PhysicsEngine Class Reference

Base class for a physics engine. More...

#include <PhysicsEngine.hh>

Inheritance diagram for PhysicsEngine:

List of all members.

Public Member Functions
	PhysicsEngine (WorldPtr world)
	Default constructor.
virtual	~PhysicsEngine ()
	Destructor.
virtual void	Load (sdf::ElementPtr _sdf)=0
	Load the physics engine.
virtual void	Init ()=0
	Initialize the physics engine.
virtual void	Fini ()
	Finilize the physics engine.
virtual void	Reset ()
virtual void	InitForThread ()=0
	Init the engine for threads.
virtual void	UpdateCollision ()=0
	Update the physics engine collision.
virtual void	SetUpdateRate (double _value)=0
	Set the simulation update rate.
virtual double	GetUpdateRate ()=0
	Get the simulation update rate.
virtual double	GetUpdatePeriod ()=0
virtual void	SetStepTime (double _value)=0
	Set the simulation step time.
virtual double	GetStepTime ()=0
	Get the simulation step time.
virtual void	UpdatePhysics ()
	Update the physics engine.
virtual LinkPtr	CreateLink (ModelPtr _parent)=0
	Create a new body.
virtual CollisionPtr	CreateCollision (const std::string &_shapeType, LinkPtr _body)=0
	Create a collision.
virtual ShapePtr	CreateShape (const std::string &_shapeType, CollisionPtr _collision)=0
virtual JointPtr	CreateJoint (const std::string &type)=0
	Create a new joint.
math::Vector3	GetGravity () const
	Return the gavity vector.
virtual void	SetGravity (const gazebo::math::Vector3 &gravity)=0
	Set the gavity vector.
void	ShowContacts (const bool &show)
	Set whether to show contacts.
virtual void	SetWorldCFM (double)
	access functions to set ODE parameters
virtual void	SetWorldERP (double)
	access functions to set ODE parameters
virtual void	SetAutoDisableFlag (bool)
	access functions to set ODE parameters
virtual void	SetSORPGSIters (unsigned int)
	access functions to set ODE parameters
virtual void	SetSORPGSW (double)
	access functions to set ODE parameters
virtual void	SetContactMaxCorrectingVel (double)
	access functions to set ODE parameters
virtual void	SetContactSurfaceLayer (double)
	access functions to set ODE parameters
virtual void	SetMaxContacts (double)
	access functions to set ODE parameters
virtual double	GetWorldCFM ()
	access functions to set ODE parameters
virtual double	GetWorldERP ()
	access functions to set ODE parameters
virtual bool	GetAutoDisableFlag ()
	access functions to set ODE parameters
virtual int	GetSORPGSIters ()
	access functions to set ODE parameters
virtual double	GetSORPGSW ()
	access functions to set ODE parameters
virtual double	GetContactMaxCorrectingVel ()
	access functions to set ODE parameters
virtual double	GetContactSurfaceLayer ()
	access functions to set ODE parameters
virtual int	GetMaxContacts ()
	access functions to set ODE parameters
boost::recursive_mutex *	GetRayMutex () const
void	AddLinkPair (LinkPtr link1, LinkPtr link2)
bool	AreTouching (LinkPtr link1, LinkPtr link2)
Public Attributes
std::map< LinkPtr, LinkPtr >	contactPairs
Protected Member Functions
virtual void	OnRequest (ConstRequestPtr &)
virtual void	OnPhysicsMsg (ConstPhysicsPtr &)
Protected Attributes
WorldPtr	world
sdf::ElementPtr	sdf
transport::NodePtr	node
transport::PublisherPtr	responsePub
transport::SubscriberPtr	physicsSub
transport::SubscriberPtr	requestSub
boost::recursive_mutex *	rayMutex

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Detailed Description

Base class for a physics engine.

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Constructor & Destructor Documentation

PhysicsEngine

(

WorldPtr

world

)

Default constructor.

Parameters:

world

Pointer to the world

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Member Function Documentation

math::Vector3 GetGravity

(

)

const

Return the gavity vector.

Returns:

The gavity vector

Reimplemented in ODEPhysics.

virtual void Load

(

sdf::ElementPtr

_sdf

)

[pure virtual]

Load the physics engine.

Parameters:

_sdf	Pointer to the SDF parameters

Implemented in ODEPhysics.

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

• PhysicsEngine.hh