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Cylinder Class Reference

#include <cylinder.h>

Collaboration diagram for Cylinder:

Public Methods
	Cylinder (World _world, Cylinder _father, double newEnergy, double newWidth, double newHeight, Vector3d newGluePositionBody, bool onAgent)
	~Cylinder ()
void	setNewAgent (Agent *)
	Changes parent agent of the cylinder (and it's sons).
Cylinder *	dropEnergy (double energyMass)
	Returns a energy cylinder of desired energy (that's energy+mass).
void	newIntention (const Action &a)
	New intention of the cylinder for this turn.
void	newCycle ()
	A new cycle begins, we should reset forces and moments.
Cylinder *	performAction ()
	Really performs desired actions.
Get Properties
Methods to get several properties of the cylinder
Point3d	getPosition (bool relative=false)
Point3d	getGluePosition (bool relative=false)
Point3d	getCentreOfGravity (void)
Vector3d	getOrientation ()
Cylinder *	getFather ()
Agent *	getAgent ()
double	getHeight ()
double	getWidth ()
double	getEnergy ()
double	getMass (bool pending=false)
unsigned char	getId ()
Cylinder *	operator[] (unsigned short int)
	Search by id.
Cylinder *	operator() (unsigned short int n)
	Search by number.
unsigned short int	getNumCylinders ()
signed short int	dist (Cylinder *cyl)
	Returns the logical distance between two cylinders (-1 if cyl is not a son).
World *	getWorld ()
void	updateMomentOfInertia ()
	Updates the moment of inertia of the cylinder.
Physics
void	applyForce (const Vector3d &force, const Point3d &where)
void	applyForceOnBody (const Vector3d &force, const Point3d &where)
	Apply a force over the cylinder, on a given body position.
void	applyVelocity (double dtime)
	Move the cylinders.
void	undoVelocity (void)
	Undo last velocity (only applicable once).
void	setToGluePosition (void)
	sets the cylinder to the glue position
void	movePosition (const Vector3d &ammount)
	moves the position of the cylinder, but with care about father
Collission checkers
Several checks about colissions
vector< Collision * >	checkCollisions ()
	Checks all collisions.
Collision *	checkGroundCollision (void)
	Check collisions against ground.
Collision *	checkCylinderCollision (Cylinder *other)
	Check collisions against other cylinder.
Protected Methods
Cylinder *	operator() (unsigned short int, unsigned short int &actual)
	Second part of operator()(unsigned short int);.
Change status
Methods to change the status of the cylinder. All them returns the energy cylinders that is generated when energy is consummed
Cylinder *	grow (GrowType type, unsigned short int energy)
Cylinder *	move (MoveType type, unsigned short int energy)
Cylinder *	drop (unsigned char son, const char *creationMessage, unsigned long int messageSize)
Cylinder *	createCylinder (double angle, double height, unsigned short int energy)
Cylinder *	sendEnergyTo (unsigned char son, unsigned short int energy)
Cylinder *	sendMessage (unsigned long int agentId, const char *message, unsigned long int size)
Protected Attributes
vector< Cylinder * >	son
Cylinder *	father
Agent *	agent
World *	world
	The world from which the cylinder cames.
unsigned char	cylinderId
Action	desiredAction
double	height
double	length
double	width
double	radius
Cylinder Physical Status
The physical status of the Cylinder
Matrix3x3	inertia
	Inertia tensor.
Matrix3x3	inertiaInverse
	Inertia tensor inversed.
Point3d	gluePosition
Point3d	gluePositionBody
Point3d	position
	position of the cylinder respect to the parent cylinder, in world coordinates, if any, or world if none
Quaternion	orientationBase
	Base for the orientation of the cylinder.
Vector3d	orientationWorld
	Orientation of the cylinder, in world coordinates.
Vector3d	velocity
	Velocity.
Vector3d	angularVelocity
	Angular Velocity.
Vector3d	force
	Force.
Vector3d	moment
	Torque.
double	energy
	Energy of the cylinder.
double	mass
	Mass of the cylinder.
Old Physical properties (for undo)
Point3d	oldPosition
	position of the cylinder in world coordinates
Quaternion	oldOrientationBase
	Orientation base of the cylinder (maybe should be a quaternion?).
Vector3d	oldVelocity
	Velocity.
Vector3d	oldAngularVelocity
	Angular Velocity.
Vector3d	oldForce
	Force.
Vector3d	oldMoment
	Torque.
Friends
class	Collision

Detailed Description

This is the main physical body of the world. The cylinders. Each agent is composed of one or more cylinders.

