Bullet physics engine. More...

#include <BulletPhysics.hh>

Inheritance diagram for gazebo::physics::BulletPhysics:

Public Member Functions
	BulletPhysics (WorldPtr _world)
	Constructor.

virtual	~BulletPhysics ()
	Destructor.

virtual void	ConvertMass (InertialPtr _inertial, void *_engineMass)
	Create a physics based ray sensor.

virtual void	ConvertMass (void *_engineMass, InertialPtr _inertial)
	Convert an gazebo Mass to a bullet Mass.

virtual CollisionPtr	CreateCollision (const std::string &_type, LinkPtr _body)
	Create a new collision.

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

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

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

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

virtual void	Fini ()
	Finilize the Bullet engine.

btDynamicsWorld *	GetDynamicsWorld () const
	Register a joint with the dynamics world.

virtual double	GetStepTime ()
	Get the simulation step time.

virtual void	Init ()
	Initialize the Bullet engine.

virtual void	InitForThread ()
	Init the engine for threads.

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

virtual void	SetGravity (const gazebo::math::Vector3 &gravity)
	Set the gavity vector.

virtual void	SetStepTime (double _value)
	Set the simulation step time.

virtual void	UpdateCollision ()
	Update the Bullet collision.

virtual void	UpdatePhysics ()
	Update the Bullet engine.

Public Member Functions inherited from gazebo::physics::PhysicsEngine
	PhysicsEngine (WorldPtr _world)
	Default constructor.

virtual	~PhysicsEngine ()
	Destructor.

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

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

virtual double	GetContactMaxCorrectingVel ()
	: Remove this function, and replace it with a more generic property map.

virtual double	GetContactSurfaceLayer ()
	: Remove this function, and replace it with a more generic property map.

math::Vector3	GetGravity () const
	Return the gavity vector.

virtual int	GetMaxContacts ()
	: Remove this function, and replace it with a more generic property map.

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

virtual int	GetSORPGSIters ()
	: Remove this function, and replace it with a more generic property map

virtual int	GetSORPGSPreconIters ()
	: Remove this function, and replace it with a more generic property map

virtual double	GetSORPGSW ()
	: Remove this function, and replace it with a more generic property map.

double	GetUpdatePeriod ()
	Get the simulation update period.

double	GetUpdateRate ()
	Get the simulation update rate.

virtual double	GetWorldCFM ()
	: Remove this function, and replace it with a more generic property map

virtual double	GetWorldERP ()
	: Remove this function, and replace it with a more generic property map

virtual void	Reset ()
	Rest the physics engine.

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

virtual void	SetContactMaxCorrectingVel (double _vel)
	: Remove this function, and replace it with a more generic property map

virtual void	SetContactSurfaceLayer (double _layerDepth)
	: Remove this function, and replace it with a more generic property map

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

virtual void	SetSORPGSIters (unsigned int _iters)
	: Remove this function, and replace it with a more generic property map

virtual void	SetSORPGSPreconIters (unsigned int _iters)
	: Remove this function, and replace it with a more generic property map

virtual void	SetSORPGSW (double _w)
	: Remove this function, and replace it with a more generic property map

void	SetUpdateRate (double _value)
	Set the simulation update rate.

virtual void	SetWorldCFM (double _cfm)
	: Remove this function, and replace it with a more generic property map

virtual void	SetWorldERP (double _erp)
	: Remove this function, and replace it with a more generic property map

Static Public Member Functions
static math::Pose	ConvertPose (const btTransform &_bt)
	Convert a bullet transform to a gazebo pose.

static btTransform	ConvertPose (const math::Pose &_pose)
	Convert a gazebo pose to a bullet transform.

Additional Inherited Members
Protected Member Functions inherited from gazebo::physics::PhysicsEngine
virtual void	OnPhysicsMsg (ConstPhysicsPtr &_msg)
	virtual callback for gztopic "~/physics".

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

Protected Attributes inherited from gazebo::physics::PhysicsEngine
transport::PublisherPtr	contactPub
	Contact publisher.

transport::NodePtr	node
	Node for communication.

transport::SubscriberPtr	physicsSub
	Subscribe to the physics topic.

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

transport::SubscriberPtr	requestSub
	Subscribe to the request topic.

transport::PublisherPtr	responsePub
	Response publisher.

sdf::ElementPtr	sdf
	Our SDF values.

WorldPtr	world
	Pointer to the world.