void CLoopFunctions::SetOnlineControlParameters(UInt32 un_num_params,
const Real* pf_params) {
CSpace::TAnyEntityMap cEntities = m_cSpace.GetEntitiesByType("controllable_entity");
for(CSpace::TAnyEntityMap::iterator it = cEntities.begin(); it != cEntities.end(); ++it) {
CControllableEntity* pcEntity = any_cast<CControllableEntity*>(it->second);
pcEntity->GetController().SetOnlineParameters(un_num_params,pf_params);
}
}
void CQTOpenGLLuaMainWindow::PopulateLuaControllers() {
/* Get list of controllable entities */
CSpace& cSpace = CSimulator::GetInstance().GetSpace();
CSpace::TMapPerType& tControllables = cSpace.GetEntitiesByType("controller");
/* Go through them and keep a pointer to each Lua controller */
for(CSpace::TMapPerType::iterator it = tControllables.begin();
it != tControllables.end();
++it) {
/* Try to convert the controller into a Lua controller */
CControllableEntity* pcControllable = any_cast<CControllableEntity*>(it->second);
CLuaController* pcLuaController = dynamic_cast<CLuaController*>(&(pcControllable->GetController()));
if(pcLuaController) {
/* Conversion succeeded, add to indices */
m_vecControllers.push_back(pcLuaController);
m_vecRobots.push_back(&pcControllable->GetParent());
}
else {
LOGERR << "[WARNING] Entity \""
<< pcControllable->GetParent().GetId()
<< "\" does not have a Lua controller associated"
<< std::endl;
}
}
}
void CPointMass3DEngine::AddControllableEntity(CControllableEntity& c_entity) {
m_tControllableEntities[c_entity.GetId()] = &c_entity;
}
void CKinematics2DEngine::AddControllableEntity(CControllableEntity& c_entity) {
m_tControllableEntities[c_entity.GetId()] = &c_entity;
}
void CDynamics3DEngine::AddControllableEntity(CControllableEntity& c_entity) {
m_tControllableEntities[c_entity.GetId()] = &c_entity;
}
