ODE physics engine. More...

#include <ODEPhysics.hh>

Inheritance diagram for gazebo::physics::ODEPhysics:

Public Member Functions
	ODEPhysics (WorldPtr world)
	Constructor.

virtual	~ODEPhysics ()
	Destructor.

void	Collide (ODECollision collision1, ODECollision collision2, dContactGeom *contactCollisions)
	Collide two collisions.

virtual CollisionPtr	CreateCollision (const std::string &_shapeType, LinkPtr _parent)
	Create a collision.

void	CreateContact (ODECollision collision1, ODECollision collision2)
	Not yet implemented.

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 collision physics::Shape object given its type.

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

virtual void	Fini ()
	Finilize the ODE engine.

double	GetContactMaxCorrectingVel ()
	access functions to set ODE parameters

double	GetContactSurfaceLayer ()
	access functions to set ODE parameters

math::Vector3	GetGravity () const
	Get gravity vector.

int	GetMaxContacts ()
	access functions to set ODE parameters

int	GetSORPGSIters ()
	access functions to set ODE parameters

int	GetSORPGSPreconIters ()
	access functions to set ODE parameters

double	GetSORPGSW ()
	access functions to set ODE parameters

dSpaceID	GetSpaceId () const
	Return the space id.

virtual double	GetStepTime ()
	Get the simulation step time.

virtual std::string	GetStepType () const
	Get the step type.

double	GetWorldCFM ()
	access functions to set ODE parameters

double	GetWorldERP ()
	access functions to set ODE parameters

dWorldID	GetWorldId ()
	Get the world id.

virtual void	Init ()
	Initialize the ODE engine.

virtual void	InitForThread ()
	Init the engine for threads.

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

void	ProcessContactFeedback (ContactFeedback feedback, msgs::Contact _msg)
	process contact feedbacks into physics::ContactFeedback

void	Reset ()
	Empties dynamically created contact joints.

void	SetContactMaxCorrectingVel (double vel)
	access functions to set ODE parameters

void	SetContactSurfaceLayer (double layer_depth)
	access functions to set ODE parameters

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

void	SetMaxContacts (unsigned int max_contacts)
	access functions to set ODE parameters

void	SetSORPGSIters (unsigned int iters)
	access functions to set ODE parameters

void	SetSORPGSPreconIters (unsigned int iters)
	access functions to set ODE parameters

void	SetSORPGSW (double w)
	access functions to set ODE parameters

void	SetStepTime (double _value)
	Set the step time.

virtual void	SetStepType (const std::string &_type)
	Set the step type.

void	SetWorldCFM (double cfm)
	access functions to set ODE parameters

void	SetWorldERP (double erp)
	access functions to set ODE parameters

virtual void	UpdateCollision ()
	Update the ODE collision.

virtual void	UpdatePhysics ()
	Update the ODE 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

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

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

double	GetUpdatePeriod ()
	Get the simulation update period.

double	GetUpdateRate ()
	Get the simulation update rate.

virtual void	SetAutoDisableFlag (bool _autoDisable)
	: 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

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

Static Public Member Functions
static void	ConvertMass (InertialPtr _interial, void *odeMass)
	Convert an odeMass to Mass.

static void	ConvertMass (void *odeMass, InertialPtr _inertial)
	Convert an odeMass to Mass.

Protected Member Functions
virtual void	OnPhysicsMsg (ConstPhysicsPtr &)
	act on a msgs::Physics message request

virtual void	OnRequest (ConstRequestPtr &)
	act on a msgs::Request for physics

Additional Inherited Members
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.

Detailed Description

ODE physics engine.

Constructor & Destructor Documentation

gazebo::physics::ODEPhysics::ODEPhysics ( WorldPtr world )

Constructor.

virtual gazebo::physics::ODEPhysics::~ODEPhysics ( )

virtual

Destructor.

Member Function Documentation

void gazebo::physics::ODEPhysics::Collide	(	ODECollision *	collision1,
		ODECollision *	collision2,
		dContactGeom *	contactCollisions
	)

Collide two collisions.

static void gazebo::physics::ODEPhysics::ConvertMass	(	InertialPtr	_interial,
		void *	odeMass
	)

static

Convert an odeMass to Mass.

static void gazebo::physics::ODEPhysics::ConvertMass	(	void *	odeMass,
		InertialPtr	_inertial
	)

static

Convert an odeMass to Mass.

virtual CollisionPtr gazebo::physics::ODEPhysics::CreateCollision	(	const std::string &	_shapeType,
		LinkPtr	_parent
	)

virtual

Create a collision.

