World Class Reference

The one-and-only world; all models go here. More...

#include <World.hh>

List of all members.

Public Member Functions

World (int serverId, bool serverForce)

virtual ~World ()

int Load (WorldFile *worldFile)

Load the world from a file.

int LoadModel (WorldFileNode *node, Model *parent)

void SetModelPose (Model *model, GzPose pose)

Set the pose of a model (and its attached children).

void ResetModelPoses ()

Reset the world.

int Save ()

Save the world.

int Initialize ()

int Finalize ()

void Step ()

double GetSimTime ()

Get the elapsed simulator time (seconds).

double GetPauseTime ()

Get accumulated pause time (seconds).

double GetRealTime ()

Get the elapsed real time (elapsed time).

double GetWallTime ()

Get the wall clock time (seconds).

double GetDayTime ()

Get the time relative to 12am (seconds).

int GetNumModels () const

Get the number of models.

Model ** GetModels () const

Get the list of models.

dSpaceID GetSpaceId ()

Public Attributes

int server_id

gz_server_t * gz_server

dWorldID worldId

double simSpeed

Simulation speed (e.g. speed 2 yields twice real time).

double utcOffset

UTC time offset (seconds since epoch). Used for GPS times.

GzVector utmZone

GzVector utmOffset

UTM offset (UTM coordinate that maps to zero in global cs).

GzColor skyColor

bool fogEnable

double fogDensity

GzColor fogColor

Friends

class Model

Detailed Description

The one-and-only world; all models go here.

The world class keeps a list of all models, handles loading and saving, object dynamics and collision detection for contact joints.

Constructor & Destructor Documentation

World::World ( int serverId,

bool serverForce

)

World::~World ( ) [virtual]

Member Function Documentation

int World::Load ( WorldFile * worldFile )

Load the world from a file.

Parameters:

worldFile Pointer to the world file object; the file pointer is stored must not be deleted while the world is running.

int World::LoadModel ( WorldFileNode * node,

Model * parent

)

void World::SetModelPose ( Model * model,

GzPose pose

)

Set the pose of a model (and its attached children).

Parameters:

model model to shift.

pose New model pose, relative to parent

void World::ResetModelPoses ( )

Reset the world.
Teleport the models to their initial positions, as specified in the world file. This does not change the similator clock, or any other state variables.

int World::Save ( )

Save the world.
This is used to mainly save changes to model poses.

int World::Initialize ( )

int World::Finalize ( )

void World::Step ( )

double World::GetSimTime ( )

Get the elapsed simulator time (seconds).

double World::GetPauseTime ( )

Get accumulated pause time (seconds).
Note that this is the paused simulation time; i.e., simTime + pauseTime = simSpeed * realTime (assuming a fast processor).

double World::GetRealTime ( )

Get the elapsed real time (elapsed time).

double World::GetWallTime ( )

Get the wall clock time (seconds).

double World::GetDayTime ( )

Get the time relative to 12am (seconds).

int World::GetNumModels ( ) const

Get the number of models.

Model ** World::GetModels ( ) const

Get the list of models.

dSpaceID World::GetSpaceId ( ) [inline]

Friends And Related Function Documentation

friend class Model [friend]

Member Data Documentation

int World::server_id

gz_server_t* World::gz_server

dWorldID World::worldId

double World::simSpeed

Simulation speed (e.g. speed 2 yields twice real time).

double World::utcOffset

UTC time offset (seconds since epoch). Used for GPS times.

GzVector World::utmZone

UTM zone. This is an integer offset; e.g., UTM zone 11 is converted to x = +11.

GzVector World::utmOffset

UTM offset (UTM coordinate that maps to zero in global cs).

GzColor World::skyColor

bool World::fogEnable

double World::fogDensity

GzColor World::fogColor

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

Last updated 12 September 2005 21:38:45


Public Member Functions
	World (int serverId, bool serverForce)
virtual	~World ()
int	Load (WorldFile *worldFile)
	Load the world from a file.
int	LoadModel (WorldFileNode node, Model parent)
void	SetModelPose (Model *model, GzPose pose)
	Set the pose of a model (and its attached children).
void	ResetModelPoses ()
	Reset the world.
int	Save ()
	Save the world.
int	Initialize ()
int	Finalize ()
void	Step ()
double	GetSimTime ()
	Get the elapsed simulator time (seconds).
double	GetPauseTime ()
	Get accumulated pause time (seconds).
double	GetRealTime ()
	Get the elapsed real time (elapsed time).
double	GetWallTime ()
	Get the wall clock time (seconds).
double	GetDayTime ()
	Get the time relative to 12am (seconds).
int	GetNumModels () const
	Get the number of models.
Model **	GetModels () const
	Get the list of models.
dSpaceID	GetSpaceId ()
Public Attributes
int	server_id
gz_server_t *	gz_server
dWorldID	worldId
double	simSpeed
	Simulation speed (e.g. speed 2 yields twice real time).
double	utcOffset
	UTC time offset (seconds since epoch). Used for GPS times.
GzVector	utmZone
GzVector	utmOffset
	UTM offset (UTM coordinate that maps to zero in global cs).
GzColor	skyColor
bool	fogEnable
double	fogDensity
GzColor	fogColor
Friends
class	Model