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PhysicsEngine.hh
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1 /*
2  * Copyright 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /* Desc: The base class for all physics engines
18  * Author: Nate Koenig
19  */
20 
21 #ifndef _PHYSICSENGINE_HH_
22 #define _PHYSICSENGINE_HH_
23 
24 #include <boost/thread/recursive_mutex.hpp>
25 #include <string>
26 
28 #include "gazebo/msgs/msgs.hh"
29 
31 
32 namespace gazebo
33 {
34  namespace physics
35  {
36  class ContactManager;
37 
40 
44  {
47  public: explicit PhysicsEngine(WorldPtr _world);
48 
50  public: virtual ~PhysicsEngine();
51 
54  public: virtual void Load(sdf::ElementPtr _sdf);
55 
57  public: virtual void Init() = 0;
58 
60  public: virtual void Fini();
61 
63  public: virtual void Reset() {}
64 
66  public: virtual void InitForThread() = 0;
67 
69  public: virtual void UpdateCollision() = 0;
70 
73  public: virtual std::string GetType() const = 0;
74 
77  public: virtual void SetSeed(uint32_t _seed) = 0;
78 
82  public: void SetUpdateRate(double _value) GAZEBO_DEPRECATED(1.5);
83 
87  public: double GetUpdateRate() GAZEBO_DEPRECATED(1.5);
88 
91  public: double GetUpdatePeriod();
92 
96  public: virtual void SetStepTime(double _value) GAZEBO_DEPRECATED(1.5);
97 
101  public: virtual double GetStepTime() GAZEBO_DEPRECATED(1.5);
102 
105  public: double GetTargetRealTimeFactor() const;
106 
109  public: double GetRealTimeUpdateRate() const;
110 
113  public: double GetMaxStepSize() const;
114 
117  public: void SetTargetRealTimeFactor(double _factor);
118 
121  public: void SetRealTimeUpdateRate(double _rate);
122 
125  public: void SetMaxStepSize(double _stepSize);
126 
128  public: virtual void UpdatePhysics() {}
129 
132  public: virtual LinkPtr CreateLink(ModelPtr _parent) = 0;
133 
137  public: virtual CollisionPtr CreateCollision(
138  const std::string &_shapeType, LinkPtr _link) = 0;
139 
143  public: CollisionPtr CreateCollision(const std::string &_shapeType,
144  const std::string &_linkName);
145 
149  public: virtual ShapePtr CreateShape(const std::string &_shapeType,
150  CollisionPtr _collision) = 0;
151 
155  public: virtual JointPtr CreateJoint(const std::string &_type,
156  ModelPtr _parent = ModelPtr()) = 0;
157 
160  public: virtual math::Vector3 GetGravity() const;
161 
164  public: virtual void SetGravity(
165  const gazebo::math::Vector3 &_gravity) = 0;
166 
171  public: virtual void SetWorldCFM(double _cfm);
172 
177  public: virtual void SetWorldERP(double _erp);
178 
183  public: virtual void SetAutoDisableFlag(bool _autoDisable);
184 
189  public: virtual void SetSORPGSPreconIters(unsigned int _iters);
190 
195  public: virtual void SetSORPGSIters(unsigned int _iters);
196 
201  public: virtual void SetSORPGSW(double _w);
202 
207  public: virtual void SetContactMaxCorrectingVel(double _vel);
208 
213  public: virtual void SetContactSurfaceLayer(double _layerDepth);
214 
219  public: virtual void SetMaxContacts(double _maxContacts);
220 
225  public: virtual double GetWorldCFM() {return 0;}
226 
231  public: virtual double GetWorldERP() {return 0;}
232 
237  public: virtual bool GetAutoDisableFlag() {return 0;}
238 
243  public: virtual int GetSORPGSPreconIters() {return 0;}
244 
249  public: virtual int GetSORPGSIters() {return 0;}
250 
255  public: virtual double GetSORPGSW() {return 0;}
256 
261  public: virtual double GetContactMaxCorrectingVel() {return 0;}
262 
267  public: virtual double GetContactSurfaceLayer() {return 0;}
268 
273  public: virtual int GetMaxContacts() {return 0;}
274 
278  public: virtual void SetParam(std::string _key,
279  const boost::any &_value);
280 
284  public: virtual boost::any GetParam(std::string _key) const;
285 
287  public: virtual void DebugPrint() const = 0;
288 
291  public: ContactManager *GetContactManager() const;
292 
295  public: boost::recursive_mutex *GetPhysicsUpdateMutex() const
296  {return this->physicsUpdateMutex;}
297 
300  protected: virtual void OnRequest(ConstRequestPtr &_msg);
301 
304  protected: virtual void OnPhysicsMsg(ConstPhysicsPtr &_msg);
305 
307  protected: WorldPtr world;
308 
310  protected: sdf::ElementPtr sdf;
311 
314 
317 
320 
323 
325  protected: boost::recursive_mutex *physicsUpdateMutex;
326 
330 
332  protected: double realTimeUpdateRate;
333 
335  protected: double targetRealTimeFactor;
336 
338  protected: double maxStepSize;
339  };
341  }
342 }
343 #endif