18 #ifndef _GAZEBO_DARTPHYSICS_HH_ 19 #define _GAZEBO_DARTPHYSICS_HH_ 23 #include <boost/thread/thread.hpp> 24 #include <boost/thread/mutex.hpp> 39 class DARTPhysicsPrivate;
85 public:
virtual void Load(sdf::ElementPtr _sdf);
88 public:
virtual void Init();
91 public:
virtual void Fini();
94 public:
virtual void Reset();
97 public:
virtual void InitForThread();
100 public:
virtual void UpdateCollision();
103 public:
virtual void UpdatePhysics();
106 public:
virtual std::string GetType()
const;
109 public:
virtual void SetSeed(uint32_t _seed);
118 public:
virtual CollisionPtr CreateCollision(
const std::string &_type,
122 public:
virtual JointPtr CreateJoint(
const std::string &_type,
126 public:
virtual ShapePtr CreateShape(
const std::string &_shapeType,
130 public: std::string GetSolverType()
const;
134 public:
void SetSolverType(
const std::string &_type);
137 public:
virtual void SetGravity(
const ignition::math::Vector3d &_gravity);
140 public:
virtual void DebugPrint()
const;
143 public:
virtual boost::any GetParam(
const std::string &_key)
const;
146 public:
virtual bool GetParam(
const std::string &_key,
147 boost::any &_value)
const;
150 public:
virtual bool SetParam(
const std::string &_key,
151 const boost::any &_value);
160 public: std::string CollisionDetectorInUse()
const;
163 protected:
virtual void OnRequest(ConstRequestPtr &_msg);
166 protected:
virtual void OnPhysicsMsg(ConstPhysicsPtr &_msg);
172 const dart::dynamics::BodyNode *_dtBodyNode);
176 private: DARTPhysicsPrivate *dataPtr =
nullptr;
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
Forward declarations for the common classes.
Definition: Animation.hh:26
Base class for a physics engine.
Definition: PhysicsEngine.hh:41
DART physics engine.
Definition: DARTPhysics.hh:47
DARTParam
DART physics parameter types.
Definition: DARTPhysics.hh:51
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:117
boost::shared_ptr< DARTLink > DARTLinkPtr
Definition: DARTTypes.hh:47
DART wrapper forward declarations and typedefs.
boost::shared_ptr< Shape > ShapePtr
Definition: PhysicsTypes.hh:141
Maximum number of contacts.
Definition: DARTPhysics.hh:72
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77