ODE physics engine. More...

#include <ODEPhysics.hh>

Public Types
enum	ODEParam { SOLVER_TYPE, GLOBAL_CFM, GLOBAL_ERP, SOR_PRECON_ITERS, PGS_ITERS, SOR, CONTACT_MAX_CORRECTING_VEL, CONTACT_SURFACE_LAYER, MAX_CONTACTS, MIN_STEP_SIZE, INERTIA_RATIO_REDUCTION, FRICTION_MODEL, WORLD_SOLVER_TYPE }
	ODE Physics parameter types. More...

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

virtual	~ODEPhysics ()
	Destructor. More...

void	Collide (ODECollision _collision1, ODECollision _collision2, dContactGeom *_contactCollisions)
	Collide two collision objects. More...

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

virtual double	GetContactMaxCorrectingVel ()

virtual double	GetContactSurfaceLayer ()

virtual std::string	GetFrictionModel () const
	Get friction model. More...

virtual unsigned int	GetMaxContacts ()

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...

virtual int	GetSORPGSIters ()

virtual int	GetSORPGSPreconIters ()

virtual double	GetSORPGSW ()

dSpaceID	GetSpaceId () const
	Return the world space id. More...

virtual std::string	GetStepType () const
	Get the step type (quick, world). 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 double	GetWorldERP ()

dWorldID	GetWorldId ()
	Get the world id. More...

virtual std::string	GetWorldStepSolverType () const
	Get solver type for world step. More...

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...

void	ProcessJointFeedback (ODEJointFeedback *_feedback)
	process joint feedbacks. 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	SetContactMaxCorrectingVel (double vel)

virtual void	SetContactSurfaceLayer (double layer_depth)

virtual void	SetFrictionModel (const std::string &_fricModel)
	Set friction model type. More...

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

virtual void	SetMaxContacts (unsigned int max_contacts)
	: 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)

virtual void	SetSORPGSPreconIters (unsigned int iters)

virtual void	SetSORPGSW (double w)

virtual void	SetStepType (const std::string &_type)
	Set the step type (quick, world). More...

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

virtual void	SetWorldCFM (double cfm)

virtual void	SetWorldERP (double erp)

virtual void	SetWorldStepSolverType (const std::string &_worldSolverType)
	Set world step solver type. More...

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
static Friction_Model	ConvertFrictionModel (const std::string &_fricModel)
	Convert a string to a Friction_Model enum. More...

static std::string	ConvertFrictionModel (const Friction_Model _fricModel)
	Convert a Friction_Model enum to a string. More...

static void	ConvertMass (InertialPtr _interial, void *_odeMass)
	Convert an ODE mass to Inertial. More...

static void	ConvertMass (void *_odeMass, InertialPtr _inertial)
	Convert an Inertial to ODE mass. More...

static std::string	ConvertWorldStepSolverType (const World_Solver_Type _solverType)
	Convert a World_Solver_Type enum to a string. More...

static World_Solver_Type	ConvertWorldStepSolverType (const std::string &_solverType)
	Convert a string to a World_Solver_Type enum. 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

ODE physics engine.

Member Enumeration Documentation

enum ODEParam

ODE Physics parameter types.

Enumerator
SOLVER_TYPE	Solve type.
GLOBAL_CFM	Constraint force mixing.
GLOBAL_ERP	Error reduction parameter.
SOR_PRECON_ITERS	Number of iterations.
PGS_ITERS	Number of iterations.
SOR	SOR over-relaxation parameter.
CONTACT_MAX_CORRECTING_VEL	Max correcting velocity.
CONTACT_SURFACE_LAYER	Surface layer depth.
MAX_CONTACTS	Maximum number of contacts.
MIN_STEP_SIZE	Minimum step size.
INERTIA_RATIO_REDUCTION	Limit ratios of inertias of adjacent links (note that the corresponding SDF tag is "use_dynamic_moi_rescaling")
FRICTION_MODEL	friction model
WORLD_SOLVER_TYPE	LCP Solver.

Constructor & Destructor Documentation

ODEPhysics ( WorldPtr _world )

explicit

Constructor.

Parameters

[in] _world The World that uses this physics engine.

virtual ~ODEPhysics ( )

virtual

Destructor.

