Bullet physics engine. More...

#include <BulletPhysics.hh>

Public Types
enum	BulletParam { SOLVER_TYPE, GLOBAL_CFM, GLOBAL_ERP, PGS_ITERS, SOR, CONTACT_SURFACE_LAYER, MAX_CONTACTS, MIN_STEP_SIZE }
	Bullet physics parameter types. More...

Public Member Functions
	BulletPhysics (WorldPtr _world)
	Constructor. More...

virtual	~BulletPhysics ()
	Destructor. More...

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

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

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

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

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

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

virtual ModelPtr	CreateModel (BasePtr _base)
	Create a new model. More...

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

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

virtual void	Fini ()
	Finilize the physics engine. More...

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

ContactManager *	GetContactManager () const
	Get a pointer to the contact manger. More...

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

double	GetMaxStepSize () const
	Get max step size. More...

virtual boost::any	GetParam (const std::string &_key) const
	Documentation inherited. More...

virtual bool	GetParam (const std::string &_key, boost::any &_value) const
	Documentation inherited. More...

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

double	GetRealTimeUpdateRate () const
	Get real time update rate. More...

sdf::ElementPtr	GetSDF () const
	Get a pointer to the SDF element for this physics engine. More...

double	GetTargetRealTimeFactor () const
	Get target real time factor. More...

virtual std::string	GetType () const
	Return the physics engine type (ode\|bullet\|dart\|simbody). More...

double	GetUpdatePeriod ()
	Get the simulation update period. More...

virtual double	GetWorldCFM ()

virtual void	Init ()
	Initialize the physics engine. More...

virtual void	InitForThread ()
	Init the engine for threads. More...

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

virtual void	Reset ()
	Rest the physics engine. More...

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

virtual void	SetGravity (const ignition::math::Vector3d &_gravity)
	Set the gravity vector. More...

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

void	SetMaxStepSize (double _stepSize)
	Set max step size. More...

virtual bool	SetParam (const std::string &_key, const boost::any &_value)
	Documentation inherited. More...

void	SetRealTimeUpdateRate (double _rate)
	Set real time update rate. More...

virtual void	SetSeed (uint32_t _seed)
	Set the random number seed for the physics engine. More...

virtual void	SetSORPGSIters (unsigned int iters)

void	SetTargetRealTimeFactor (double _factor)
	Set target real time factor. More...

virtual void	SetWorldCFM (double _cfm)

virtual void	UpdateCollision ()
	Update the physics engine collision. More...

virtual void	UpdatePhysics ()
	Update the physics engine. More...

WorldPtr	World () const
	Get a pointer to the world. More...

Static Public Member Functions
template<typename T >
static T	any_cast (const boost::any &_value)
	Helper function for performing any_cast operations in SetParam. More...

Protected Member Functions
virtual void	OnPhysicsMsg (ConstPhysicsPtr &_msg)
	virtual callback for gztopic "~/physics". More...

virtual void	OnRequest (ConstRequestPtr &_msg)
	Create a physics based ray sensor. More...

Protected Attributes
ContactManager *	contactManager
	Class that handles all contacts generated by the physics engine. More...

double	maxStepSize
	Real time update rate. More...

transport::NodePtr	node
	Node for communication. More...

ignition::transport::Node	nodeIgn
	Ignition node for communication. More...

transport::SubscriberPtr	physicsSub
	Subscribe to the physics topic. More...

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

double	realTimeUpdateRate
	Real time update rate. More...

transport::SubscriberPtr	requestSub
	Subscribe to the request topic. More...

transport::PublisherPtr	responsePub
	Response publisher. More...

ignition::transport::Node::Publisher	responsePubIgn
	Response publisher. More...

sdf::ElementPtr	sdf
	Our SDF values. More...

double	targetRealTimeFactor
	Target real time factor. More...

WorldPtr	world
	Pointer to the world. More...

Detailed Description

Bullet physics engine.

Member Enumeration Documentation

◆ BulletParam

enum BulletParam

Bullet physics parameter types.

