Base class for a physics engine. More...

#include <physics/physics.hh>

Inherited by BulletPhysics, DARTPhysics, ODEPhysics, and SimbodyPhysics.

Public Member Functions
	PhysicsEngine (WorldPtr _world)
	Default constructor. More...

virtual	~PhysicsEngine ()
	Destructor. More...

virtual CollisionPtr	CreateCollision (const std::string &_shapeType, LinkPtr _link)=0
	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=ModelPtr())=0
	Create a new joint. More...

virtual LinkPtr	CreateLink (ModelPtr _parent)=0
	Create a new body. More...

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

virtual ShapePtr	CreateShape (const std::string &_shapeType, CollisionPtr _collision)=0
	Create a physics::Shape object. More...

virtual void	DebugPrint () const =0
	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...

virtual math::Vector3	GetGravity () const
	Return the gravity vector. More...

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

virtual boost::any	GetParam (const std::string &_key) const
	Get an parameter of the physics engine. More...

virtual bool	GetParam (const std::string &_key, boost::any &_value) const
	Get a parameter from the physics engine with a boolean to indicate success or failure. 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 =0
	Return the physics engine type (ode\|bullet\|dart\|simbody). More...

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

virtual void	Init ()=0
	Initialize the physics engine. More...

virtual void	InitForThread ()=0
	Init the engine for threads. More...

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

virtual ignition::math::Vector3d	MagneticField () const
	Return the magnetic field vector. 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 gazebo::math::Vector3 &_gravity)=0
	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)
	Set a parameter of the physics engine. More...

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

virtual void	SetSeed (uint32_t _seed)=0
	Set the random number seed for the physics engine. More...

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

virtual void	UpdateCollision ()=0
	Update the physics engine collision. More...

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

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

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

virtual void	OnRequest (ConstRequestPtr &_msg)
	virtual callback for gztopic "~/request". 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...

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...

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

double	targetRealTimeFactor
	Target real time factor. More...

WorldPtr	world
	Pointer to the world. More...

Detailed Description

Base class for a physics engine.

Constructor & Destructor Documentation

PhysicsEngine ( WorldPtr _world )

explicit

Default constructor.

Parameters

[in] _world Pointer to the world.

virtual ~PhysicsEngine ( )

virtual

Destructor.

Member Function Documentation

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

pure virtual

Create a collision.

Parameters

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

Implemented in ODEPhysics, DARTPhysics, BulletPhysics, and SimbodyPhysics.

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

Create a collision.

Parameters

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

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

pure virtual

Create a new joint.

Parameters

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

Implemented in ODEPhysics, DARTPhysics, BulletPhysics, and SimbodyPhysics.

virtual LinkPtr CreateLink ( ModelPtr _parent )

pure virtual

Create a new body.

Parameters

[in] _parent Parent model for the link.

Implemented in ODEPhysics, DARTPhysics, BulletPhysics, and SimbodyPhysics.

virtual ModelPtr CreateModel ( BasePtr _base )

virtual

Create a new model.

Parameters

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

Reimplemented in DARTPhysics, and SimbodyPhysics.

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

pure virtual

Create a physics::Shape object.

Parameters

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

Implemented in ODEPhysics, DARTPhysics, BulletPhysics, and SimbodyPhysics.

virtual void DebugPrint ( ) const

pure virtual

Debug print out of the physic engine state.

Implemented in ODEPhysics, BulletPhysics, DARTPhysics, and SimbodyPhysics.

virtual void Fini ( )

virtual

Finilize the physics engine.

Reimplemented in ODEPhysics, BulletPhysics, DARTPhysics, and SimbodyPhysics.

virtual bool GetAutoDisableFlag ( )

inlinevirtual

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

access functions to set ODE parameters..

Returns: Auto disable flag.

ContactManager* GetContactManager ( ) const

Get a pointer to the contact manger.

Returns: Pointer to the contact manager.

virtual math::Vector3 GetGravity ( ) const

virtual

Return the gravity vector.

Returns: The gravity vector.

double GetMaxStepSize ( ) const

Get max step size.

Returns: Max step size.

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

virtual

Get an parameter of the physics engine.

Parameters

[in] _attr String key

See Also: SetParam

Returns: The value of the parameter

Reimplemented in ODEPhysics, SimbodyPhysics, BulletPhysics, and DARTPhysics.

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

virtual

Get a parameter from the physics engine with a boolean to indicate success or failure.