See also:: Vector3d

Definition at line 42 of file cylinder.h.

Constructor & Destructor Documentation

Cylinder::Cylinder ( World * _world,

Cylinder * _father,

double newEnergy,

double newWidth,

double newHeight,

Vector3d newGluePositionBody,

bool onAgent

)

It constructs the cylinder with the desired energy, mass and position.
There is also an Id of the cylinder into the agent. The main cylinder is id=0, the rest are one more number, till 255, where no more cylinders will be created.
Definition at line 39 of file cylinder.cc.
References World::addCylinder(), agent, angularVelocity, cylinderId, energy, father, force, Agent::getCylinderCount(), gluePosition, gluePositionBody, height, M_PI, mass, moment, Vector3d::normalize(), Quaternion::normalize(), orientationBase, orientationWorld, position, radius, Quaternion::toWorld(), updateMomentOfInertia(), velocity, width, world, Vector3d::X(), and Vector3d::Y().
Referenced by createCylinder(), and dropEnergy().

Cylinder::~Cylinder ( )

Free a little dynamically allocated memory
Definition at line 119 of file cylinder.cc.
References World::delCylinder(), son, and world.

Member Function Documentation

void Cylinder::applyForce ( const Vector3d & force,

const Point3d & where

)

Apply a force over the cylinder, from a world coordinate, it calculates the position of the body
Definition at line 167 of file cylinder_physics.cc.
References force, log, and Point3d.

void Cylinder::applyForceOnBody ( const Vector3d & _force,

const Point3d & where

)

Apply a force over the cylinder, on a given body position.
Apply a force over the cylinder, causing linear and angular acceleration
The force and point are both in body coordinates
Definition at line 178 of file cylinder_physics.cc.
References force, moment, orientationBase, Point3d, and Quaternion::toWorld().

void Cylinder::applyVelocity ( double dtime )

Move the cylinders.
Move the cylinders, and check collissions. Returns true if it's bellow the floor
Definition at line 188 of file cylinder_physics.cc.
References angularVelocity, force, inertia, inertiaInverse, length, mass, moment, Vector3d::normalize(), Quaternion::normalize(), oldAngularVelocity, oldForce, oldMoment, oldOrientationBase, oldPosition, oldVelocity, orientationBase, orientationWorld, position, Quaternion::toWorld(), and velocity.

vector< Collision * > Cylinder::checkCollisions ( )

Checks all collisions.
Checks all collisions; against other cylinders, ground...
Definition at line 245 of file cylinder_physics.cc.
References checkCylinderCollision(), checkGroundCollision(), World::getCylinder(), World::getNumCylinders(), and world.

Collision * Cylinder::checkCylinderCollision ( Cylinder * other )

Check collisions against other cylinder.
Check a collision against another cylinder.
The way to calculate this is to first check the distance between the two centers of gravity; if it's grater then the sum of both lengths then sure they do not collide; then I check the distance from both lines (each from one cylinder point, and with the orientation).
Definition at line 350 of file cylinder_physics.cc.
Referenced by checkCollisions().

Collision * Cylinder::checkGroundCollision ( void )

Check collisions against ground.
Check the collision against the ground
The way it works is:
The cylinder is defined by two planes at position (p1) and at position+orientation*height (p2) (the two extremes) and the radius (width).
1.We check that p1 and p2 are above the plane, else they are in contact, or more probably penetrating
2.then we check the lines that are the cut's of both planes to the ground (l1 and l2), and the distance from the lines l1 and l2 to p1 and p2, respectively, if it's less than the radius, then the cylinder cuts the plane. We check also for contact.
Definition at line 284 of file cylinder_physics.cc.
References angularVelocity, Collision, COLLISION_SPACE_EPSILUM, COLLISION_VELOCITY_EPSILUM, contact, force, getPosition(), height, length, orientationBase, orientationWorld, penetrating, Point3d, Quaternion::toWorld(), velocity, and Vector3d::Z().
Referenced by checkCollisions(), and newCycle().

