Base class for a physics engine. More...

#include <physics/physics.hh>

Inherited by BulletPhysics, DARTPhysics, ODEPhysics, and SimbodyPhysics.

Public Member Functions
	PhysicsEngine (WorldPtr _world)
	Default constructor. More...

virtual	~PhysicsEngine ()
	Destructor. More...

virtual CollisionPtr	CreateCollision (const std::string &_shapeType, LinkPtr _link)=0
	Create a collision. More...

CollisionPtr	CreateCollision (const std::string &_shapeType, const std::string &_linkName)
	Create a collision. More...

virtual JointPtr	CreateJoint (const std::string &_type, ModelPtr _parent=ModelPtr())=0
	Create a new joint. More...

virtual LinkPtr	CreateLink (ModelPtr _parent)=0
	Create a new body. More...

virtual ModelPtr	CreateModel (BasePtr _base)
	Create a new model. More...

virtual ShapePtr	CreateShape (const std::string &_shapeType, CollisionPtr _collision)=0
	Create a physics::Shape object. More...

virtual void	DebugPrint () const =0
	Debug print out of the physic engine state. More...

virtual void	Fini ()
	Finilize the physics engine. More...

virtual bool	GetAutoDisableFlag ()
	: Remove this function, and replace it with a more generic property map More...

ContactManager *	GetContactManager () const
	Get a pointer to the contact manger. More...

virtual math::Vector3	GetGravity () const
	Return the gravity vector. More...

double	GetMaxStepSize () const
	Get max step size. More...

virtual boost::any	GetParam (const std::string &_key) const
	Get an parameter of the physics engine. More...

virtual bool	GetParam (const std::string &_key, boost::any &_value) const
	Get a parameter from the physics engine with a boolean to indicate success or failure. More...

boost::recursive_mutex *	GetPhysicsUpdateMutex () const
	returns a pointer to the PhysicsEngine::physicsUpdateMutex. More...

double	GetRealTimeUpdateRate () const
	Get real time update rate. More...

sdf::ElementPtr	GetSDF () const
	Get a pointer to the SDF element for this physics engine. More...

double	GetTargetRealTimeFactor () const
	Get target real time factor. More...

virtual std::string	GetType () const =0
	Return the physics engine type (ode\|bullet\|dart\|simbody). More...

double	GetUpdatePeriod ()
	Get the simulation update period. More...

virtual void	Init ()=0
	Initialize the physics engine. More...

virtual void	InitForThread ()=0
	Init the engine for threads. More...

virtual void	Load (sdf::ElementPtr _sdf)
	Load the physics engine. More...

virtual ignition::math::Vector3d	MagneticField () const
	Return the magnetic field vector. More...

virtual void	Reset ()
	Rest the physics engine. More...

virtual void	SetAutoDisableFlag (bool _autoDisable)
	: Remove this function, and replace it with a more generic property map More...

virtual void	SetGravity (const gazebo::math::Vector3 &_gravity)=0
	Set the gravity vector. More...

virtual void	SetMaxContacts (unsigned int _maxContacts)
	: Remove this function, and replace it with a more generic property map More...

void	SetMaxStepSize (double _stepSize)
	Set max step size. More...

virtual bool	SetParam (const std::string &_key, const boost::any &_value)
	Set a parameter of the physics engine. More...

void	SetRealTimeUpdateRate (double _rate)
	Set real time update rate. More...

virtual void	SetSeed (uint32_t _seed)=0
	Set the random number seed for the physics engine. More...

void	SetTargetRealTimeFactor (double _factor)
	Set target real time factor. More...

virtual void	UpdateCollision ()=0
	Update the physics engine collision. More...

virtual void	UpdatePhysics ()
	Update the physics engine. More...

Protected Member Functions
virtual void	OnPhysicsMsg (ConstPhysicsPtr &_msg)
	virtual callback for gztopic "~/physics". More...

virtual void	OnRequest (ConstRequestPtr &_msg)
	virtual callback for gztopic "~/request". More...

