frcsim::Gamepiece Class Reference

Generic runtime gamepiece abstraction. More...

#include <gamepiece.hpp>

Inheritance diagram for frcsim::Gamepiece:

Public Types
enum class	State { kAirborne , kGrounded , kHeld }
using	Config = BallPhysicsSim3D::Config
using	Properties = BallPhysicsSim3D::BallProperties

Public Member Functions
	Gamepiece ()=default
	Gamepiece (const BallPhysicsSim3D::Config &cfg, const BallPhysicsSim3D::BallProperties &props)
void	setGamepieceState (State s)
State	getGamepieceState () const
bool	pick (const PickupRequest &req)
	Attempt to pick up the gamepiece into a carrier. Delegates to BallPhysicsSim3D::requestPickup and flips state to kHeld on success.
void	place (const Vector3 &pos)
	Place the gamepiece at world position and mark as grounded.
void	outtake (const Vector3 &muzzle_position_m, const Vector3 &muzzle_velocity_mps, const Vector3 &muzzle_spin_radps=Vector3::zero())
	Outtake (launch) the gamepiece into free flight and mark as airborne.
void	step (double dt_s)
	Step wrapper that applies low-cost behavior for grounded/held.
void	setTypeName (const std::string &name)
const std::string &	typeName () const
bool	isBall () const
	BallPhysicsSim3D ()=default
	BallPhysicsSim3D (const Config &config)
	BallPhysicsSim3D (const Config &config, const BallProperties &ball_properties)
Public Member Functions inherited from frcsim::BallPhysicsSim3D
	BallPhysicsSim3D ()=default
	BallPhysicsSim3D (const Config &config)
	BallPhysicsSim3D (const Config &config, const BallProperties &ball_properties)
const Config &	config () const
	Returns active, sanitized configuration.
void	setConfig (const Config &config)
	Replaces configuration after value sanitization and clamping.
const BallProperties &	ballProperties () const
	Returns active, sanitized ball properties.
void	setBallProperties (const BallProperties &props)
	Replaces ball properties after sanitization.
const BallState &	state () const
	Returns current ball state.
void	setState (const BallState &state)
	Replaces state and sanitizes non-finite values.
void	setCarrierPose (const Vector3 &carrier_position_m, const Vector3 &carrier_velocity_mps=Vector3::zero())
	Updates carrier pose used when the ball is in held mode.
bool	requestPickup (const PickupRequest &pickup_request)
	Attempts to pick up and hold the ball.
void	release ()
	Releases the ball from held mode without changing velocity.
void	shoot (const Vector3 &muzzle_position_m, const Vector3 &muzzle_velocity_mps, const Vector3 &muzzle_spin_radps=Vector3::zero())
	Places the ball at a muzzle pose and sets launch velocity/spin.
void	step (double dt_s)
	Advances simulation by dt seconds.

Detailed Description

Generic runtime gamepiece abstraction.

For now this type is a thin specialization of BallPhysicsSim3D to provide a single top-level gamepiece abstraction that can be extended later for other hitbox families (boxes, custom CAD meshes, etc.).

Member Typedef Documentation

Config

using frcsim::Gamepiece::Config = BallPhysicsSim3D::Config

Properties

using frcsim::Gamepiece::Properties = BallPhysicsSim3D::BallProperties

Member Enumeration Documentation

State

enum class frcsim::Gamepiece::State

strong

Enumerator
kAirborne
kGrounded
kHeld

Constructor & Destructor Documentation

Gamepiece() [1/2]

frcsim::Gamepiece::Gamepiece ( )

default

Gamepiece() [2/2]

frcsim::Gamepiece::Gamepiece ( const BallPhysicsSim3D::Config & cfg, const BallPhysicsSim3D::BallProperties & props )

inline

Member Function Documentation

BallPhysicsSim3D() [1/3]

frcsim::BallPhysicsSim3D::BallPhysicsSim3D ( )

default

BallPhysicsSim3D() [2/3]

frcsim::BallPhysicsSim3D::BallPhysicsSim3D ( const Config & config )

inlineexplicit

BallPhysicsSim3D() [3/3]

frcsim::BallPhysicsSim3D::BallPhysicsSim3D ( const Config & config, const BallProperties & ball_properties )

inline

getGamepieceState()

State frcsim::Gamepiece::getGamepieceState ( ) const

inline

isBall()

bool frcsim::Gamepiece::isBall ( ) const

inline

Returns true when this gamepiece should use the ball physics path.

outtake()

void frcsim::Gamepiece::outtake ( const Vector3 & muzzle_position_m, const Vector3 & muzzle_velocity_mps, const Vector3 & muzzle_spin_radps = Vector3::zero() )

inline

Outtake (launch) the gamepiece into free flight and mark as airborne.

pick()

bool frcsim::Gamepiece::pick ( const PickupRequest & req )

inline

Attempt to pick up the gamepiece into a carrier. Delegates to BallPhysicsSim3D::requestPickup and flips state to kHeld on success.

place()

void frcsim::Gamepiece::place ( const Vector3 & pos )

inline

Place the gamepiece at world position and mark as grounded.

setGamepieceState()

void frcsim::Gamepiece::setGamepieceState ( State s )

inline

setTypeName()

void frcsim::Gamepiece::setTypeName ( const std::string & name )

inline

Set a human-readable type name for this gamepiece (e.g. "generic_sphere").

step()

void frcsim::Gamepiece::step ( double dt_s )

inline

Step wrapper that applies low-cost behavior for grounded/held.

typeName()

const std::string & frcsim::Gamepiece::typeName ( ) const

inline

Get the registered type name (may be empty).

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

• src/main/driver/include/frcsim/gamepiece/gamepiece.hpp