Cylinder * Cylinder::createCylinder ( double angle,

double atHeight,

unsigned short int usedEnergy

) [protected]

A new cylinder is created in this agent with that position (angle and height) on it's parent cylinder (this). Total energy of new agent is parameter energy
Definition at line 122 of file cylinder_actions.cc.
References Cylinder(), energy, M_PI, Quaternion::normalize(), orientationBase, son, width, and world.
Referenced by performAction().

signed short int Cylinder::dist ( Cylinder * cyl )

Returns the logical distance between two cylinders (-1 if cyl is not a son).
Returns the distance between two cylinders, assuming that this is the father of cyl (-1 if not)
Definition at line 175 of file cylinder.cc.
References son.
Referenced by Client::sendEnergy().

Cylinder * Cylinder::drop ( unsigned char sonId,

const char * creationMessage,

unsigned long int messageSize

) [protected]

Drop a cylinder
Definition at line 89 of file cylinder_actions.cc.
References getWorld(), log, World::newAgent(), son, and world.
Referenced by newCycle(), and performAction().

Cylinder * Cylinder::dropEnergy ( double droppedEnergy )

Returns a energy cylinder of desired energy (that's energy+mass).
Creates an energy cylinder of desired energy+mass.
It is created in pseudo-random position in the cylinder surface, with a relation between the energy and mass of 7/8
Definition at line 159 of file cylinder_actions.cc.
References cos(), Cylinder(), energy, M_PI, mass, and world.
Referenced by grow(), and move().

Agent* Cylinder::getAgent ( ) [inline]

Definition at line 170 of file cylinder.h.
Referenced by World::newAgent().

Point3d Cylinder::getCentreOfGravity ( void )

Returns the centre of gravity.
The centre of gravity is the centre of this and of this sons.
Definition at line 228 of file cylinder.cc.
References getPosition(), length, orientationWorld, and Point3d.

double Cylinder::getEnergy ( ) [inline]

Definition at line 174 of file cylinder.h.
References energy.
Referenced by Client::grow(), Client::move(), Client::newCylinder(), GraphicClient::Run(), and Client::sendEnergy().

Cylinder* Cylinder::getFather ( ) [inline]

Definition at line 169 of file cylinder.h.
Referenced by Client::dropCylinder().

Vector3d Cylinder::getGluePosition ( bool relative = false )

Returns the glue position of the cylinder:
* if relative is true, it returns the position relative to its parent,
* if it's false, returns it relative to the world
Definition at line 213 of file cylinder.cc.
References father, and gluePosition.

double Cylinder::getHeight ( ) [inline]

Definition at line 171 of file cylinder.h.
References height.
Referenced by GraphicClient::Run().

unsigned char Cylinder::getId ( void ) [inline]

Definition at line 177 of file cylinder.h.
References cylinderId.
Referenced by newCycle().

double Cylinder::getMass ( bool pending = false )

Reutrns current mass, and, if true, the pending mass
Definition at line 243 of file cylinder.cc.
References getNumCylinders(), and mass.
Referenced by GraphicClient::Run().

unsigned short int Cylinder::getNumCylinders ( void )

Returns the number of cylinders that hangs from this one plus this one
Definition at line 163 of file cylinder.cc.
References son.
Referenced by getMass(), Agent::getNumCylinders(), and setNewAgent().

Vector3d Cylinder::getOrientation ( ) [inline]

Definition at line 168 of file cylinder.h.
Referenced by GraphicClient::Run().

Vector3d Cylinder::getPosition ( bool relative = false )

Returns the position of the cylinder:
* if relative is true, it returns the position relative to its parent,
* if it's false, returns it relative to the world
Definition at line 196 of file cylinder.cc.
References father, and position.
Referenced by checkGroundCollision(), getCentreOfGravity(), Agent::into(), GraphicClient::Run(), and setNewAgent().

double Cylinder::getWidth ( ) [inline]

Definition at line 172 of file cylinder.h.
References width.
Referenced by GraphicClient::Run().

World * Cylinder::getWorld ( void )

Returns the actual world of this cylinder
Definition at line 236 of file cylinder.cc.
References world.
Referenced by drop().