Protected Attributes
ContactManager *	contactManager
	Class that handles all contacts generated by the physics engine. More...

double	maxStepSize
	Real time update rate. More...

transport::NodePtr	node
	Node for communication. More...

transport::SubscriberPtr	physicsSub
	Subscribe to the physics topic. More...

boost::recursive_mutex *	physicsUpdateMutex
	Mutex to protect the update cycle. More...

double	realTimeUpdateRate
	Real time update rate. More...

transport::SubscriberPtr	requestSub
	Subscribe to the request topic. More...

transport::PublisherPtr	responsePub
	Response publisher. More...

sdf::ElementPtr	sdf
	Our SDF values. More...

double	targetRealTimeFactor
	Target real time factor. More...

WorldPtr	world
	Pointer to the world. More...

Detailed Description

Base class for a physics engine.

Constructor & Destructor Documentation

§ PhysicsEngine()

PhysicsEngine ( WorldPtr _world )

explicit

Default constructor.

Parameters

[in] _world Pointer to the world.

§ ~PhysicsEngine()

virtual ~PhysicsEngine ( )

virtual

Destructor.

Member Function Documentation

§ CreateCollision() [1/2]

virtual CollisionPtr CreateCollision	(	const std::string &	_shapeType,
		LinkPtr	_link
	)

pure virtual

Create a collision.

Parameters

[in]	_shapeType	Type of collision to create.
[in]	_link	Parent link.

Implemented in ODEPhysics, DARTPhysics, BulletPhysics, and SimbodyPhysics.

Referenced by PhysicsEngine::UpdatePhysics().

§ CreateCollision() [2/2]

CollisionPtr CreateCollision	(	const std::string &	_shapeType,
		const std::string &	_linkName
	)

Create a collision.

Parameters

[in]	_shapeType	Type of collision to create.
[in]	_linkName	Name of the parent link.

§ CreateJoint()

virtual JointPtr CreateJoint	(	const std::string &	_type,
		ModelPtr	_parent = `ModelPtr()`
	)

pure virtual

Create a new joint.

Parameters

[in]	_type	Type of joint to create.
[in]	_parent	Model parent.

Implemented in ODEPhysics, DARTPhysics, BulletPhysics, and SimbodyPhysics.

Referenced by PhysicsEngine::UpdatePhysics().

§ CreateLink()

virtual LinkPtr CreateLink ( ModelPtr _parent )

pure virtual

Create a new body.

Parameters

[in] _parent Parent model for the link.

Implemented in ODEPhysics, DARTPhysics, BulletPhysics, and SimbodyPhysics.

Referenced by PhysicsEngine::UpdatePhysics().

§ CreateModel()

virtual ModelPtr CreateModel ( BasePtr _base )

virtual

Create a new model.

Parameters

[in] _base Boost shared pointer to a new model.

Reimplemented in DARTPhysics, and SimbodyPhysics.

Referenced by PhysicsEngine::UpdatePhysics().

§ CreateShape()

virtual ShapePtr CreateShape	(	const std::string &	_shapeType,
		CollisionPtr	_collision
	)

pure virtual

Create a physics::Shape object.

Parameters

[in]	_shapeType	Type of shape to create.
[in]	_collision	Collision parent.

Implemented in ODEPhysics, DARTPhysics, BulletPhysics, and SimbodyPhysics.

Referenced by PhysicsEngine::UpdatePhysics().

§ DebugPrint()

virtual void DebugPrint ( ) const

pure virtual

Debug print out of the physic engine state.

Implemented in ODEPhysics, BulletPhysics, DARTPhysics, and SimbodyPhysics.

Referenced by PhysicsEngine::GetAutoDisableFlag().

§ Fini()

virtual void Fini ( )

virtual

Finilize the physics engine.

Reimplemented in ODEPhysics, BulletPhysics, DARTPhysics, and SimbodyPhysics.

§ GetAutoDisableFlag()

virtual bool GetAutoDisableFlag ( )

inlinevirtual

: Remove this function, and replace it with a more generic property map

access functions to set ODE parameters..

Returns: Auto disable flag.

References PhysicsEngine::DebugPrint(), PhysicsEngine::GetContactManager(), PhysicsEngine::GetParam(), and PhysicsEngine::SetParam().

§ GetContactManager()

ContactManager* GetContactManager ( ) const

Get a pointer to the contact manger.

