17 #ifndef _PHYSICSENGINE_HH_ 18 #define _PHYSICSENGINE_HH_ 20 #include <boost/thread/recursive_mutex.hpp> 22 #include <ignition/transport/Node.hh> 52 public:
virtual void Load(sdf::ElementPtr _sdf);
55 public:
virtual void Init() = 0;
58 public:
virtual void Fini();
64 public:
virtual void InitForThread() = 0;
89 public:
virtual void UpdateCollision() = 0;
93 public:
virtual std::string GetType()
const = 0;
97 public:
virtual void SetSeed(uint32_t _seed) = 0;
101 public:
double GetUpdatePeriod();
105 public:
double GetTargetRealTimeFactor()
const;
109 public:
double GetRealTimeUpdateRate()
const;
113 public:
double GetMaxStepSize()
const;
117 public:
void SetTargetRealTimeFactor(
double _factor);
121 public:
void SetRealTimeUpdateRate(
double _rate);
125 public:
void SetMaxStepSize(
double _stepSize);
145 const std::string &_shapeType,
LinkPtr _link) = 0;
150 public:
CollisionPtr CreateCollision(
const std::string &_shapeType,
151 const std::string &_linkName);
156 public:
virtual ShapePtr CreateShape(
const std::string &_shapeType,
162 public:
virtual JointPtr CreateJoint(
const std::string &_type,
168 public:
virtual void SetGravity(
169 const ignition::math::Vector3d &_gravity) = 0;
175 public:
virtual void SetAutoDisableFlag(
bool _autoDisable);
181 public:
virtual void SetMaxContacts(
unsigned int _maxContacts);
220 public:
virtual bool SetParam(
const std::string &_key,
221 const boost::any &_value);
227 public:
virtual boost::any GetParam(
const std::string &_key)
const;
234 public:
virtual bool GetParam(
const std::string &_key,
235 boost::any &_value)
const;
238 public:
virtual void DebugPrint()
const = 0;
251 {
return this->physicsUpdateMutex;}
255 public: sdf::ElementPtr GetSDF()
const;
259 protected:
virtual void OnRequest(ConstRequestPtr &_msg);
263 protected:
virtual void OnPhysicsMsg(ConstPhysicsPtr &_msg);
269 protected: sdf::ElementPtr
sdf;
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
sdf::ElementPtr sdf
Our SDF values.
Definition: PhysicsEngine.hh:269
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
ignition::transport::Node::Publisher responsePubIgn
Response publisher.
Definition: PhysicsEngine.hh:306
Forward declarations for the common classes.
Definition: Animation.hh:26
ContactManager * contactManager
Class that handles all contacts generated by the physics engine.
Definition: PhysicsEngine.hh:288
Base class for a physics engine.
Definition: PhysicsEngine.hh:41
Forward declarations for transport.
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
boost::shared_ptr< Subscriber > SubscriberPtr
Definition: TransportTypes.hh:53
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:117
transport::SubscriberPtr physicsSub
Subscribe to the physics topic.
Definition: PhysicsEngine.hh:278
virtual bool GetAutoDisableFlag()
: Remove this function, and replace it with a more generic property map
Definition: PhysicsEngine.hh:187
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
transport::SubscriberPtr requestSub
Subscribe to the request topic.
Definition: PhysicsEngine.hh:281
default namespace for gazebo
virtual void Reset()
Rest the physics engine.
Definition: PhysicsEngine.hh:61
The world provides access to all other object within a simulated environment.
Definition: World.hh:80
double realTimeUpdateRate
Real time update rate.
Definition: PhysicsEngine.hh:291
WorldPtr world
Pointer to the world.
Definition: PhysicsEngine.hh:266
ignition::transport::Node nodeIgn
Ignition node for communication.
Definition: PhysicsEngine.hh:303
double targetRealTimeFactor
Target real time factor.
Definition: PhysicsEngine.hh:294
virtual void UpdatePhysics()
Update the physics engine.
Definition: PhysicsEngine.hh:131
transport::PublisherPtr responsePub
Response publisher.
Definition: PhysicsEngine.hh:275
boost::shared_ptr< Shape > ShapePtr
Definition: PhysicsTypes.hh:141
boost::recursive_mutex * GetPhysicsUpdateMutex() const
returns a pointer to the PhysicsEngine::physicsUpdateMutex.
Definition: PhysicsEngine.hh:250
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::recursive_mutex * physicsUpdateMutex
Mutex to protect the update cycle.
Definition: PhysicsEngine.hh:284
double maxStepSize
Real time update rate.
Definition: PhysicsEngine.hh:297
transport::NodePtr node
Node for communication.
Definition: PhysicsEngine.hh:272
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77