ODEPhysics Class Reference

ODE physics engine. More...

#include <ODEPhysics.hh>

Inheritance diagram for ODEPhysics:

List of all members.

Public Member Functions
	ODEPhysics (WorldPtr world)
	Constructor.
virtual	~ODEPhysics ()
	Destructor.
virtual void	Load (sdf::ElementPtr _sdf)
	Load the ODE engine.
virtual void	Init ()
	Initialize the ODE engine.
void	Reset ()
virtual void	InitForThread ()
	Init the engine for threads.
virtual void	UpdateCollision ()
	Update the ODE collision.
virtual void	UpdatePhysics ()
	Update the ODE engine.
virtual void	Fini ()
	Finilize the ODE engine.
void	SetUpdateRate (double _value)
	Set the simulation update rate.
virtual double	GetUpdateRate ()
	Get the simulation simulation update rate.
virtual double	GetUpdatePeriod ()
void	SetStepTime (double _value)
	Set the step time.
virtual double	GetStepTime ()
	Get the simulation step time.
virtual LinkPtr	CreateLink (ModelPtr _parent)
	Create a new body.
virtual CollisionPtr	CreateCollision (const std::string &_shapeType, LinkPtr _parent)
	Create a collision.
virtual ShapePtr	CreateShape (const std::string &_shapeType, CollisionPtr _collision)
virtual JointPtr	CreateJoint (const std::string &type)
	Create a new joint.
dSpaceID	GetSpaceId () const
	Return the space id.
dWorldID	GetWorldId ()
	Get the world id.
virtual std::string	GetStepType () const
	Get the step type.
virtual void	SetStepType (const std::string type)
	Set the step type.
virtual void	SetGravity (const gazebo::math::Vector3 &gravity)
	Set the gavity vector.
math::Vector3	GetGravity () const
	Get gravity vector.
void	SetWorldCFM (double cfm)
	access functions to set ODE parameters
void	SetWorldERP (double erp)
	access functions to set ODE parameters
void	SetSORPGSIters (unsigned int iters)
	access functions to set ODE parameters
void	SetSORPGSW (double w)
	access functions to set ODE parameters
void	SetContactMaxCorrectingVel (double vel)
	access functions to set ODE parameters
void	SetContactSurfaceLayer (double layer_depth)
	access functions to set ODE parameters
void	SetMaxContacts (unsigned int max_contacts)
	access functions to set ODE parameters
double	GetWorldCFM ()
	access functions to set ODE parameters
double	GetWorldERP ()
	access functions to set ODE parameters
int	GetSORPGSIters ()
	access functions to set ODE parameters
double	GetSORPGSW ()
	access functions to set ODE parameters
double	GetContactMaxCorrectingVel ()
	access functions to set ODE parameters
double	GetContactSurfaceLayer ()
	access functions to set ODE parameters
int	GetMaxContacts ()
	access functions to set ODE parameters
void	CreateContact (ODECollision *collision1, ODECollision *collision2)
void	Collide (ODECollision *collision1, ODECollision *collision2, dContactGeom *contactCollisions)
	Collide two collisions.
void	ProcessContactFeedback (ContactFeedback *feedback)
Static Public Member Functions
static void	ConvertMass (InertialPtr &_interial, void *odeMass)
	Convert an odeMass to Mass.
static void	ConvertMass (void *odeMass, const InertialPtr &_inertial)
	Convert an odeMass to Mass.
Protected Member Functions
virtual void	OnRequest (ConstRequestPtr &)
virtual void	OnPhysicsMsg (ConstPhysicsPtr &)

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Detailed Description

ODE physics engine.

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

• ODEPhysics.hh