Cylinder * Cylinder::grow ( GrowType type,

unsigned short int usedEnergy

) [protected]

Make the cylinder grow. It wastes energy, in a proportion similar to the new area, to make more mass.
Definition at line 34 of file cylinder_actions.cc.
References dropEnergy(), energy, grow(), growHorizontal, GrowType, height, M_PI, mass, and width.
Referenced by grow(), and performAction().

Cylinder * Cylinder::move ( MoveType type,

unsigned short int usedEnergy

) [protected]

Move the cylinder
Definition at line 53 of file cylinder_actions.cc.
References dropEnergy(), energy, father, log, mass, moveHorizontalCCW, moveHorizontalCW, MoveType, moveVerticalCCW, and moveVerticalCW.
Referenced by performAction().

void Cylinder::movePosition ( const Vector3d & ammount )

moves the position of the cylinder, but with care about father
Moves the position of the cylinder, but with care with parent; in case the cylinder have a parent, it moves the parent too. Have care about gluePosition too.
Definition at line 152 of file cylinder_physics.cc.
References position.
Referenced by Agent::Agent().

void Cylinder::newCycle ( )

A new cycle begins, we should reset forces and moments.
As a new cycle begins, we need to reset the forces, moments... It also adds the forces due to gravity, linear drag and angular drag.
Definition at line 50 of file cylinder_physics.cc.
References angularVelocity, checkGroundCollision(), COLLISION_ANGULARVELOCITY_EPSILUM, COLLISION_VELOCITY_EPSILUM, contact, cos(), drop(), force, World::getAngularDragCoefficient(), World::getDamperCoefficient(), World::getGravity(), getId(), World::getLinearDragCoefficient(), World::getSpringCoefficient(), Collision::getType(), gluePositionBody, height, length, mass, Vector3d::module(), moment, oldForce, oldMoment, orientationWorld, radius, Collision::resolve(), sin(), son, updateMomentOfInertia(), velocity, width, Vector3d::X(), Vector3d::Y(), and Vector3d::Z().

void Cylinder::newIntention ( const Action & a ) [inline]

New intention of the cylinder for this turn.

Definition at line 197 of file cylinder.h.
Referenced by Client::dropCylinder(), Client::grow(), Client::move(), Client::newCylinder(), Client::sendEnergy(), and Client::sendMessage().

Cylinder* Cylinder::operator() ( unsigned short int n ) [inline]

Search by number.

Definition at line 182 of file cylinder.h.

Cylinder * Cylinder::operator() ( unsigned short int n,

unsigned short int & actual

) [protected]

Second part of operator()(unsigned short int);.
Returns the cylinder number=n, in this agent, or NULL if there is not one
Definition at line 145 of file cylinder.cc.
References son.

Cylinder * Cylinder::operator[] ( unsigned short int n )

Search by id.
Returns the cylinder with id=n, or NULL if there is not one
Definition at line 129 of file cylinder.cc.
References cylinderId, and son.

Cylinder * Cylinder::performAction ( )

Really performs desired actions.
According to desiredAction it realizes an Action
Definition at line 202 of file cylinder_actions.cc.
References Action::action, Action::agentId, Action::angle, createCylinder(), Action::cylinder, desiredAction, drop(), dropCylinder, Action::energy, grow(), growTo, Action::growType, GrowType, Action::height, log, Action::message, Action::messageSize, move(), moveCylinder, Action::moveType, newCylinder, none, sendEnergy, sendEnergyTo(), sendMessage(), and sendMessageAction.
Referenced by Agent::performActions().

Cylinder * Cylinder::sendEnergyTo ( unsigned char son,

unsigned short int energy

) [protected]

Traspases some of own energy to a son's cylinder energy
Definition at line 140 of file cylinder_actions.cc.
References energy, and son.
Referenced by performAction().

