 PhysicalObject::_prev_v = {NAN, NAN}

protected

◆ angular_damping

float PhysicalObject::angular_damping

protected

◆ body_id

b2BodyId PhysicalObject::body_id

protected

Box2D body identifier.

◆ density

float PhysicalObject::density

protected

◆ friction

float PhysicalObject::friction

protected

◆ id

uint16_t PhysicalObject::id

Object identifier.

◆ linear_damping

float PhysicalObject::linear_damping

protected

◆ restitution

float PhysicalObject::restitution

protected

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

src/pogosim/objects.h
src/pogosim/objects.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PhysicalObject() [1/2]

◆ PhysicalObject() [2/2]

Member Function Documentation

◆ create_body()

◆ generate_contours()

◆ get_angle()

◆ get_angular_velocity()

◆ get_linear_acceleration()

◆ get_position()

◆ is_tangible()

◆ launch_user_step()

◆ move()

◆ parse_configuration()

◆ render()

Member Data Documentation

◆ _estimated_dt

◆ _last_time

◆ _lin_acc

◆ _prev_v

◆ angular_damping

◆ body_id

◆ density

◆ friction

◆ id

◆ linear_damping

◆ restitution