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PhysicsEngine.hh
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1 /*
2  * Copyright (C) 2012-2014 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
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16 */
17 #ifndef _PHYSICSENGINE_HH_
18 #define _PHYSICSENGINE_HH_
19 
20 #include <boost/thread/recursive_mutex.hpp>
21 #include <string>
22 
24 #include "gazebo/msgs/msgs.hh"
25 
27 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
33  class ContactManager;
34 
37 
41  {
44  public: explicit PhysicsEngine(WorldPtr _world);
45 
47  public: virtual ~PhysicsEngine();
48 
51  public: virtual void Load(sdf::ElementPtr _sdf);
52 
54  public: virtual void Init() = 0;
55 
57  public: virtual void Fini();
58 
60  public: virtual void Reset() {}
61 
63  public: virtual void InitForThread() = 0;
64 
66  public: virtual void UpdateCollision() = 0;
67 
70  public: virtual std::string GetType() const = 0;
71 
74  public: virtual void SetSeed(uint32_t _seed) = 0;
75 
78  public: double GetUpdatePeriod();
79 
82  public: double GetTargetRealTimeFactor() const;
83 
86  public: double GetRealTimeUpdateRate() const;
87 
90  public: double GetMaxStepSize() const;
91 
94  public: void SetTargetRealTimeFactor(double _factor);
95 
98  public: void SetRealTimeUpdateRate(double _rate);
99 
102  public: void SetMaxStepSize(double _stepSize);
103 
105  public: virtual void UpdatePhysics() {}
106 
109  public: virtual ModelPtr CreateModel(BasePtr _base);
110 
113  public: virtual LinkPtr CreateLink(ModelPtr _parent) = 0;
114 
118  public: virtual CollisionPtr CreateCollision(
119  const std::string &_shapeType, LinkPtr _link) = 0;
120 
124  public: CollisionPtr CreateCollision(const std::string &_shapeType,
125  const std::string &_linkName);
126 
130  public: virtual ShapePtr CreateShape(const std::string &_shapeType,
131  CollisionPtr _collision) = 0;
132 
136  public: virtual JointPtr CreateJoint(const std::string &_type,
137  ModelPtr _parent = ModelPtr()) = 0;
138 
141  public: virtual math::Vector3 GetGravity() const;
142 
145  public: virtual void SetGravity(
146  const gazebo::math::Vector3 &_gravity) = 0;
147 
152  public: virtual void SetWorldCFM(double _cfm);
153 
158  public: virtual void SetWorldERP(double _erp);
159 
164  public: virtual void SetAutoDisableFlag(bool _autoDisable);
165 
170  public: virtual void SetContactMaxCorrectingVel(double _vel);
171 
176  public: virtual void SetContactSurfaceLayer(double _layerDepth);
177 
182  public: virtual void SetMaxContacts(unsigned int _maxContacts);
183 
188  public: virtual double GetWorldCFM() {return 0;}
189 
194  public: virtual double GetWorldERP() {return 0;}
195 
200  public: virtual bool GetAutoDisableFlag() {return 0;}
201 
206  public: virtual double GetContactMaxCorrectingVel() {return 0;}
207 
212  public: virtual double GetContactSurfaceLayer() {return 0;}
213 
218  public: virtual unsigned int GetMaxContacts() {return 0;}
219 
251  public: virtual bool SetParam(const std::string &_key,
252  const boost::any &_value);
253 
258  public: virtual boost::any GetParam(const std::string &_key) const;
259 
261  public: virtual void DebugPrint() const = 0;
262 
265  public: ContactManager *GetContactManager() const;
266 
269  public: boost::recursive_mutex *GetPhysicsUpdateMutex() const
270  {return this->physicsUpdateMutex;}
271 
274  protected: virtual void OnRequest(ConstRequestPtr &_msg);
275 
278  protected: virtual void OnPhysicsMsg(ConstPhysicsPtr &_msg);
279 
281  protected: WorldPtr world;
282 
284  protected: sdf::ElementPtr sdf;
285 
288 
291 
294 
297 
299  protected: boost::recursive_mutex *physicsUpdateMutex;
300 
304 
306  protected: double realTimeUpdateRate;
307 
309  protected: double targetRealTimeFactor;
310 
312  protected: double maxStepSize;
313  };
315  }
316 }
317 #endif
virtual double GetWorldERP()
: Remove this function, and replace it with a more generic property map
Definition: PhysicsEngine.hh:194
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:66
double realTimeUpdateRate
Real time update rate.
Definition: PhysicsEngine.hh:306
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:82
virtual double GetWorldCFM()
: Remove this function, and replace it with a more generic property map
Definition: PhysicsEngine.hh:188
double targetRealTimeFactor
Target real time factor.
Definition: PhysicsEngine.hh:309
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:43
virtual void UpdatePhysics()
Update the physics engine.
Definition: PhysicsEngine.hh:105
boost::shared_ptr< Shape > ShapePtr
Definition: PhysicsTypes.hh:110
boost::shared_ptr< Subscriber > SubscriberPtr
Definition: TransportTypes.hh:48
Base class for a physics engine.
Definition: PhysicsEngine.hh:40
virtual bool GetAutoDisableFlag()
: Remove this function, and replace it with a more generic property map
Definition: PhysicsEngine.hh:200
Forward declarations for transport.
WorldPtr world
Pointer to the world.
Definition: PhysicsEngine.hh:281
sdf::ElementPtr sdf
Our SDF values.
Definition: PhysicsEngine.hh:284
boost::recursive_mutex * physicsUpdateMutex
Mutex to protect the update cycle.
Definition: PhysicsEngine.hh:299
default namespace for gazebo
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:94
transport::SubscriberPtr physicsSub
Subscribe to the physics topic.
Definition: PhysicsEngine.hh:293
virtual void Reset()
Rest the physics engine.
Definition: PhysicsEngine.hh:60
transport::SubscriberPtr requestSub
Subscribe to the request topic.
Definition: PhysicsEngine.hh:296
virtual double GetContactMaxCorrectingVel()
: Remove this function, and replace it with a more generic property map.
Definition: PhysicsEngine.hh:206
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:78
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:98
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:52
boost::recursive_mutex * GetPhysicsUpdateMutex() const
returns a pointer to the PhysicsEngine::physicsUpdateMutex.
Definition: PhysicsEngine.hh:269
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
virtual unsigned int GetMaxContacts()
: Remove this function, and replace it with a more generic property map.
Definition: PhysicsEngine.hh:218
virtual double GetContactSurfaceLayer()
: Remove this function, and replace it with a more generic property map.
Definition: PhysicsEngine.hh:212
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:44
transport::PublisherPtr responsePub
Response publisher.
Definition: PhysicsEngine.hh:290
Aggregates all the contact information generated by the collision detection engine.
Definition: ContactManager.hh:65
double maxStepSize
Real time update rate.
Definition: PhysicsEngine.hh:312
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48
transport::NodePtr node
Node for communication.
Definition: PhysicsEngine.hh:287
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:90
ContactManager * contactManager
Class that handles all contacts generated by the physics engine.
Definition: PhysicsEngine.hh:303