Cylinder * Cylinder::sendMessage ( unsigned long int agentId,

const char * message,

unsigned long int size

) [protected]

Definition at line 176 of file cylinder_actions.cc.
References World::addMessage(), agent, World::getAgent(), Agent::getId(), Agent::receiveMessage(), and world.
Referenced by performAction().

void Cylinder::setNewAgent ( Agent * _agent )

Changes parent agent of the cylinder (and it's sons).
Change the agent parent of this cylinder. This is a consecuence of a drop cylinder, when a new agent is born. We must make some little things, but in general nothing important change.
This call is only made to the new first-cylinder.
Definition at line 102 of file cylinder.cc.
References father, getNumCylinders(), getPosition(), gluePosition, and position.
Referenced by Agent::Agent(), and World::newAgent().

void Cylinder::setToGluePosition ( void )

sets the cylinder to the glue position
Moves the cylinder to the glue position, if any
Definition at line 142 of file cylinder_physics.cc.
References father, gluePosition, and position.

void Cylinder::undoVelocity ( void )

Undo last velocity (only applicable once).
Undoes latest velocity, setting the oldXXX values that were saved
Definition at line 228 of file cylinder_physics.cc.
References angularVelocity, force, moment, Vector3d::normalize(), oldAngularVelocity, oldForce, oldMoment, oldOrientationBase, oldPosition, oldVelocity, orientationBase, orientationWorld, position, Quaternion::toWorld(), and velocity.

void Cylinder::updateMomentOfInertia ( )

Updates the moment of inertia of the cylinder.
Updates the moment of inertia of the cylinder
Definition at line 34 of file cylinder_physics.cc.
References height, inertia, inertiaInverse, Matrix3x3::Inverse(), mass, and width.
Referenced by Cylinder(), and newCycle().

Friends And Related Function Documentation

friend class Collision [friend]

Definition at line 238 of file cylinder.h.
Referenced by checkGroundCollision().

Member Data Documentation

Agent* Cylinder::agent [protected]

The agent to which this cylinder belongs
Definition at line 124 of file cylinder.h.
Referenced by Cylinder(), and sendMessage().

Vector3d Cylinder::angularVelocity [protected]

Angular Velocity.

Definition at line 85 of file cylinder.h.
Referenced by applyVelocity(), checkGroundCollision(), Cylinder(), newCycle(), Collision::resolveGroundCollision(), and undoVelocity().

unsigned char Cylinder::cylinderId [protected]

The identifier of this cylinder, on this agent
Definition at line 129 of file cylinder.h.
Referenced by Cylinder(), getId(), and operator[]().

Action Cylinder::desiredAction [protected]

The action that the cylinder wants to perform in this cycle
Definition at line 132 of file cylinder.h.
Referenced by performAction().

double Cylinder::energy [protected]

Energy of the cylinder.

Definition at line 94 of file cylinder.h.
Referenced by createCylinder(), Cylinder(), dropEnergy(), getEnergy(), grow(), move(), and sendEnergyTo().

Cylinder* Cylinder::father [protected]

The father of the cylinder, if it's on the same agent (else NULL)
Definition at line 122 of file cylinder.h.
Referenced by Cylinder(), getGluePosition(), getPosition(), move(), setNewAgent(), and setToGluePosition().

Vector3d Cylinder::force [protected]

Force.

Definition at line 87 of file cylinder.h.
Referenced by applyForce(), applyForceOnBody(), applyVelocity(), checkGroundCollision(), Cylinder(), newCycle(), Collision::resolveGroundCollision(), and undoVelocity().

Point3d Cylinder::gluePosition [protected]

position of the cylinder respect to the parent cylinder, in world coordinates, if any, or (0,0,0) if none Indicate the position that the cylinder should have (and that the glue force sets)
Definition at line 69 of file cylinder.h.
Referenced by Cylinder(), getGluePosition(), setNewAgent(), and setToGluePosition().

Point3d Cylinder::gluePositionBody [protected]

position of the cylinder with respect to the father, if any, in body coordinates in cylindrical "svas-coordinates": (height, angle,0)
Definition at line 73 of file cylinder.h.
Referenced by Cylinder(), and newCycle().

double Cylinder::height [protected]

Definition at line 51 of file cylinder.h.
Referenced by checkGroundCollision(), Cylinder(), getHeight(), grow(), newCycle(), and updateMomentOfInertia().

Matrix3x3 Cylinder::inertia [protected]

Inertia tensor.

Definition at line 60 of file cylinder.h.
Referenced by applyVelocity(), Collision::resolveGroundCollision(), and updateMomentOfInertia().