Member Function Documentation

void Collide	(	ODECollision *	_collision1,
		ODECollision *	_collision2,
		dContactGeom *	_contactCollisions
	)

Collide two collision objects.

Parameters

[in]	_collision1	First collision object.
[in]	_collision2	Second collision object.
[in,out]	_contactCollision	Array of contacts.

static Friction_Model ConvertFrictionModel ( const std::string & _fricModel )

static

Convert a string to a Friction_Model enum.

Parameters

[in] _fricModel Friction model string.

Returns: A Friction_Model enum. Defaults to pyramid_friction if _fricModel is unrecognized.

static std::string ConvertFrictionModel ( const Friction_Model _fricModel )

static

Convert a Friction_Model enum to a string.

Parameters

[in] _fricModel Friction_Model enum.

Returns: Friction model string. Returns "unknown" if _fricModel is unrecognized.

static void ConvertMass	(	InertialPtr	_interial,
		void *	_odeMass
	)

static

Convert an ODE mass to Inertial.

Parameters

[out]	_intertial	Pointer to an Inertial object.
[in]	_odeMass	Pointer to an ODE mass that will be converted.

static void ConvertMass	(	void *	_odeMass,
		InertialPtr	_inertial
	)

static

Convert an Inertial to ODE mass.

Parameters

[out]	_odeMass	Pointer to an ODE mass.
[in]	_intertial	Pointer to an Inertial object that will be converted.

static std::string ConvertWorldStepSolverType ( const World_Solver_Type _solverType )

static

Convert a World_Solver_Type enum to a string.

Parameters

[in] _solverType World_Solver_Type enum.

Returns: World solver type string. Returns "unknown" if _solverType is unrecognized.

static World_Solver_Type ConvertWorldStepSolverType ( const std::string & _solverType )

static

Convert a string to a World_Solver_Type enum.

Parameters

[in] _solverType World solver type string.

Returns: A World_Solver_Type enum. Defaults to ODE_DEFAULT if _solverType is unrecognized.

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.

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.

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.

virtual LinkPtr CreateLink ( ModelPtr _parent )

virtual

Create a new body.

Parameters

[in] _parent Parent model for the link.

Implements PhysicsEngine.

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.

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.

virtual void DebugPrint ( ) const

virtual

Debug print out of the physic engine state.

Implements PhysicsEngine.

virtual void Fini ( )

virtual

Finilize the physics engine.

Reimplemented from PhysicsEngine.

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.

ContactManager* GetContactManager ( ) const

inherited

Get a pointer to the contact manger.

Returns: Pointer to the contact manager.

virtual double GetContactMaxCorrectingVel ( )

virtual

virtual double GetContactSurfaceLayer ( )

virtual

virtual std::string GetFrictionModel ( ) const

virtual

Get friction model.

Returns: Friction model type.

virtual unsigned int GetMaxContacts ( )

virtual

double GetMaxStepSize ( ) const

inherited

Get max step size.

Returns: Max step size.

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

virtual

Documentation inherited.

Reimplemented from PhysicsEngine.

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

virtual

Documentation inherited.

Reimplemented from PhysicsEngine.

boost::recursive_mutex* GetPhysicsUpdateMutex ( ) const

inlineinherited

returns a pointer to the PhysicsEngine::physicsUpdateMutex.

Returns: Pointer to the physics mutex.

References PhysicsEngine::physicsUpdateMutex.

double GetRealTimeUpdateRate ( ) const

inherited

Get real time update rate.

Returns: Update rate

sdf::ElementPtr GetSDF ( ) const

inherited

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

Returns: Pointer to the physics SDF element.

virtual int GetSORPGSIters ( )

virtual

virtual int GetSORPGSPreconIters ( )

virtual

virtual double GetSORPGSW ( )

virtual

dSpaceID GetSpaceId ( ) const

Return the world space id.

Returns: The space id for the world.

virtual std::string GetStepType ( ) const

virtual

Get the step type (quick, world).

Returns: The step type.

double GetTargetRealTimeFactor ( ) const

inherited

Get target real time factor.

Returns: Target real time factor

virtual std::string GetType ( ) const

inlinevirtual

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

Returns: Type of the physics engine.

Implements PhysicsEngine.

double GetUpdatePeriod ( )

inherited

Get the simulation update period.