Enumerator
SOLVER_TYPE	Solve type.
GLOBAL_CFM	Constraint force mixing.
GLOBAL_ERP	Error reduction parameter.
PGS_ITERS	Number of iterations.
SOR	SOR over-relaxation parameter.
CONTACT_SURFACE_LAYER	Surface layer depth.
MAX_CONTACTS	Maximum number of contacts.
MIN_STEP_SIZE	Minimum step size.

Constructor & Destructor Documentation

◆ BulletPhysics()

BulletPhysics ( WorldPtr _world )

explicit

Constructor.

◆ ~BulletPhysics()

virtual ~BulletPhysics ( )

virtual

Destructor.

Member Function Documentation

◆ any_cast()

static T any_cast ( const boost::any & _value )

inlinestaticinherited

Helper function for performing any_cast operations in SetParam.

This is useful because the PresetManager stores the output of sdf::Element::GetAny as boost::any values in its parameterMap and calls SetParam with these values. Prior to libsdformat8, the GetAny function returned boost::any, but it now returns std::any. This helper is used in SetParam to first check if a boost::any value contains a std::any, and if so, perform a std::any_cast<T>. Otherwise, it returns boost::any_cast<T>.

Parameters

[in] _value Value to cast to type T.

Returns: Value cast to type T.

References PhysicsEngine::OnPhysicsMsg(), and PhysicsEngine::OnRequest().

◆ ConvertMass() [1/2]

virtual void ConvertMass	(	InertialPtr	_inertial,
		void *	_engineMass
	)

virtual

Convert a bullet mass to a gazebo Mass.

Referenced by BulletPhysics::GetType().

◆ ConvertMass() [2/2]

virtual void ConvertMass	(	void *	_engineMass,
		InertialPtr	_inertial
	)

virtual

Convert a gazebo Mass to a bullet Mass.

◆ CreateCollision() [1/2]

virtual CollisionPtr CreateCollision	(	const std::string &	_shapeType,
		LinkPtr	_link
	)

virtual

Create a collision.

Parameters

[in]	_shapeType	Type of collision to create.
[in]	_link	Parent link.

Implements PhysicsEngine.

Referenced by BulletPhysics::GetType().

◆ CreateCollision() [2/2]

CollisionPtr CreateCollision	(	const std::string &	_shapeType,
		const std::string &	_linkName
	)

inherited

Create a collision.

Parameters

[in]	_shapeType	Type of collision to create.
[in]	_linkName	Name of the parent link.

◆ CreateJoint()

virtual JointPtr CreateJoint	(	const std::string &	_type,
		ModelPtr	_parent
	)

virtual

Create a new joint.

Parameters

[in]	_type	Type of joint to create.
[in]	_parent	Model parent.

Implements PhysicsEngine.

Referenced by BulletPhysics::GetType().

◆ CreateLink()

virtual LinkPtr CreateLink ( ModelPtr _parent )

virtual

Create a new body.

Parameters

[in] _parent Parent model for the link.

Implements PhysicsEngine.

Referenced by BulletPhysics::GetType().

◆ CreateModel()

virtual ModelPtr CreateModel ( BasePtr _base )

virtualinherited

Create a new model.

Parameters

[in] _base Boost shared pointer to a new model.

Reimplemented in DARTPhysics, and SimbodyPhysics.

Referenced by PhysicsEngine::UpdatePhysics().

◆ CreateShape()

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

virtual

Create a physics::Shape object.

Parameters

[in]	_shapeType	Type of shape to create.
[in]	_collision	Collision parent.

Implements PhysicsEngine.

Referenced by BulletPhysics::GetType().

◆ DebugPrint()

virtual void DebugPrint ( ) const

virtual

Debug print out of the physic engine state.

Implements PhysicsEngine.

Referenced by BulletPhysics::GetDynamicsWorld().

◆ Fini()

virtual void Fini ( )

virtual

Finilize the physics engine.

Reimplemented from PhysicsEngine.

◆ GetAutoDisableFlag()

virtual bool GetAutoDisableFlag ( )

inlinevirtualinherited

: Remove this function, and replace it with a more generic property map

access functions to set ODE parameters..

Returns: Auto disable flag.

References PhysicsEngine::DebugPrint(), PhysicsEngine::GetContactManager(), PhysicsEngine::GetParam(), PhysicsEngine::SetParam(), and PhysicsEngine::World().

◆ GetContactManager()

ContactManager* GetContactManager ( ) const

inherited

Get a pointer to the contact manger.

Returns: Pointer to the contact manager.

Referenced by PhysicsEngine::GetAutoDisableFlag().

◆ GetDynamicsWorld()

btDynamicsWorld* GetDynamicsWorld ( ) const

inline

Register a joint with the dynamics world.

References BulletPhysics::DebugPrint(), BulletPhysics::GetParam(), BulletPhysics::SetParam(), and BulletPhysics::SetSORPGSIters().

◆ GetMaxStepSize()

double GetMaxStepSize ( ) const

inherited

Get max step size.

Returns: Max step size.

Referenced by PhysicsEngine::Reset().

◆ GetParam() [1/2]

virtual boost::any GetParam ( const std::string & _key ) const

virtual

Documentation inherited.

Reimplemented from PhysicsEngine.

Referenced by BulletPhysics::GetDynamicsWorld().

◆ GetParam() [2/2]

virtual bool GetParam	(	const std::string &	_key,
		boost::any &	_value
	)		const

virtual

Documentation inherited.

Reimplemented from PhysicsEngine.

◆ GetPhysicsUpdateMutex()

boost::recursive_mutex* GetPhysicsUpdateMutex ( ) const

inlineinherited

returns a pointer to the PhysicsEngine::physicsUpdateMutex.

Returns: Pointer to the physics mutex.

References PhysicsEngine::GetSDF(), and PhysicsEngine::physicsUpdateMutex.

◆ GetRealTimeUpdateRate()

double GetRealTimeUpdateRate ( ) const

inherited

Get real time update rate.

Returns: Update rate

Referenced by PhysicsEngine::Reset().

◆ GetSDF()

sdf::ElementPtr GetSDF ( ) const

inherited

Get a pointer to the SDF element for this physics engine.

Returns: Pointer to the physics SDF element.

Referenced by PhysicsEngine::GetPhysicsUpdateMutex().

◆ GetTargetRealTimeFactor()

double GetTargetRealTimeFactor ( ) const

inherited

Get target real time factor.

Returns: Target real time factor

Referenced by PhysicsEngine::Reset().

◆ GetType()

virtual std::string GetType ( ) const

inlinevirtual

Return the physics engine type (ode|bullet|dart|simbody).

Returns: Type of the physics engine.

Implements PhysicsEngine.

References BulletPhysics::ConvertMass(), BulletPhysics::CreateCollision(), BulletPhysics::CreateJoint(), BulletPhysics::CreateLink(), BulletPhysics::CreateShape(), BulletPhysics::GetWorldCFM(), BulletPhysics::OnPhysicsMsg(), BulletPhysics::OnRequest(), BulletPhysics::SetGravity(), BulletPhysics::SetSeed(), and BulletPhysics::SetWorldCFM().

◆ GetUpdatePeriod()

double GetUpdatePeriod ( )

inherited

Get the simulation update period.

Returns: Simulation update period.

Referenced by PhysicsEngine::Reset().

◆ GetWorldCFM()

virtual double GetWorldCFM ( )

virtual

Referenced by BulletPhysics::GetType().

◆ Init()

virtual void Init ( )

virtual

Initialize the physics engine.

Implements PhysicsEngine.

◆ InitForThread()

virtual void InitForThread ( )

virtual

Init the engine for threads.

Implements PhysicsEngine.

◆ Load()

virtual void Load ( sdf::ElementPtr _sdf )

virtual

Load the physics engine.

Parameters

[in] _sdf Pointer to the SDF parameters.

Reimplemented from PhysicsEngine.

◆ OnPhysicsMsg()

virtual void OnPhysicsMsg ( ConstPhysicsPtr & _msg )

protectedvirtual

virtual callback for gztopic "~/physics".

Parameters

[in] _msg Physics message.

Reimplemented from PhysicsEngine.

Referenced by BulletPhysics::GetType().

◆ OnRequest()

virtual void OnRequest ( ConstRequestPtr & _msg )

protectedvirtual

Create a physics based ray sensor.

Reimplemented from PhysicsEngine.

Referenced by BulletPhysics::GetType().

◆ Reset()

virtual void Reset ( )

virtual

Rest the physics engine.

Reimplemented from PhysicsEngine.

◆ SetAutoDisableFlag()

virtual void SetAutoDisableFlag ( bool _autoDisable )

virtualinherited

: Remove this function, and replace it with a more generic property map

Access functions to set ODE parameters.

Parameters

[in] _autoDisable True to enable auto disabling of bodies.

Referenced by PhysicsEngine::UpdatePhysics().

◆ SetGravity()

virtual void SetGravity ( const ignition::math::Vector3d & _gravity )

virtual

Set the gravity vector.

Parameters

[in] _gravity New gravity vector.

Implements PhysicsEngine.

Referenced by BulletPhysics::GetType().

◆ SetMaxContacts()

virtual void SetMaxContacts ( unsigned int _maxContacts )

virtualinherited

: Remove this function, and replace it with a more generic property map

access functions to set ODE parameters

Parameters

[in] _maxContacts Maximum number of contacts.

Reimplemented in ODEPhysics.

Referenced by PhysicsEngine::UpdatePhysics().

◆ SetMaxStepSize()

void SetMaxStepSize ( double _stepSize )

inherited

Set max step size.

Parameters

[in] _stepSize Max step size.

Referenced by PhysicsEngine::Reset().

◆ SetParam()

virtual bool SetParam	(	const std::string &	_key,
		const boost::any &	_value
	)

virtual

Documentation inherited.

Reimplemented from PhysicsEngine.

Referenced by BulletPhysics::GetDynamicsWorld().

◆ SetRealTimeUpdateRate()

void SetRealTimeUpdateRate ( double _rate )

inherited

Set real time update rate.

Parameters

[in] _rate Update rate

Referenced by PhysicsEngine::Reset().

◆ SetSeed()

virtual void SetSeed ( uint32_t _seed )

virtual

Set the random number seed for the physics engine.

Parameters

[in] _seed The random number seed.

Implements PhysicsEngine.

Referenced by BulletPhysics::GetType().

◆ SetSORPGSIters()

virtual void SetSORPGSIters ( unsigned int iters )

virtual

Referenced by BulletPhysics::GetDynamicsWorld().

◆ SetTargetRealTimeFactor()

void SetTargetRealTimeFactor ( double _factor )

inherited

Set target real time factor.

Parameters

[in] _factor Target real time factor

Referenced by PhysicsEngine::Reset().

◆ SetWorldCFM()

virtual void SetWorldCFM ( double _cfm )

virtual

Referenced by BulletPhysics::GetType().

◆ UpdateCollision()

virtual void UpdateCollision ( )

virtual

Update the physics engine collision.

This function works in tandem with PhysicsEngine::UpdatePhysics() to update the world. This function will be called even if the physics is disabled (when World::PhysicsEnabled()) returns false). Which updates are done in which of the two functions PhysicsEngine::UpdateCollision() and PhysicsEngine::UpdatePhysics() is to some extent left to the implementing physics engine. The intention is that PhysicsEngine::UpdateCollision() will update the collision states of the world, including contact information, and PhysicsEngine::UpdatePhysics() will update the dynamics of the world, i.e. advance the world and react to the collision state. However for some physics engines, both is done in one step, or providing the contact information separately in UpdateCollision() would mean double work, as it can't be avoided to be done again in PhysicsEngine::UpdatePhysics() - in this case it is better that PhysicsEngine::UpdateCollision does not actually update collision and contact information, and instead leaves it to UpdatePhysics(). There should be one exception however when it still does make this update: If World::PhysicsEnabled() returns false, and therefore PhysicsEngine::UpdatePhysics() will not be called in the update step, then PhysicsEngine::UpdateCollision will need to ensure that collision and contact information will still be updated.

