esp::physics::PhysicsObjectBaseManager class

Class template defining responsibilities and functionality for managineg object wrappers specializing esp::physics::AbstractManagedPhysicsObject template.

Template parameters
T	the type of managed physics object wrapper a particular specialization of this class works with. Must inherit from esp::physics::AbstractManagedPhysicsObject

Base classes

template<class T, ManagedObjectAccess Access> class esp::core::managedContainers::ManagedContainer<T, core::managedContainers::ManagedObjectAccess::Copy>: Class template defining responsibilities and functionality for managing esp::core::managedContainers::AbstractManagedObject constructs.

template<class T> class RigidBaseManager: Class template defining responsibilities and functionality shared for managing all esp::physics::AbstractManagedRigidBase wrappers.
template<class T> class RigidBaseManager: Class template defining responsibilities and functionality shared for managing all esp::physics::AbstractManagedRigidBase wrappers.

void setPhysicsManager(std::weak_ptr<physics::PhysicsManager> physMgr): set the weak reference to the physics manager that owns this wrapper manager
auto createObject(const std::string& objectTypeName, bool registerObject = false) -> ObjWrapperPtr override: Creates an empty esp::physics::AbstractManagedPhysicsObject of the type managed by this manager.

using Map_Of_ManagedObjTypeCtors = std::map<std::string, ObjWrapperPtr(PhysicsObjectBaseManager<T>::*)()>: Define a map type referencing function pointers to createRigidObjectWrapper() keyed by string names of classes being instanced, as defined in PrimitiveNames3DMap.

void resetFinalize() override: Any physics-object-wrapper-specific resetting that needs to happen on reset.
template<typename U> auto createPhysicsObjectWrapper() -> ObjWrapperPtr: Build a shared pointer to a ManagedRigidObject wrapper around an appropriately cast esp::physics::RigidObject, either the base kinematic version, or one built to support a dynamic library.
auto initNewObjectInternal(const std::string& objectTypeName, bool builtFromConfig) -> ObjWrapperPtr override: Used Internally. Create and configure newly-created managed object with any default values, before any specific values are set.
auto registerObjectFinalize(ObjWrapperPtr object, const std::string& objectHandle, bool forceRegistration) -> int override: implementation of managed object type-specific registration
auto getPhysicsManager() const -> std::shared_ptr<esp::physics::PhysicsManager>: return a reference to physicsManager_, or null ptr if it does not exist anymore. This is necessary since a reference of this manager may linger in python after simulator/physicsManager get clobbered/rebuilt.

std::weak_ptr<esp::physics::PhysicsManager> weakPhysManager_: Weak reference to owning physics manager.
Map_Of_ManagedObjTypeCtors managedObjTypeConstructorMap_: Map of function pointers to instantiate a esp::physics::AbstractManagedPhysicsObject wrapper object, keyed by the wrapper's class name. A ManagedRigidObject wrapper of the appropriate type is instanced by accessing the constructor map with the appropriate classname.

Creates an empty esp::physics::AbstractManagedPhysicsObject of the type managed by this manager.

Parameters
objectTypeName	Class name of the wrapper to create. This will be used as a key in `managedObjTypeConstructorMap_`.
registerObject	whether to add this managed object to the library or not. If the user is going to edit this managed object, this should be false. Defaults to true. If specified as true, then this function returns a copy of the registered managed object.
Returns	a reference to the desired managed object.

Used Internally. Create and configure newly-created managed object with any default values, before any specific values are set.

Parameters
objectTypeName	Used to determine what kind of Rigid Object wrapper to make (either kinematic or dynamic-library-specific)
builtFromConfig	Unused for wrapper objects. All wrappers are constructed from scratch.
Returns	Newly created but unregistered ManagedObject pointer, with only default values set.

implementation of managed object type-specific registration

Parameters
object	the managed object to be registered
objectHandle	the name to register the managed object with. Expected to be valid.
forceRegistration	Will register object even if conditional registration checks fail.
Returns	The unique ID of the managed object being registered, or ID_UNDEFINED if failed