Implements gazebo::physics::PhysicsEngine.

void gazebo::physics::ODEPhysics::CreateContact	(	ODECollision *	collision1,
		ODECollision *	collision2
	)

Not yet implemented.

virtual JointPtr gazebo::physics::ODEPhysics::CreateJoint	(	const std::string &	type,
		ModelPtr	_parent
	)

virtual

Create a new joint.

Implements gazebo::physics::PhysicsEngine.

virtual LinkPtr gazebo::physics::ODEPhysics::CreateLink ( ModelPtr _parent )

virtual

Create a new body.

Implements gazebo::physics::PhysicsEngine.

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

virtual

Create a collision physics::Shape object given its type.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::DebugPrint ( ) const

virtual

Debug print out of the physic engine state.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::Fini ( )

virtual

Finilize the ODE engine.

Reimplemented from gazebo::physics::PhysicsEngine.

double gazebo::physics::ODEPhysics::GetContactMaxCorrectingVel ( )

virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

double gazebo::physics::ODEPhysics::GetContactSurfaceLayer ( )

virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

math::Vector3 gazebo::physics::ODEPhysics::GetGravity ( ) const

Get gravity vector.

int gazebo::physics::ODEPhysics::GetMaxContacts ( )

virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

int gazebo::physics::ODEPhysics::GetSORPGSIters ( )

virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

int gazebo::physics::ODEPhysics::GetSORPGSPreconIters ( )

virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

double gazebo::physics::ODEPhysics::GetSORPGSW ( )

virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

dSpaceID gazebo::physics::ODEPhysics::GetSpaceId ( ) const

Return the space id.

virtual double gazebo::physics::ODEPhysics::GetStepTime ( )

virtual

Get the simulation step time.

Implements gazebo::physics::PhysicsEngine.

virtual std::string gazebo::physics::ODEPhysics::GetStepType ( ) const

virtual

Get the step type.

double gazebo::physics::ODEPhysics::GetWorldCFM ( )

virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

double gazebo::physics::ODEPhysics::GetWorldERP ( )

virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

dWorldID gazebo::physics::ODEPhysics::GetWorldId ( )

Get the world id.

virtual void gazebo::physics::ODEPhysics::Init ( )

virtual

Initialize the ODE engine.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::InitForThread ( )

virtual

Init the engine for threads.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::Load ( sdf::ElementPtr _sdf )

virtual

Load the ODE engine.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::OnPhysicsMsg ( ConstPhysicsPtr & )

protectedvirtual

act on a msgs::Physics message request

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::OnRequest ( ConstRequestPtr & )

protectedvirtual

act on a msgs::Request for physics

Reimplemented from gazebo::physics::PhysicsEngine.

void gazebo::physics::ODEPhysics::ProcessContactFeedback	(	ContactFeedback *	feedback,
		msgs::Contact *	_msg
	)

process contact feedbacks into physics::ContactFeedback

void gazebo::physics::ODEPhysics::Reset ( )

virtual

Empties dynamically created contact joints.

Reimplemented from gazebo::physics::PhysicsEngine.

void gazebo::physics::ODEPhysics::SetContactMaxCorrectingVel ( double vel )

virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

void gazebo::physics::ODEPhysics::SetContactSurfaceLayer ( double layer_depth )

virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::SetGravity ( const gazebo::math::Vector3 & gravity )

virtual

Set the gavity vector.

Implements gazebo::physics::PhysicsEngine.

void gazebo::physics::ODEPhysics::SetMaxContacts ( unsigned int max_contacts )

access functions to set ODE parameters

void gazebo::physics::ODEPhysics::SetSORPGSIters ( unsigned int iters )

virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

void gazebo::physics::ODEPhysics::SetSORPGSPreconIters ( unsigned int iters )

virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

void gazebo::physics::ODEPhysics::SetSORPGSW ( double w )

virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

void gazebo::physics::ODEPhysics::SetStepTime ( double _value )

virtual

Set the step time.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::SetStepType ( const std::string & _type )

virtual

Set the step type.

void gazebo::physics::ODEPhysics::SetWorldCFM ( double cfm )

virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

void gazebo::physics::ODEPhysics::SetWorldERP ( double erp )

virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::UpdateCollision ( )

virtual

Update the ODE collision.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::UpdatePhysics ( )

virtual

Update the ODE engine.

Reimplemented from gazebo::physics::PhysicsEngine.

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

ODEPhysics.hh

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation