Stg::World Class Reference

World class More...

#include <stage.hh>

Classes
class	Event
Public Member Functions
virtual void	AddModel (Model *mod)
void	AddModelName (Model *mod, const std::string &name)
void	AddPowerPack (PowerPack *pp)
SuperRegion *	AddSuperRegion (const stg_point_int_t &coord)
void	AddUpdateCallback (stg_world_callback_t cb, void *user)
void	CancelQuit ()
void	CancelQuitAll ()
void	ClearRays ()
virtual std::string	ClockString (void) const
void	ConsumeQueue (unsigned int queue_num)
Model *	CreateModel (Model *parent, const std::string &typestr)
SuperRegion *	CreateSuperRegion (stg_point_int_t origin)
void	DestroySuperRegion (SuperRegion *sr)
void	Enqueue (unsigned int queue_num, stg_usec_t delay, Model *mod)
void	ExpireSuperRegion (SuperRegion *sr)
void	Extend (stg_point3_t pt)
void	ForEachCellInLine (const stg_point_int_t &pt1, const stg_point_int_t &pt2, CellPtrVec &cells)
unsigned int	GetEventQueue (Model *mod)
const stg_bounds3d_t &	GetExtent ()
Model *	GetGround ()
Model *	GetModel (const std::string &name) const
SuperRegion *	GetSuperRegion (const stg_point_int_t &coord)
SuperRegion *	GetSuperRegionCached (int32_t x, int32_t y)
SuperRegion *	GetSuperRegionCached (const stg_point_int_t &coord)
uint64_t	GetUpdateCount ()
Worldfile *	GetWorldFile ()
virtual bool	IsGUI () const
virtual void	Load (const char *worldfile_path)
void	LoadBlock (Worldfile *wf, int entity)
void	LoadBlockGroup (Worldfile *wf, int entity)
void	LoadModel (Worldfile *wf, int entity)
void	Log (Model *mod)
stg_point_int_t	MetersToPixels (const stg_point_t &pt)
int32_t	MetersToPixels (stg_meters_t x)
void	NeedRedraw ()
bool	PastQuitTime ()
bool	Paused ()
virtual void	PopColor ()
virtual void	PushColor (double r, double g, double b, double a)
virtual void	PushColor (Color col)
void	Quit ()
void	QuitAll ()
void	Raytrace (const Pose &pose, const stg_meters_t range, const stg_radians_t fov, const stg_ray_test_func_t func, const Model finder, const void arg, stg_raytrace_result_t *samples, const uint32_t sample_count, const bool ztest)
stg_raytrace_result_t	Raytrace (const Pose &pose, const stg_meters_t range, const stg_ray_test_func_t func, const Model finder, const void arg, const bool ztest)
stg_raytrace_result_t	Raytrace (const Ray &ray)
virtual Model *	RecentlySelectedModel ()
void	RecordRay (double x1, double y1, double x2, double y2)
void	RegisterOption (Option *opt)
	Register an Option for pickup by the GUI.
virtual void	Reload ()
virtual void	RemoveModel (Model *mod)
void	RemovePowerPack (PowerPack *pp)
int	RemoveUpdateCallback (stg_world_callback_t cb, void *user)
double	Resolution ()
virtual bool	Save (const char *filename)
void	ShowClock (bool enable)
	Control printing time to stdout.
stg_usec_t	SimTimeNow (void)
virtual void	Start ()
virtual void	Stop ()
bool	TestQuit ()
virtual void	TogglePause ()
void	TryCharge (PowerPack *pp, const Pose &pose)
virtual void	UnLoad ()
virtual bool	Update (void)
	World (const std::string &name="MyWorld", double ppm=DEFAULT_PPM)
virtual	~World ()
Static Public Member Functions
static void *	update_thread_entry (std::pair< World , int > info)
static bool	UpdateAll ()
Public Attributes
std::set< Model * >	active_energy
std::set< Model * >	active_velocity
std::vector < std::priority_queue< Event > >	event_queues
Model *	ground
bool	paused
	if true, the simulation is stopped
PointIntVec	rt_candidate_cells
PointIntVec	rt_cells
stg_usec_t	sim_interval
Static Public Attributes
static std::vector< std::string >	args
static std::string	ctrlargs
static const int	DEFAULT_PPM = 50
Protected Member Functions
void	CallUpdateCallbacks ()
	Call all calbacks in cb_list, removing any that return true;.
Protected Attributes
std::list< std::pair < stg_world_callback_t, void * > >	cb_list
	List of callback functions and arguments.
stg_bounds3d_t	extent
	Describes the 3D volume of the world.
bool	graphics
	true iff we have a GUI
std::set< Option * >	option_table
	GUI options (toggles) registered by models.
std::list< PowerPack * >	powerpack_list
	List of all the powerpacks attached to models in the world.
stg_usec_t	quit_time
std::list< float * >	ray_list
	List of rays traced for debug visualization.
stg_usec_t	sim_time
	the current sim time in this world in microseconds
SuperRegion *	sr_cached
	The last superregion looked up by this world.
std::map< stg_point_int_t, SuperRegion * >	superregions
std::vector< ModelPtrVec >	update_lists
uint64_t	updates
	the number of simulated time steps executed so far
Worldfile *	wf
	If set, points to the worldfile used to create this world.

Detailed Description

World class

Constructor & Destructor Documentation

World::World	(	const std::string &	name = `"MyWorld"`,
		double	ppm = `DEFAULT_PPM`
	)

World::~World ( void ) [virtual]

Member Function Documentation

void World::AddModel ( Model * mod ) [virtual]

void World::AddModelName	(	Model *	mod,
		const std::string &	name
	)

void World::AddPowerPack ( PowerPack * pp )

SuperRegion * World::AddSuperRegion ( const stg_point_int_t & coord )

void World::AddUpdateCallback	(	stg_world_callback_t	cb,
		void *	user
	)

Attach a callback function, to be called with the argument at the end of a complete update step

void World::CallUpdateCallbacks ( ) [protected]

Call all calbacks in cb_list, removing any that return true;.

void Stg::World::CancelQuit ( ) [inline]

void Stg::World::CancelQuitAll ( ) [inline]

void World::ClearRays ( )

std::string World::ClockString ( void ) const [virtual]

Get human readable string that describes the current simulation time.

Reimplemented in Stg::WorldGui.

void World::ConsumeQueue ( unsigned int queue_num )

consume events from the queue up to and including the current sim_time

Model * World::CreateModel	(	Model *	parent,
		const std::string &	typestr
	)

SuperRegion * World::CreateSuperRegion ( stg_point_int_t origin )

void World::DestroySuperRegion ( SuperRegion * sr )

void World::Enqueue	(	unsigned int	queue_num,
		stg_usec_t	delay,
		Model *	mod
	)

void Stg::World::ExpireSuperRegion ( SuperRegion * sr )

void World::Extend ( stg_point3_t pt )

Enlarge the bounding volume to include this point

void World::ForEachCellInLine	(	const stg_point_int_t &	pt1,
		const stg_point_int_t &	pt2,
		CellPtrVec &	cells
	)

add a Cell pointer to the vector for each cell on the line from pt1 to pt2 inclusive

unsigned int World::GetEventQueue ( Model * mod )

returns an event queue index number for a model to use for updates

const stg_bounds3d_t& Stg::World::GetExtent ( ) [inline]

Return the 3D bounding box of the world, in meters

Model* Stg::World::GetGround ( ) [inline]

Return the floor model

Model * World::GetModel ( const std::string & name ) const

Returns a pointer to the model identified by name, or NULL if nonexistent

SuperRegion * World::GetSuperRegion ( const stg_point_int_t & coord ) [inline]

SuperRegion * World::GetSuperRegionCached	(	int32_t	x,
		int32_t	y
	)			`[inline]`

SuperRegion * World::GetSuperRegionCached ( const stg_point_int_t & coord ) [inline]

uint64_t Stg::World::GetUpdateCount ( ) [inline]

Return the number of times the world has been updated.

Worldfile* Stg::World::GetWorldFile ( ) [inline]

virtual bool Stg::World::IsGUI ( ) const [inline, virtual]

Reimplemented in Stg::WorldGui.

void World::Load ( const char * worldfile_path ) [virtual]

Reimplemented in Stg::WorldGui.

void World::LoadBlock	(	Worldfile *	wf,
		int	entity
	)

void Stg::World::LoadBlockGroup	(	Worldfile *	wf,
		int	entity
	)

void World::LoadModel	(	Worldfile *	wf,
		int	entity
	)

void World::Log ( Model * mod )

Log the state of a Model

stg_point_int_t Stg::World::MetersToPixels ( const stg_point_t & pt ) [inline]

int32_t Stg::World::MetersToPixels ( stg_meters_t x ) [inline]

convert a distance in meters to a distance in world occupancy grid pixels

void Stg::World::NeedRedraw ( ) [inline]

hint that the world needs to be redrawn if a GUI is attached

bool World::PastQuitTime ( )

Returns true iff the current time is greater than the time we should quit

bool Stg::World::Paused ( ) [inline]

virtual void Stg::World::PopColor ( ) [inline, virtual]

Reimplemented in Stg::WorldGui.

virtual void Stg::World::PushColor	(	double	r,
		double	g,
		double	b,
		double	a
	)			`[inline, virtual]`

Reimplemented in Stg::WorldGui.

virtual void Stg::World::PushColor ( Color col ) [inline, virtual]

Reimplemented in Stg::WorldGui.

void Stg::World::Quit ( ) [inline]

void Stg::World::QuitAll ( ) [inline]

void World::Raytrace	(	const Pose &	pose,
		const stg_meters_t	range,
		const stg_radians_t	fov,
		const stg_ray_test_func_t	func,
		const Model *	finder,
		const void *	arg,
		stg_raytrace_result_t *	samples,
		const uint32_t	sample_count,
		const bool	ztest
	)

stg_raytrace_result_t World::Raytrace	(	const Pose &	pose,
		const stg_meters_t	range,
		const stg_ray_test_func_t	func,
		const Model *	finder,
		const void *	arg,
		const bool	ztest
	)