RWSimulator Class Reference

Inherits PhysicsEngine.

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

Additional Inherited Members
Public Types inherited from PhysicsEngine
typedef rw::core::Ptr< PhysicsEngine >	Ptr
	smart pointer type of PhysicsEngine

Member Function Documentation

addDevice()

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

inlinevirtual

add a dynamic device to the physics engine

Parameters

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

Implements PhysicsEngine.

createDebugRender()

drawable::SimulatorDebugRender::Ptr createDebugRender ( )

virtual

create a debug render for the specific implementation

Returns

NULL if no render is available else a valid render

Implements PhysicsEngine.

exitPhysics()

void exitPhysics ( )

virtual

cleans up the allocated storage fo bullet physics

Implements PhysicsEngine.

getSensors()

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

inlinevirtual

get the list of simulated sensors

Returns

Implements PhysicsEngine.

getTime()

double getTime ( )

inlinevirtual

gets the the current simulated time

Implements PhysicsEngine.

initPhysics()

void initPhysics ( rw::kinematics::State &  state )

virtual

initialize simulator physics with state

Implements PhysicsEngine.

load()

void load ( rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >  dwc )

virtual

adds dynamic workcell

Implements PhysicsEngine.

removeController()

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

inlinevirtual

removes a simulated controller from this simulator

Parameters

controller

Implements PhysicsEngine.

resetScene()

void resetScene ( rw::kinematics::State &  state )

virtual

reset velocity and acceleration of all bodies to 0. And sets the position of all bodies to that described in state

Implements PhysicsEngine.

setContactDetector()

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

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.

Implements PhysicsEngine.

step()

void step ( double  dt, rw::kinematics::State &  state  )

virtual

Performs a step and updates the state.

Implements PhysicsEngine.

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

• RWSimulator.hpp