RoboidControl.Thing Class Reference

Detailed Description

A thing is the primitive building block.

Inheritance diagram for RoboidControl.Thing:

Classes
class	CoreEvent
	An event happened to this event. More...
class	Type
	Predefined thing types. More...

Public Member Functions
	Thing (Thing parent=default)
	Create a new Thing.
virtual void	CreateComponent ()
	Function which can be used to create components in external engines.
void	AddChild (Thing child)
	Add a child Thing to this Thing.
bool	RemoveChild (Thing child)
	Remove the given thing as a child of this thing.
void	ReplacePosition (Spherical newPosition)
void	ReplaceOrientation (SwingTwist newOrientation)
virtual void	Update (bool recurse=false)
	Update de state of the thing.
virtual byte[]	GenerateBinary ()
	Function used to generate binary data for this thing.
virtual void	ProcessBinary (byte[] bytes)
	Function used to process binary data received for this thing.

Static Public Member Functions
static void	CreateRoot (Participant owner)
	Create a root Thing for a participant.
static ulong	GetTimeMs ()
	Get the current time in milliseconds.

Public Attributes
bool	terminate = false
	Terminated things are no longer updated.
byte	id = 0
	The ID of this thing.
byte	type = Type.Undetermined
	The type of this thing.
bool	isRemote = false
Participant	owner = null
	The participant owning this thing.
bool	nameChanged = false
Unity.Thing	component = null
	A reference to the representation of the thing in Unity.
bool	hierarchyChanged = true
	Indicator that the hierarchy of the thing has changed.
bool	positionUpdated = false
	Boolean indicating that the thing has an updated position.
bool	orientationUpdated = false
	Boolean indicating the thing has an updated orientation.
bool	linearVelocityUpdated = false
	Boolean indicating the thing has an updated linear velocity.
bool	angularVelocityUpdated = false
	Boolean indicating the thing has an updated angular velocity.
ConcurrentQueue< CoreEvent >	updateQueue = new()
	Queue containing events happened to this thing.

Protected Attributes
List< Thing >	children = new()
	The children of this thing.

Properties
static Thing	localRoot [get]
	The root thing for the local participant.
virtual string	name [get, set]
	The name of the thing.
string	modelUrl [get, set]
	An URL pointing to the location where a model of the thing can be found.
Thing	parent [get, set]
	The parent of this thing.
bool	isRoot [get]
	Indication whether this is a root thing.
Spherical	position [get, set]
	The position of the thing in local space, in meters.
SwingTwist	orientation [get, set]
	The orientation of the thing in local space.
Spherical	linearVelocity [get, set]
	The linear velocity of the thing in local space in meters per second.
Spherical	angularVelocity [get, set]
	The angular velocity of the thing in local space in degrees per second.

Constructor & Destructor Documentation

Thing()

RoboidControl.Thing.Thing

(

Thing

parent = default

)

Create a new Thing.

Parameters

parent

(optional) The parent thing

<note>The owner will be the same as the owner of the parent thing, it will be Participant.LocalParticipant if the parent is not specified. A thing without a parent will be connected to the root thing. </note>

Member Function Documentation

CreateRoot()

static void RoboidControl.Thing.CreateRoot ( Participant  owner )

static

Create a root Thing for a participant.

Parameters

owner

The participant who will own this root thing

CreateComponent()

virtual void RoboidControl.Thing.CreateComponent ( )

virtual

Function which can be used to create components in external engines.

Currently this is used to create GameObjects in Unity

Reimplemented in RoboidControl.DistanceSensor, and RoboidControl.TouchSensor.

AddChild()

void RoboidControl.Thing.AddChild

(

Thing

child

)

Add a child Thing to this Thing.

Parameters

child

The Thing which should become a child

Remarks

When the Thing is already a child, it will not be added again

RemoveChild()

bool RoboidControl.Thing.RemoveChild

(

Thing

child

)

Remove the given thing as a child of this thing.

Parameters

child

The child to remove

Returns

True when the child was present or false when it was not found

Update()

virtual void RoboidControl.Thing.Update ( bool  recurse = false )

virtual

Update de state of the thing.

Parameters

recurse

When true, this will Update the descendants recursively

Reimplemented in RoboidControl.ControlledMotor, RoboidControl.EncoderMotor, and RoboidControl.DifferentialDrive.

GetTimeMs()

static ulong RoboidControl.Thing.GetTimeMs ( )

static

Get the current time in milliseconds.

Returns

The current time in milliseconds

GenerateBinary()

virtual byte[] RoboidControl.Thing.GenerateBinary ( )

virtual

Function used to generate binary data for this thing.

Returns

A byte array with the binary data

See also

Passer::RoboidControl::BinaryMsg

Reimplemented in RoboidControl.DifferentialDrive, RoboidControl.DigitalSensor, RoboidControl.RelativeEncoder, RoboidControl.TemperatureSensor, and RoboidControl.TouchSensor.

ProcessBinary()

virtual void RoboidControl.Thing.ProcessBinary ( byte[]  bytes )

virtual

Function used to process binary data received for this thing.

Parameters

bytes

The binary data to process

Reimplemented in RoboidControl.DigitalSensor, RoboidControl.DistanceSensor, RoboidControl.TemperatureSensor, RoboidControl.TouchSensor, RoboidControl.DifferentialDrive, and RoboidControl.RelativeEncoder.

Member Data Documentation

type

byte RoboidControl.Thing.type = Type.Undetermined

The type of this thing.

This can be either a Thing.Type or a byte value for custom types.

Property Documentation

modelUrl

string RoboidControl.Thing.modelUrl

getset

An URL pointing to the location where a model of the thing can be found.

Although the roboid implementation is not dependent on the model, the only official supported model formats are .png (sprite), .gltf and .glb