Returns: Pointer to the contact manager.

Referenced by PhysicsEngine::GetAutoDisableFlag().

§ GetGravity()

virtual math::Vector3 GetGravity ( ) const

virtual

Return the gravity vector.

Returns: The gravity vector.

Referenced by PhysicsEngine::UpdatePhysics().

§ GetMaxStepSize()

double GetMaxStepSize ( ) const

Get max step size.

Returns: Max step size.

Referenced by PhysicsEngine::Reset().

§ GetParam() [1/2]

virtual boost::any GetParam ( const std::string & _key ) const

virtual

Get an parameter of the physics engine.

Parameters

[in] _attr String key

See also: SetParam

Returns: The value of the parameter

Reimplemented in ODEPhysics, SimbodyPhysics, BulletPhysics, and DARTPhysics.

Referenced by PhysicsEngine::GetAutoDisableFlag().

§ GetParam() [2/2]

virtual bool GetParam	(	const std::string &	_key,
		boost::any &	_value
	)		const

virtual

Get a parameter from the physics engine with a boolean to indicate success or failure.

Parameters

[in]	_key	Key of the accessed param
[out]	_value	Value of the accessed param

Returns: True if the parameter was successfully retrieved

Reimplemented in ODEPhysics, SimbodyPhysics, BulletPhysics, and DARTPhysics.

§ GetPhysicsUpdateMutex()

boost::recursive_mutex* GetPhysicsUpdateMutex ( ) const

inline

returns a pointer to the PhysicsEngine::physicsUpdateMutex.

Returns: Pointer to the physics mutex.

References PhysicsEngine::GetSDF(), PhysicsEngine::OnPhysicsMsg(), PhysicsEngine::OnRequest(), and PhysicsEngine::physicsUpdateMutex.

§ GetRealTimeUpdateRate()

double GetRealTimeUpdateRate ( ) const

Get real time update rate.

Returns: Update rate

Referenced by PhysicsEngine::Reset().

§ GetSDF()

sdf::ElementPtr GetSDF ( ) const

Get a pointer to the SDF element for this physics engine.

Returns: Pointer to the physics SDF element.

Referenced by PhysicsEngine::GetPhysicsUpdateMutex().

§ GetTargetRealTimeFactor()

double GetTargetRealTimeFactor ( ) const

Get target real time factor.

Returns: Target real time factor

Referenced by PhysicsEngine::Reset().

§ GetType()

virtual std::string GetType ( ) const

pure virtual

Return the physics engine type (ode|bullet|dart|simbody).

Returns: Type of the physics engine.

Implemented in ODEPhysics, BulletPhysics, DARTPhysics, and SimbodyPhysics.

Referenced by PhysicsEngine::Reset().

§ GetUpdatePeriod()

double GetUpdatePeriod ( )

Get the simulation update period.

Returns: Simulation update period.

Referenced by PhysicsEngine::Reset().

§ Init()

virtual void Init ( )

pure virtual

Initialize the physics engine.

Implemented in ODEPhysics, BulletPhysics, DARTPhysics, and SimbodyPhysics.

§ InitForThread()

virtual void InitForThread ( )

pure virtual

Init the engine for threads.

Implemented in ODEPhysics, DARTPhysics, BulletPhysics, and SimbodyPhysics.

Referenced by PhysicsEngine::Reset().

§ Load()

virtual void Load ( sdf::ElementPtr _sdf )

virtual

Load the physics engine.

Parameters

[in] _sdf Pointer to the SDF parameters.

Reimplemented in ODEPhysics, BulletPhysics, DARTPhysics, and SimbodyPhysics.

§ MagneticField()

virtual ignition::math::Vector3d MagneticField ( ) const

virtual

Return the magnetic field vector.

Returns: The magnetic field vector.

Referenced by PhysicsEngine::UpdatePhysics().

§ OnPhysicsMsg()

virtual void OnPhysicsMsg ( ConstPhysicsPtr & _msg )

protectedvirtual

virtual callback for gztopic "~/physics".

Parameters

[in] _msg Physics message.

Reimplemented in ODEPhysics, SimbodyPhysics, DARTPhysics, and BulletPhysics.

