PhysicsEngine Class Reference

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 GAZEBO_DEPRECATED(8.0)
	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 GAZEBO_DEPRECATED(8.0)
	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) GAZEBO_DEPRECATED(8.0)
	Set the gravity vector. More...
virtual void	SetGravity (const ignition::math::Vector3d &_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...
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

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.

Deprecated:

See World::Gravity() const

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 SimbodyPhysics, ODEPhysics, 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 SimbodyPhysics, ODEPhysics, 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.

Deprecated:

See World::MagneticField() const

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 )

virtual

Set the gravity vector.

Parameters

[in]

_gravity

New gravity vector.

Deprecated:

See function that accepts an ignition math object.

virtual void SetGravity ( const ignition::math::Vector3d &  _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

Returns

true if SetParam is successful, false if operation fails.

Reimplemented in SimbodyPhysics, ODEPhysics, BulletPhysics, and DARTPhysics.

void SetRealTimeUpdateRate

(

double

_rate

)

Set real time update rate.

Parameters

[in]

_rate

Update rate

virtual void SetSeed ( uint32_t  _seed )

pure virtual

Set the random number seed for the physics engine.

Parameters

[in]

_seed

The random number seed.

Implemented in ODEPhysics, BulletPhysics, DARTPhysics, and SimbodyPhysics.

void SetTargetRealTimeFactor

(

double

_factor

)

Set target real time factor.

Parameters

[in]

_factor

Target real time factor

virtual void UpdateCollision ( )

pure virtual

Update the physics engine collision.

Implemented in ODEPhysics, DARTPhysics, BulletPhysics, and SimbodyPhysics.

virtual void UpdatePhysics ( )

inlinevirtual

Update the physics engine.

Reimplemented in ODEPhysics, DARTPhysics, BulletPhysics, and SimbodyPhysics.

WorldPtr World

(

)

const

Get a pointer to the world.

Returns

Pointer to the world.

Member Data Documentation

ContactManager* contactManager

protected

Class that handles all contacts generated by the physics engine.

double maxStepSize

protected

Real time update rate.

transport::NodePtr node

protected

Node for communication.

ignition::transport::Node nodeIgn

protected

Ignition node for communication.

transport::SubscriberPtr physicsSub

protected

Subscribe to the physics topic.

boost::recursive_mutex* physicsUpdateMutex

protected

Mutex to protect the update cycle.

Referenced by PhysicsEngine::GetPhysicsUpdateMutex().

double realTimeUpdateRate

protected

Real time update rate.

transport::SubscriberPtr requestSub

protected

Subscribe to the request topic.

transport::PublisherPtr responsePub

protected

Response publisher.

ignition::transport::Node::Publisher responsePubIgn

protected

Response publisher.

sdf::ElementPtr sdf

protected

Our SDF values.

double targetRealTimeFactor

protected

Target real time factor.

WorldPtr world

protected

Pointer to the world.

---

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

• PhysicsEngine.hh