Implements PhysicsEngine.

◆ UpdatePhysics()

virtual void UpdatePhysics ( )

virtual

Update the physics engine.

Will only be called if the physics are enabled, which is the case when World::PhysicsEnabled() returns true.

See also: PhysicsEngine::UpdateCollision()

Reimplemented from PhysicsEngine.

◆ World()

WorldPtr World ( ) const

inherited

Get a pointer to the world.

Returns: Pointer to the world.

Referenced by PhysicsEngine::GetAutoDisableFlag().

Member Data Documentation

◆ contactManager

ContactManager* contactManager

protectedinherited

Class that handles all contacts generated by the physics engine.

◆ maxStepSize

double maxStepSize

protectedinherited

Real time update rate.

◆ node

transport::NodePtr node

protectedinherited

Node for communication.

◆ nodeIgn

ignition::transport::Node nodeIgn

protectedinherited

Ignition node for communication.

◆ physicsSub

transport::SubscriberPtr physicsSub

protectedinherited

Subscribe to the physics topic.

◆ physicsUpdateMutex

boost::recursive_mutex* physicsUpdateMutex

protectedinherited

Mutex to protect the update cycle.

Referenced by PhysicsEngine::GetPhysicsUpdateMutex().

◆ realTimeUpdateRate

double realTimeUpdateRate

protectedinherited

Real time update rate.

◆ requestSub

transport::SubscriberPtr requestSub

protectedinherited

Subscribe to the request topic.

◆ responsePub

transport::PublisherPtr responsePub

protectedinherited

Response publisher.

◆ responsePubIgn

ignition::transport::Node::Publisher responsePubIgn

protectedinherited

Response publisher.

◆ sdf

sdf::ElementPtr sdf

protectedinherited

Our SDF values.

◆ targetRealTimeFactor

double targetRealTimeFactor

protectedinherited

Target real time factor.

◆ world

WorldPtr world

protectedinherited

Pointer to the world.

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

BulletPhysics.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ BulletParam

Constructor & Destructor Documentation

◆ BulletPhysics()

◆ ~BulletPhysics()

Member Function Documentation

◆ any_cast()

◆ ConvertMass() [1/2]

◆ ConvertMass() [2/2]

◆ CreateCollision() [1/2]

◆ CreateCollision() [2/2]

◆ CreateJoint()

◆ CreateLink()

◆ CreateModel()

◆ CreateShape()

◆ DebugPrint()

◆ Fini()

◆ GetAutoDisableFlag()

◆ GetContactManager()

◆ GetDynamicsWorld()

◆ GetMaxStepSize()

◆ GetParam() [1/2]

◆ GetParam() [2/2]

◆ GetPhysicsUpdateMutex()

◆ GetRealTimeUpdateRate()

◆ GetSDF()

◆ GetTargetRealTimeFactor()

◆ GetType()

◆ GetUpdatePeriod()

◆ GetWorldCFM()

◆ Init()

◆ InitForThread()

◆ Load()

◆ OnPhysicsMsg()

◆ OnRequest()

◆ Reset()

◆ SetAutoDisableFlag()

◆ SetGravity()

◆ SetMaxContacts()

◆ SetMaxStepSize()

◆ SetParam()

◆ SetRealTimeUpdateRate()

◆ SetSeed()

◆ SetSORPGSIters()

◆ SetTargetRealTimeFactor()

◆ SetWorldCFM()

◆ UpdateCollision()

◆ UpdatePhysics()

◆ World()

Member Data Documentation

◆ contactManager

◆ maxStepSize

◆ node

◆ nodeIgn

◆ physicsSub

◆ physicsUpdateMutex

◆ realTimeUpdateRate

◆ requestSub

◆ responsePub

◆ responsePubIgn

◆ sdf

◆ targetRealTimeFactor

◆ world