Referenced by PhysicsEngine::GetPhysicsUpdateMutex().

§ OnRequest()

virtual void OnRequest ( ConstRequestPtr & _msg )

protectedvirtual

virtual callback for gztopic "~/request".

Parameters

[in] _msg Request message.

Reimplemented in ODEPhysics, SimbodyPhysics, DARTPhysics, and BulletPhysics.

Referenced by PhysicsEngine::GetPhysicsUpdateMutex().

§ Reset()

virtual void Reset ( )

inlinevirtual

Rest the physics engine.

Reimplemented in ODEPhysics, DARTPhysics, BulletPhysics, and SimbodyPhysics.

References PhysicsEngine::GetMaxStepSize(), PhysicsEngine::GetRealTimeUpdateRate(), PhysicsEngine::GetTargetRealTimeFactor(), PhysicsEngine::GetType(), PhysicsEngine::GetUpdatePeriod(), PhysicsEngine::InitForThread(), PhysicsEngine::SetMaxStepSize(), PhysicsEngine::SetRealTimeUpdateRate(), PhysicsEngine::SetSeed(), PhysicsEngine::SetTargetRealTimeFactor(), and PhysicsEngine::UpdateCollision().

§ SetAutoDisableFlag()

virtual void SetAutoDisableFlag ( bool _autoDisable )

virtual

: Remove this function, and replace it with a more generic property map

Access functions to set ODE parameters.

Parameters

[in] _autoDisable True to enable auto disabling of bodies.

Referenced by PhysicsEngine::UpdatePhysics().

§ SetGravity()

virtual void SetGravity ( const gazebo::math::Vector3 & _gravity )

pure virtual

Set the gravity vector.

Parameters

[in] _gravity New gravity vector.

Implemented in BulletPhysics, ODEPhysics, DARTPhysics, and SimbodyPhysics.

Referenced by PhysicsEngine::UpdatePhysics().

§ SetMaxContacts()

virtual void SetMaxContacts ( unsigned int _maxContacts )

virtual

: Remove this function, and replace it with a more generic property map

access functions to set ODE parameters

Parameters

[in] _maxContacts Maximum number of contacts.

Reimplemented in ODEPhysics.

Referenced by PhysicsEngine::UpdatePhysics().

§ SetMaxStepSize()

void SetMaxStepSize ( double _stepSize )

Set max step size.

Parameters

[in] _stepSize Max step size.

Referenced by PhysicsEngine::Reset().

§ SetParam()

virtual bool SetParam	(	const std::string &	_key,
		const boost::any &	_value
	)

virtual

Set a parameter of the physics engine.

See SetParam documentation for descriptions of duplicate parameters.

Parameters

[in]	_key	String key Below is a list of _key parameter definitions: "solver_type" (string) - returns solver used by engine, e.g. "sequential_impulse' for Bullet, "quick" for ODE "Featherstone and Lemkes" for DART and "Spatial Algebra and Elastic Foundation" for Simbody. -# "cfm" (double) - global CFM (ODE/Bullet) -# "erp" (double) - global ERP (ODE/Bullet) -# "precon_iters" (bool) - precondition iterations (experimental). (ODE) "iters" (int) - number of LCP PGS iterations. If sor_lcp_tolerance is negative, full iteration count is executed. Otherwise, PGS may stop iteration early if sor_lcp_tolerance is satisfied by the total RMS residual. "sor" (double) - relaxation parameter for Projected Gauss-Seidel (PGS) updates. (ODE/Bullet) "contact_max_correcting_vel" (double) - truncates correction impulses from ERP by this value. (ODE) "contact_surface_layer" (double) - ERP is 0 for interpenetration depths below this value. (ODE/Bullet) "max_contacts" (int) - max number of contact constraints between any pair of collision bodies. "min_step_size" (double) - minimum internal step size. (defined but not used in ode). "max_step_size" (double) - maximum physics step size when physics update step must return.
[in]	_value	The value to set to

Returns: true if SetParam is successful, false if operation fails.

Reimplemented in SimbodyPhysics, ODEPhysics, BulletPhysics, and DARTPhysics.

Referenced by PhysicsEngine::GetAutoDisableFlag().

