PhysicsEngine Class Referenceabstract

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...
 
ContactManagerGetContactManager () const
 Get a pointer to the contact manger. 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 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)=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

ContactManagercontactManager
 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]_worldPointer 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]_shapeTypeType of collision to create.
[in]_linkParent link.

Implemented in ODEPhysics, DARTPhysics, BulletPhysics, and SimbodyPhysics.

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

Create a collision.

Parameters
[in]_shapeTypeType of collision to create.
[in]_linkNameName of the parent link.
virtual JointPtr CreateJoint ( const std::string &  _type,
ModelPtr  _parent = ModelPtr() 
)
pure virtual

Create a new joint.

Parameters
[in]_typeType of joint to create.
[in]_parentModel parent.

Implemented in ODEPhysics, DARTPhysics, BulletPhysics, and SimbodyPhysics.

virtual LinkPtr CreateLink ( ModelPtr  _parent)
pure virtual

Create a new body.

Parameters
[in]_parentParent model for the link.

Implemented in ODEPhysics, DARTPhysics, BulletPhysics, and SimbodyPhysics.

virtual ModelPtr CreateModel ( BasePtr  _base)
virtual

Create a new model.

Parameters
[in]_baseBoost 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]_shapeTypeType of shape to create.
[in]_collisionCollision 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.
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]_attrString 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]_keyKey of the accessed param
[out]_valueValue 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]_sdfPointer to the SDF parameters.

Reimplemented in ODEPhysics, BulletPhysics, DARTPhysics, and SimbodyPhysics.

virtual void OnPhysicsMsg ( ConstPhysicsPtr &  _msg)
protectedvirtual

virtual callback for gztopic "~/physics".

Parameters
[in]_msgPhysics message.

Reimplemented in ODEPhysics, SimbodyPhysics, DARTPhysics, and BulletPhysics.

virtual void OnRequest ( ConstRequestPtr &  _msg)
protectedvirtual

virtual callback for gztopic "~/request".

Parameters
[in]_msgRequest 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]_autoDisableTrue to enable auto disabling of bodies.
virtual void SetGravity ( const ignition::math::Vector3d &  _gravity)
pure virtual

Set the gravity vector.

Parameters
[in]_gravityNew 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]_maxContactsMaximum number of contacts.

Reimplemented in ODEPhysics.

void SetMaxStepSize ( double  _stepSize)

Set max step size.

Parameters
[in]_stepSizeMax 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]_keyString key Below is a list of _key parameter definitions:
  1. "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)
  2. "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.
  3. "sor" (double) - relaxation parameter for Projected Gauss-Seidel (PGS) updates. (ODE/Bullet)
  4. "contact_max_correcting_vel" (double) - truncates correction impulses from ERP by this value. (ODE)
  5. "contact_surface_layer" (double) - ERP is 0 for interpenetration depths below this value. (ODE/Bullet)
  6. "max_contacts" (int) - max number of contact constraints between any pair of collision bodies.
  7. "min_step_size" (double) - minimum internal step size. (defined but not used in ode).
  8. "max_step_size" (double) - maximum physics step size when physics update step must return.
[in]_valueThe 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]_rateUpdate rate
virtual void SetSeed ( uint32_t  _seed)
pure virtual

Set the random number seed for the physics engine.

Parameters
[in]_seedThe random number seed.

Implemented in ODEPhysics, BulletPhysics, DARTPhysics, and SimbodyPhysics.

void SetTargetRealTimeFactor ( double  _factor)

Set target real time factor.

Parameters
[in]_factorTarget real time factor
virtual void UpdateCollision ( )
pure 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.

Implemented in ODEPhysics, DARTPhysics, BulletPhysics, and SimbodyPhysics.

virtual void UpdatePhysics ( )
inlinevirtual

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 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: