PhysicsEngine Class Reference

A general physics engine interface for simulating dynamics of objects and robot devices. More...

#include <PhysicsEngine.hpp>

Inherited by ODESimulator, RWSimulator, and BtSimulator.

Classes
class	Dispatcher
	Each engine implements a dispatcher that creates instances of the engine. More...
class	Factory
	a factory for PhysicsEngine. This factory defines an extension point for PhysicsEngines. More...

Public Types
typedef rw::core::Ptr< PhysicsEngine >	Ptr
	smart pointer type of PhysicsEngine

Public Member Functions
virtual	~PhysicsEngine ()
	destructor
virtual void	load (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc)=0
	adds dynamic workcell
virtual bool	setContactDetector (rw::core::Ptr< rwsim::contacts::BaseContactDetector > detector)=0
	Change the contact detector used by the engine. More...
virtual void	step (double dt, rw::kinematics::State &state)=0
	Performs a step and updates the state.
virtual void	resetScene (rw::kinematics::State &state)=0
	reset velocity and acceleration of all bodies to 0. And sets the position of all bodies to that described in state
virtual void	initPhysics (rw::kinematics::State &state)=0
	initialize simulator physics with state
virtual void	exitPhysics ()=0
	cleans up the allocated storage fo bullet physics
virtual double	getTime ()=0
	gets the the current simulated time
virtual void	setEnabled (rw::core::Ptr< rwsim::dynamics::Body > body, bool enabled)=0
virtual void	setDynamicsEnabled (rw::core::Ptr< rwsim::dynamics::Body > body, bool enabled)=0
	disables the dynamics of a body. More...
virtual drawable::SimulatorDebugRender::Ptr	createDebugRender ()=0
	create a debug render for the specific implementation More...
virtual rw::core::PropertyMap &	getPropertyMap ()=0
	properties of the physics engine
virtual void	emitPropertyChanged ()=0
	should be called when properties have been changed and one wants the physics engine to reflect the new properties.
virtual void	addController (rw::core::Ptr< rwlibs::simulation::SimulatedController > controller)=0
	add a simulated controller to this simulator
virtual void	removeController (rw::core::Ptr< rwlibs::simulation::SimulatedController > controller)=0
	removes a simulated controller from this simulator More...
virtual void	addBody (rw::core::Ptr< rwsim::dynamics::Body > body, rw::kinematics::State &state)=0
	add a body to the physics engine More...
virtual void	addDevice (rw::core::Ptr< rwsim::dynamics::DynamicDevice > device, rw::kinematics::State &state)=0
	add a dynamic device to the physics engine More...
virtual void	addSensor (rwlibs::simulation::SimulatedSensor::Ptr sensor, rw::kinematics::State &state)=0
	add a simulated sensor to this simulator
virtual void	removeSensor (rwlibs::simulation::SimulatedSensor::Ptr sensor)=0
	add a simulated sensor to this simulator
virtual void	attach (rw::core::Ptr< rwsim::dynamics::Body > b1, rw::core::Ptr< rwsim::dynamics::Body > b2)=0
	creates a 6dof dynamic constraint between the two bodies b1 and b2 More...
virtual void	detach (rw::core::Ptr< rwsim::dynamics::Body > b1, rw::core::Ptr< rwsim::dynamics::Body > b2)=0
	removes the 6dof constraint between bodies b1 and b2 if there is any More...
virtual std::vector< rwlibs::simulation::SimulatedSensor::Ptr >	getSensors ()=0
	get the list of simulated sensors More...
virtual void	setSimulatorLog (rw::core::Ptr< rwsim::log::SimulatorLogScope > log)
	Store internal info during simulation. More...

Detailed Description

A general physics engine interface for simulating dynamics of objects and robot devices.

The general step looks like this:;

Foreach controller=_controllers controller->update(dt,state);

collision detection (contact detection) constraint solving update device/body positions (integration)

Foreach sensor=_sensors sensor->update(dt,state)

Member Function Documentation

addBody()

virtual void addBody ( rw::core::Ptr< rwsim::dynamics::Body >  body, rw::kinematics::State &  state  )

pure virtual

add a body to the physics engine

Parameters

body	[in] body to add
state	[in] current state

Implemented in BtSimulator.

addDevice()

virtual void addDevice ( rw::core::Ptr< rwsim::dynamics::DynamicDevice >  device, rw::kinematics::State &  state  )

pure virtual

add a dynamic device to the physics engine

Parameters

device	[in] device to add
state	[in] current state

Implemented in BtSimulator, and RWSimulator.

attach()

virtual void attach ( rw::core::Ptr< rwsim::dynamics::Body >  b1, rw::core::Ptr< rwsim::dynamics::Body >  b2  )

pure virtual

creates a 6dof dynamic constraint between the two bodies b1 and b2

Parameters

b1
b2

Implemented in BtSimulator.

createDebugRender()

virtual drawable::SimulatorDebugRender::Ptr createDebugRender ( )

pure virtual

create a debug render for the specific implementation

Returns

NULL if no render is available else a valid render

Implemented in ODESimulator, BtSimulator, and RWSimulator.

detach()

virtual void detach ( rw::core::Ptr< rwsim::dynamics::Body >  b1, rw::core::Ptr< rwsim::dynamics::Body >  b2  )

pure virtual

removes the 6dof constraint between bodies b1 and b2 if there is any

Parameters

b1
b2

Implemented in BtSimulator.

getSensors()

virtual std::vector<rwlibs::simulation::SimulatedSensor::Ptr> getSensors ( )

pure virtual

get the list of simulated sensors

Returns

Implemented in ODESimulator, BtSimulator, and RWSimulator.

removeController()

virtual void removeController ( rw::core::Ptr< rwlibs::simulation::SimulatedController >  controller )

pure virtual

removes a simulated controller from this simulator

Parameters

controller

Implemented in BtSimulator, and RWSimulator.

setContactDetector()

virtual bool setContactDetector ( rw::core::Ptr< rwsim::contacts::BaseContactDetector >  detector )

pure virtual

Change the contact detector used by the engine.

Parameters

detector

[in] the contact detector to use (NULL for default contact detection)

Returns

true if engine supports using a ContactDetector and the detector was set successfully.

Implemented in ODESimulator, BtSimulator, and RWSimulator.

setDynamicsEnabled()

virtual void setDynamicsEnabled ( rw::core::Ptr< rwsim::dynamics::Body >  body, bool  enabled  )

pure virtual

disables the dynamics of a body.

Parameters

body
enabled

Implemented in BtSimulator.

setEnabled()

virtual void setEnabled ( rw::core::Ptr< rwsim::dynamics::Body >  body, bool  enabled  )

pure virtual

Enables or disables a body. A body is automatically enabled if contacts or new interactions with the Body arrise

Parameters

body	[in] the body to enable/disable
enabled	[in]

Implemented in BtSimulator.

setSimulatorLog()

virtual void setSimulatorLog ( rw::core::Ptr< rwsim::log::SimulatorLogScope >  log )

inlinevirtual

Store internal info during simulation.

This can be used for debugging, statistics, visualization of internal subresults, timing, benchmark and similar.

Parameters

log	[in] a pointer to the log structure to store to.

Reimplemented in ODESimulator.

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

• PhysicsEngine.hpp