Matrix3x3 Cylinder::inertiaInverse [protected]

Inertia tensor inversed.

Definition at line 62 of file cylinder.h.
Referenced by applyVelocity(), Collision::resolveGroundCollision(), and updateMomentOfInertia().

double Cylinder::length [protected]

Definition at line 52 of file cylinder.h.
Referenced by applyVelocity(), checkGroundCollision(), getCentreOfGravity(), and newCycle().

double Cylinder::mass [protected]

Mass of the cylinder.

Definition at line 96 of file cylinder.h.
Referenced by applyVelocity(), Cylinder(), dropEnergy(), getMass(), grow(), move(), newCycle(), Collision::resolveGroundCollision(), and updateMomentOfInertia().

Vector3d Cylinder::moment [protected]

Torque.

Definition at line 89 of file cylinder.h.
Referenced by applyForceOnBody(), applyVelocity(), Cylinder(), newCycle(), Collision::resolveGroundCollision(), and undoVelocity().

Vector3d Cylinder::oldAngularVelocity [protected]

Angular Velocity.

Definition at line 110 of file cylinder.h.
Referenced by applyVelocity(), and undoVelocity().

Vector3d Cylinder::oldForce [protected]

Force.

Definition at line 112 of file cylinder.h.
Referenced by applyVelocity(), newCycle(), and undoVelocity().

Vector3d Cylinder::oldMoment [protected]

Torque.

Definition at line 114 of file cylinder.h.
Referenced by applyVelocity(), newCycle(), and undoVelocity().

Quaternion Cylinder::oldOrientationBase [protected]

Orientation base of the cylinder (maybe should be a quaternion?).

Definition at line 106 of file cylinder.h.
Referenced by applyVelocity(), and undoVelocity().

Point3d Cylinder::oldPosition [protected]

position of the cylinder in world coordinates

Definition at line 104 of file cylinder.h.
Referenced by applyVelocity(), and undoVelocity().

Vector3d Cylinder::oldVelocity [protected]

Velocity.

Definition at line 108 of file cylinder.h.
Referenced by applyVelocity(), and undoVelocity().

Quaternion Cylinder::orientationBase [protected]

Base for the orientation of the cylinder.

Definition at line 79 of file cylinder.h.
Referenced by applyForceOnBody(), applyVelocity(), checkGroundCollision(), createCylinder(), Cylinder(), Collision::resolveGroundCollision(), and undoVelocity().

Vector3d Cylinder::orientationWorld [protected]

Orientation of the cylinder, in world coordinates.

Definition at line 81 of file cylinder.h.
Referenced by applyVelocity(), checkGroundCollision(), Cylinder(), getCentreOfGravity(), newCycle(), and undoVelocity().

Point3d Cylinder::position [protected]

position of the cylinder respect to the parent cylinder, in world coordinates, if any, or world if none

Definition at line 77 of file cylinder.h.
Referenced by applyVelocity(), Cylinder(), getPosition(), movePosition(), setNewAgent(), setToGluePosition(), and undoVelocity().

double Cylinder::radius [protected]

Definition at line 57 of file cylinder.h.
Referenced by Cylinder(), and newCycle().

vector<Cylinder *> Cylinder::son [protected]

Pointers to sons
Definition at line 120 of file cylinder.h.
Referenced by createCylinder(), dist(), drop(), getNumCylinders(), newCycle(), operator()(), operator[](), sendEnergyTo(), and ~Cylinder().

Vector3d Cylinder::velocity [protected]

Velocity.

Definition at line 83 of file cylinder.h.
Referenced by applyVelocity(), checkGroundCollision(), Cylinder(), newCycle(), Collision::resolveGroundCollision(), and undoVelocity().

double Cylinder::width [protected]

Definition at line 56 of file cylinder.h.
Referenced by createCylinder(), Cylinder(), getWidth(), grow(), newCycle(), and updateMomentOfInertia().

World* Cylinder::world [protected]

The world from which the cylinder cames.

Definition at line 126 of file cylinder.h.
Referenced by checkCollisions(), createCylinder(), Cylinder(), drop(), dropEnergy(), getWorld(), sendMessage(), and ~Cylinder().

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

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1.2.16

Cylinder Class Reference

Public Methods

Protected Methods

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation