ODEPhysicsPrivate.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _ODEPHYSICS_PRIVATE_HH_
19 #define _ODEPHYSICS_PRIVATE_HH_
20 
21 #include <map>
22 #include <string>
23 #include <vector>
24 #include <utility>
25 
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
35  {
36  public: ODEJointFeedback() : contact(NULL), count(0) {}
37 
39  public: Contact *contact;
40 
42  public: int count;
43 
45  public: dJointFeedback feedbacks[MAX_CONTACT_JOINTS];
46  };
47 
49  {
51  public: dWorldID worldId;
52 
54  public: dSpaceID spaceId;
55 
57  public: dJointGroupID contactGroup;
58 
60  public: std::string stepType;
61 
63  public: std::vector<ODEJointFeedback*> jointFeedbacks;
64 
66  public: int (*physicsStepFunc)(dxWorld*, dReal);
67 
69  public: std::map<std::string, dSpaceID> spaces;
70 
72  public: std::vector< std::pair<ODECollision*, ODECollision*> > colliders;
73 
75  public: std::vector< std::pair<ODECollision*, ODECollision*> >
77 
79  public: dContactGeom contactCollisions[MAX_COLLIDE_RETURNS];
80 
83 
85  public: unsigned int jointFeedbackIndex;
86 
88  public: unsigned int collidersCount;
89 
91  public: unsigned int trimeshCollidersCount;
92 
94  public: unsigned int maxContacts;
95  };
96  }
97 }
98 
99 #endif
ODEJointFeedback()
Definition: ODEPhysicsPrivate.hh:36
dWorldID worldId
Top-level world for all bodies.
Definition: ODEPhysicsPrivate.hh:51
std::string stepType
The type of the solver.
Definition: ODEPhysicsPrivate.hh:60
dSpaceID spaceId
Top-level space for all sub-spaces/collisions.
Definition: ODEPhysicsPrivate.hh:54
Data structure for contact feedbacks.
Definition: ODEPhysicsPrivate.hh:34
A contact between two collisions.
Definition: Contact.hh:54
std::map< std::string, dSpaceID > spaces
All the collsiion spaces.
Definition: ODEPhysicsPrivate.hh:69
std::vector< std::pair< ODECollision *, ODECollision * > > colliders
All the normal colliders.
Definition: ODEPhysicsPrivate.hh:72
std::vector< std::pair< ODECollision *, ODECollision * > > trimeshColliders
All the triangle mesh colliders.
Definition: ODEPhysicsPrivate.hh:76
unsigned int collidersCount
Number of normal colliders.
Definition: ODEPhysicsPrivate.hh:88
int(* physicsStepFunc)(dxWorld *, dReal)
Physics step function.
Definition: ODEPhysicsPrivate.hh:66
Definition: ODEPhysicsPrivate.hh:48
unsigned int maxContacts
Maximum number of contact points per collision pair.
Definition: ODEPhysicsPrivate.hh:94
#define MAX_COLLIDE_RETURNS
Definition: Contact.hh:40
int count
Number of elements in feedbacks array.
Definition: ODEPhysicsPrivate.hh:42
#define MAX_CONTACT_JOINTS
Definition: Contact.hh:41
dContactGeom contactCollisions[MAX_COLLIDE_RETURNS]
Array of contact collisions.
Definition: ODEPhysicsPrivate.hh:79
dJointGroupID contactGroup
Collision attributes.
Definition: ODEPhysicsPrivate.hh:57
int indices[MAX_CONTACT_JOINTS]
Indices used during creation of contact joints.
Definition: ODEPhysicsPrivate.hh:82
#define NULL
Definition: CommonTypes.hh:31
ODE wrapper forward declarations and typedefs.
dJointFeedback feedbacks[MAX_CONTACT_JOINTS]
Contact joint feedback information.
Definition: ODEPhysicsPrivate.hh:45
Contact * contact
Contact information.
Definition: ODEPhysicsPrivate.hh:39
std::vector< ODEJointFeedback * > jointFeedbacks
Buffer of contact feedback information.
Definition: ODEPhysicsPrivate.hh:63
unsigned int trimeshCollidersCount
Number of triangle mesh colliders.
Definition: ODEPhysicsPrivate.hh:91
unsigned int jointFeedbackIndex
Current index into the contactFeedbacks buffer.
Definition: ODEPhysicsPrivate.hh:85