Parameters

[in]	_key	Key of the accessed param
[out]	_value	Value of the accessed param

Returns: True if the parameter was successfully retrieved

Reimplemented in ODEPhysics, SimbodyPhysics, BulletPhysics, and DARTPhysics.

boost::recursive_mutex* GetPhysicsUpdateMutex ( ) const

inline

returns a pointer to the PhysicsEngine::physicsUpdateMutex.

Returns: Pointer to the physics mutex.

References PhysicsEngine::physicsUpdateMutex.

double GetRealTimeUpdateRate ( ) const

Get real time update rate.

Returns: Update rate

sdf::ElementPtr GetSDF ( ) const

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

Returns: Pointer to the physics SDF element.

double GetTargetRealTimeFactor ( ) const

Get target real time factor.

Returns: Target real time factor

virtual std::string GetType ( ) const

pure virtual

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

Returns: Type of the physics engine.

Implemented in ODEPhysics, BulletPhysics, DARTPhysics, and SimbodyPhysics.

double GetUpdatePeriod ( )

Get the simulation update period.

Returns: Simulation update period.

virtual void Init ( )

pure virtual

Initialize the physics engine.

Implemented in ODEPhysics, BulletPhysics, DARTPhysics, and SimbodyPhysics.

virtual void InitForThread ( )

pure virtual

Init the engine for threads.

Implemented in ODEPhysics, DARTPhysics, BulletPhysics, and SimbodyPhysics.

virtual void Load ( sdf::ElementPtr _sdf )

virtual

Load the physics engine.

Parameters

[in] _sdf Pointer to the SDF parameters.

Reimplemented in ODEPhysics, BulletPhysics, DARTPhysics, and SimbodyPhysics.

virtual ignition::math::Vector3d MagneticField ( ) const

virtual

Return the magnetic field vector.

Returns: The magnetic field vector.

virtual void OnPhysicsMsg ( ConstPhysicsPtr & _msg )

protectedvirtual

virtual callback for gztopic "~/physics".

Parameters

[in] _msg Physics message.

Reimplemented in ODEPhysics, SimbodyPhysics, DARTPhysics, and BulletPhysics.

virtual void OnRequest ( ConstRequestPtr & _msg )

protectedvirtual

virtual callback for gztopic "~/request".

Parameters

[in] _msg Request message.

Reimplemented in ODEPhysics, SimbodyPhysics, DARTPhysics, and BulletPhysics.

virtual void Reset ( )

inlinevirtual

Rest the physics engine.

Reimplemented in ODEPhysics, DARTPhysics, BulletPhysics, and SimbodyPhysics.

virtual void SetAutoDisableFlag ( bool _autoDisable )

virtual

: 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.

virtual void SetGravity ( const gazebo::math::Vector3 & _gravity )

pure virtual

Set the gravity vector.

Parameters

[in] _gravity New gravity vector.

Implemented in BulletPhysics, ODEPhysics, DARTPhysics, and SimbodyPhysics.

virtual void SetMaxContacts ( unsigned int _maxContacts )

virtual

: 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.

void SetMaxStepSize ( double _stepSize )

Set max step size.

Parameters

[in] _stepSize Max step size.

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

virtual

Set a parameter of the physics engine.

See SetParam documentation for descriptions of duplicate parameters.

Parameters

[in]	_key	String key Below is a list of _key parameter definitions: "solver_type" (string) - returns solver used by engine, e.g. "sequential_impulse' for Bullet, "quick" for ODE "Featherstone and Lemkes" for DART and "Spatial Algebra and Elastic Foundation" for Simbody. -# "cfm" (double) - global CFM (ODE/Bullet) -# "erp" (double) - global ERP (ODE/Bullet) -# "precon_iters" (bool) - precondition iterations (experimental). (ODE) "iters" (int) - number of LCP PGS iterations. If sor_lcp_tolerance is negative, full iteration count is executed. Otherwise, PGS may stop iteration early if sor_lcp_tolerance is satisfied by the total RMS residual. "sor" (double) - relaxation parameter for Projected Gauss-Seidel (PGS) updates. (ODE/Bullet) "contact_max_correcting_vel" (double) - truncates correction impulses from ERP by this value. (ODE) "contact_surface_layer" (double) - ERP is 0 for interpenetration depths below this value. (ODE/Bullet) "max_contacts" (int) - max number of contact constraints between any pair of collision bodies. "min_step_size" (double) - minimum internal step size. (defined but not used in ode). "max_step_size" (double) - maximum physics step size when physics update step must return.
[in]	_value	The value to set to