Returns: Simulation update period.

virtual double GetWorldCFM ( )

virtual

virtual double GetWorldERP ( )

virtual

dWorldID GetWorldId ( )

Get the world id.

Returns: The world id.

virtual std::string GetWorldStepSolverType ( ) const

virtual

Get solver type for world step.

Returns: Type of solver used by world step.

virtual void Init ( )

virtual

Initialize the physics engine.

Implements PhysicsEngine.

virtual void InitForThread ( )

virtual

Init the engine for threads.

Implements PhysicsEngine.

virtual void Load ( sdf::ElementPtr _sdf )

virtual

Load the physics engine.

Parameters

[in] _sdf Pointer to the SDF parameters.

Reimplemented from PhysicsEngine.

virtual void OnPhysicsMsg ( ConstPhysicsPtr & _msg )

protectedvirtual

virtual callback for gztopic "~/physics".

Parameters

[in] _msg Physics message.

Reimplemented from PhysicsEngine.

virtual void OnRequest ( ConstRequestPtr & _msg )

protectedvirtual

virtual callback for gztopic "~/request".

Parameters

[in] _msg Request message.

Reimplemented from PhysicsEngine.

void ProcessJointFeedback ( ODEJointFeedback * _feedback )

process joint feedbacks.

Parameters

[in] _feedback ODE Joint Contact feedback information.

virtual void Reset ( )

virtual

Rest the physics engine.

Reimplemented from PhysicsEngine.

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.

virtual void SetContactMaxCorrectingVel ( double vel )

virtual

virtual void SetContactSurfaceLayer ( double layer_depth )

virtual

virtual void SetFrictionModel ( const std::string & _fricModel )

virtual

Set friction model type.

Parameters

[in] _fricModel Type of friction model.

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

virtual

Set the gravity vector.

Parameters

[in] _gravity New gravity vector.

Implements PhysicsEngine.

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 from PhysicsEngine.

void SetMaxStepSize ( double _stepSize )

inherited

Set max step size.

Parameters

[in] _stepSize Max step size.

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

virtual

Documentation inherited.

Reimplemented from PhysicsEngine.

void SetRealTimeUpdateRate ( double _rate )

inherited

Set real time update rate.

Parameters

[in] _rate Update rate

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.

virtual void SetSORPGSIters ( unsigned int iters )

virtual

virtual void SetSORPGSPreconIters ( unsigned int iters )

virtual

virtual void SetSORPGSW ( double w )

virtual

virtual void SetStepType ( const std::string & _type )

virtual

Set the step type (quick, world).

Parameters

[in] _type The step type (quick or world).

void SetTargetRealTimeFactor ( double _factor )

inherited

Set target real time factor.

Parameters

[in] _factor Target real time factor

virtual void SetWorldCFM ( double cfm )

virtual

virtual void SetWorldERP ( double erp )

virtual

virtual void SetWorldStepSolverType ( const std::string & _worldSolverType )

virtual

Set world step solver type.

Parameters

[in] _worldSolverType Type of solver used by world step.

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.

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.

WorldPtr World ( ) const

inherited

Get a pointer to the world.

Returns: Pointer to the world.

Member Data Documentation

ContactManager* contactManager

protectedinherited

Class that handles all contacts generated by the physics engine.

double maxStepSize

protectedinherited

Real time update rate.

transport::NodePtr node

protectedinherited

Node for communication.

ignition::transport::Node nodeIgn

protectedinherited

Ignition node for communication.

transport::SubscriberPtr physicsSub

protectedinherited

Subscribe to the physics topic.

boost::recursive_mutex* physicsUpdateMutex

protectedinherited

Mutex to protect the update cycle.

Referenced by PhysicsEngine::GetPhysicsUpdateMutex().

double realTimeUpdateRate

protectedinherited

Real time update rate.

transport::SubscriberPtr requestSub

protectedinherited

Subscribe to the request topic.

transport::PublisherPtr responsePub

protectedinherited

Response publisher.

ignition::transport::Node::Publisher responsePubIgn

protectedinherited

Response publisher.

sdf::ElementPtr sdf

protectedinherited

Our SDF values.

double targetRealTimeFactor

protectedinherited

Target real time factor.

WorldPtr world

protectedinherited

Pointer to the world.

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

ODEPhysics.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation