tgWorld Class Reference

#include <tgWorld.h>

Classes
struct	Config

Public Member Functions
	tgWorld ()
	tgWorld (const Config &config)
	tgWorld (const Config &config, tgGround *ground)
	~tgWorld ()
void	reset ()
void	reset (const Config &config)
void	reset (tgGround *ground)
void	step (double dt) const
tgWorldImpl &	implementation () const
double	getWorldGravity () const

Detailed Description

Represents the world in which the Tensegrities operate, including terrain, gravity and atmospheric conditions.

Definition at line 37 of file tgWorld.h.

Constructor & Destructor Documentation

tgWorld::tgWorld

(

)

Construct with the default configuration.

Todo:

Use the factory method design pattern to create the m_pImpl object.

Definition at line 49 of file tgWorld.cpp.

tgWorld::tgWorld

(

const Config &

config

)

Construct with a supplied configuration.

Parameters

[in]

config

a tgWorld::Config

Todo:

Use the factory method design pattern to create the m_pImpl object.

Definition at line 62 of file tgWorld.cpp.

tgWorld::tgWorld	(	const Config &	config,
		tgGround *	ground
	)

Construct with a supplied configuration and a supplied ground

Parameters

[in]	config	a tgWorld::Config
[in]	ground	a tgGround, stored in pointer m_pGround

Todo:

can we make the ground const?

Todo:

Use the factory method design pattern to create the m_pImpl object.

Definition at line 75 of file tgWorld.cpp.

tgWorld::~tgWorld

(

)

Delete the implementation.

Definition at line 84 of file tgWorld.cpp.

Member Function Documentation

double tgWorld::getWorldGravity

(

)

const

Returns the level of gravity in this world.

Definition at line 135 of file tgWorld.cpp.

tgWorldImpl& tgWorld::implementation ( ) const

inline

Return a pointer to the implementation.

Returns

a pointer to the implementation; may be NULL. Consider making this private, and making its clients friends.

Definition at line 108 of file tgWorld.h.

void tgWorld::reset

(

)

Replace the implementation.

Definition at line 90 of file tgWorld.cpp.

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void tgWorld::reset

(

const Config &

config

)

Replace the implementation with a new config.

Parameters

[in]

config

configuration POD

Definition at line 98 of file tgWorld.cpp.

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void tgWorld::reset

(

tgGround *

ground

)

Replace the implementation with a new ground.

Parameters

[in]

ground

the new ground

Definition at line 109 of file tgWorld.cpp.

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void tgWorld::step

(

double

dt

)

const

Advance the simulation.

Parameters

[in]

dt

the number of seconds since the previous call; std::invalid_argument is thrown if dt is not positive

Definition at line 119 of file tgWorld.cpp.

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

• core/tgWorld.h
• core/tgWorld.cpp