PhysicsEngine.hh
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2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
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13  * See the License for the specific language governing permissions and
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16 */
17 #ifndef _PHYSICSENGINE_HH_
18 #define _PHYSICSENGINE_HH_
19 
20 #include <boost/thread/recursive_mutex.hpp>
21 #include <boost/any.hpp>
22 #include <string>
23 #include <ignition/transport/Node.hh>
24 
26 #include "gazebo/msgs/msgs.hh"
27 
29 #include "gazebo/util/system.hh"
30 
31 namespace gazebo
32 {
33  namespace physics
34  {
35  class ContactManager;
36 
39 
42  class GZ_PHYSICS_VISIBLE PhysicsEngine
43  {
46  public: explicit PhysicsEngine(WorldPtr _world);
47 
49  public: virtual ~PhysicsEngine();
50 
53  public: virtual void Load(sdf::ElementPtr _sdf);
54 
56  public: virtual void Init() = 0;
57 
59  public: virtual void Fini();
60 
62  public: virtual void Reset() {}
63 
65  public: virtual void InitForThread() = 0;
66 
90  public: virtual void UpdateCollision() = 0;
91 
94  public: virtual std::string GetType() const = 0;
95 
98  public: virtual void SetSeed(uint32_t _seed) = 0;
99 
102  public: double GetUpdatePeriod();
103 
106  public: double GetTargetRealTimeFactor() const;
107 
110  public: double GetRealTimeUpdateRate() const;
111 
114  public: double GetMaxStepSize() const;
115 
118  public: void SetTargetRealTimeFactor(double _factor);
119 
122  public: void SetRealTimeUpdateRate(double _rate);
123 
126  public: void SetMaxStepSize(double _stepSize);
127 
132  public: virtual void UpdatePhysics() {}
133 
136  public: virtual ModelPtr CreateModel(BasePtr _base);
137 
140  public: virtual LinkPtr CreateLink(ModelPtr _parent) = 0;
141 
145  public: virtual CollisionPtr CreateCollision(
146  const std::string &_shapeType, LinkPtr _link) = 0;
147 
151  public: CollisionPtr CreateCollision(const std::string &_shapeType,
152  const std::string &_linkName);
153 
157  public: virtual ShapePtr CreateShape(const std::string &_shapeType,
158  CollisionPtr _collision) = 0;
159 
163  public: virtual JointPtr CreateJoint(const std::string &_type,
164  ModelPtr _parent = ModelPtr()) = 0;
165 
166 
169  public: virtual void SetGravity(
170  const ignition::math::Vector3d &_gravity) = 0;
171 
176  public: virtual void SetAutoDisableFlag(bool _autoDisable);
177 
182  public: virtual void SetMaxContacts(unsigned int _maxContacts);
183 
188  public: virtual bool GetAutoDisableFlag() {return 0;}
189 
221  public: virtual bool SetParam(const std::string &_key,
222  const boost::any &_value);
223 
228  public: virtual boost::any GetParam(const std::string &_key) const;
229 
235  public: virtual bool GetParam(const std::string &_key,
236  boost::any &_value) const;
237 
239  public: virtual void DebugPrint() const = 0;
240 
243  public: WorldPtr World() const;
244 
247  public: ContactManager *GetContactManager() const;
248 
251  public: boost::recursive_mutex *GetPhysicsUpdateMutex() const
252  {return this->physicsUpdateMutex;}
253 
256  public: sdf::ElementPtr GetSDF() const;
257 
268  public:
269  template <typename T>
270  static T any_cast(const boost::any &_value)
271  {
272  try
273  {
274  auto value = boost::any_cast<std::any>(_value);
275  return std::any_cast<T>(value);
276  }
277  catch(boost::bad_any_cast &)
278  {
279  return boost::any_cast<T>(_value);
280  }
281  }
282 
285  protected: virtual void OnRequest(ConstRequestPtr &_msg);
286 
289  protected: virtual void OnPhysicsMsg(ConstPhysicsPtr &_msg);
290 
292  protected: WorldPtr world;
293 
295  protected: sdf::ElementPtr sdf;
296 
299 
302 
305 
308 
310  protected: boost::recursive_mutex *physicsUpdateMutex;
311 
315 
317  protected: double realTimeUpdateRate;
318 
320  protected: double targetRealTimeFactor;
321 
323  protected: double maxStepSize;
324 
325  // Place ignition::transport objects at the end of this file to
326  // guarantee they are destructed first.
327 
329  protected: ignition::transport::Node nodeIgn;
330 
332  protected: ignition::transport::Node::Publisher responsePubIgn;
333  };
335  }
336 }
337 #endif
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:110
sdf::ElementPtr sdf
Our SDF values.
Definition: PhysicsEngine.hh:295
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:90
ignition::transport::Node::Publisher responsePubIgn
Response publisher.
Definition: PhysicsEngine.hh:332
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:314
static T any_cast(const boost::any &_value)
Helper function for performing any_cast operations in SetParam.
Definition: PhysicsEngine.hh:270
Base class for a physics engine.
Definition: PhysicsEngine.hh:42
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:118
transport::SubscriberPtr physicsSub
Subscribe to the physics topic.
Definition: PhysicsEngine.hh:304
virtual bool GetAutoDisableFlag()
: Remove this function, and replace it with a more generic property map
Definition: PhysicsEngine.hh:188
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
transport::SubscriberPtr requestSub
Subscribe to the request topic.
Definition: PhysicsEngine.hh:307
default namespace for gazebo
virtual void Reset()
Rest the physics engine.
Definition: PhysicsEngine.hh:62
The world provides access to all other object within a simulated environment.
Definition: World.hh:74
double realTimeUpdateRate
Real time update rate.
Definition: PhysicsEngine.hh:317
WorldPtr world
Pointer to the world.
Definition: PhysicsEngine.hh:292
ignition::transport::Node nodeIgn
Ignition node for communication.
Definition: PhysicsEngine.hh:329
double targetRealTimeFactor
Target real time factor.
Definition: PhysicsEngine.hh:320
virtual void UpdatePhysics()
Update the physics engine.
Definition: PhysicsEngine.hh:132
transport::PublisherPtr responsePub
Response publisher.
Definition: PhysicsEngine.hh:301
boost::shared_ptr< Shape > ShapePtr
Definition: PhysicsTypes.hh:142
boost::recursive_mutex * GetPhysicsUpdateMutex() const
returns a pointer to the PhysicsEngine::physicsUpdateMutex.
Definition: PhysicsEngine.hh:251
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:94
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:310
double maxStepSize
Real time update rate.
Definition: PhysicsEngine.hh:323
transport::NodePtr node
Node for communication.
Definition: PhysicsEngine.hh:298
Aggregates all the contact information generated by the collision detection engine.
Definition: ContactManager.hh:72
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:114
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:78