§ SetRealTimeUpdateRate()

void SetRealTimeUpdateRate ( double _rate )

Set real time update rate.

Parameters

[in] _rate Update rate

Referenced by PhysicsEngine::Reset().

§ SetSeed()

virtual void SetSeed ( uint32_t _seed )

pure virtual

Set the random number seed for the physics engine.

Parameters

[in] _seed The random number seed.

Implemented in ODEPhysics, BulletPhysics, DARTPhysics, and SimbodyPhysics.

Referenced by PhysicsEngine::Reset().

§ SetTargetRealTimeFactor()

void SetTargetRealTimeFactor ( double _factor )

Set target real time factor.

Parameters

[in] _factor Target real time factor

Referenced by PhysicsEngine::Reset().

§ UpdateCollision()

virtual void UpdateCollision ( )

pure virtual

Update the physics engine collision.

Implemented in ODEPhysics, DARTPhysics, BulletPhysics, and SimbodyPhysics.

Referenced by PhysicsEngine::Reset().

§ UpdatePhysics()

virtual void UpdatePhysics ( )

inlinevirtual

Update the physics engine.

Reimplemented in ODEPhysics, DARTPhysics, BulletPhysics, and SimbodyPhysics.

References PhysicsEngine::CreateCollision(), PhysicsEngine::CreateJoint(), PhysicsEngine::CreateLink(), PhysicsEngine::CreateModel(), PhysicsEngine::CreateShape(), PhysicsEngine::GetGravity(), PhysicsEngine::MagneticField(), PhysicsEngine::SetAutoDisableFlag(), PhysicsEngine::SetGravity(), and PhysicsEngine::SetMaxContacts().

Member Data Documentation

§ contactManager

ContactManager* contactManager

protected

Class that handles all contacts generated by the physics engine.

§ maxStepSize

double maxStepSize

protected

Real time update rate.

§ node

transport::NodePtr node

protected

Node for communication.

§ physicsSub

transport::SubscriberPtr physicsSub

protected

Subscribe to the physics topic.

§ physicsUpdateMutex

boost::recursive_mutex* physicsUpdateMutex

protected

Mutex to protect the update cycle.

Referenced by PhysicsEngine::GetPhysicsUpdateMutex().

§ realTimeUpdateRate

double realTimeUpdateRate

protected

Real time update rate.

§ requestSub

transport::SubscriberPtr requestSub

protected

Subscribe to the request topic.

§ responsePub

transport::PublisherPtr responsePub

protected

Response publisher.

§ sdf

sdf::ElementPtr sdf

protected

Our SDF values.

§ targetRealTimeFactor

double targetRealTimeFactor

protected

Target real time factor.

§ world

WorldPtr world

protected

Pointer to the world.

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

PhysicsEngine.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

§ PhysicsEngine()

§ ~PhysicsEngine()

Member Function Documentation

§ CreateCollision() [1/2]

§ CreateCollision() [2/2]

§ CreateJoint()

§ CreateLink()

§ CreateModel()

§ CreateShape()

§ DebugPrint()

§ Fini()

§ GetAutoDisableFlag()

§ GetContactManager()

§ GetGravity()

§ GetMaxStepSize()

§ GetParam() [1/2]

§ GetParam() [2/2]

§ GetPhysicsUpdateMutex()

§ GetRealTimeUpdateRate()

§ GetSDF()

§ GetTargetRealTimeFactor()

§ GetType()

§ GetUpdatePeriod()

§ Init()

§ InitForThread()

§ Load()

§ MagneticField()

§ OnPhysicsMsg()

§ OnRequest()

§ Reset()

§ SetAutoDisableFlag()

§ SetGravity()

§ SetMaxContacts()

§ SetMaxStepSize()

§ SetParam()

§ SetRealTimeUpdateRate()

§ SetSeed()

§ SetTargetRealTimeFactor()

§ UpdateCollision()

§ UpdatePhysics()

Member Data Documentation

§ contactManager

§ maxStepSize

§ node

§ physicsSub

§ physicsUpdateMutex

§ realTimeUpdateRate

§ requestSub

§ responsePub

§ sdf

§ targetRealTimeFactor

§ world