ODEPhysics.hh
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1/*
2 * Copyright (C) 2012 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.
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8 * http://www.apache.org/licenses/LICENSE-2.0
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11 * distributed under the License is distributed on an "AS IS" BASIS,
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13 * See the License for the specific language governing permissions and
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16*/
17#ifndef _ODEPHYSICS_HH_
18#define _ODEPHYSICS_HH_
19
20#ifndef Q_MOC_RUN
21#include <tbb/spin_mutex.h>
22#include <tbb/concurrent_vector.h>
23#endif
24#include <string>
25#include <utility>
26
27#include <boost/thread/thread.hpp>
28
34#include "gazebo/gazebo_config.h"
35#include "gazebo/util/system.hh"
36
37namespace gazebo
38{
39 namespace physics
40 {
41 class ODEJointFeedback;
42 class ODEPhysicsPrivate;
43
48
50 class GZ_PHYSICS_VISIBLE ODEPhysics : public PhysicsEngine
51 {
96
99 public: explicit ODEPhysics(WorldPtr _world);
100
102 public: virtual ~ODEPhysics();
103
104 // Documentation inherited
105 public: virtual void Load(sdf::ElementPtr _sdf);
106
107 // Documentation inherited
108 public: virtual void Init();
109
110 // Documentation inherited
111 public: virtual void Reset();
112
113 // Documentation inherited
114 public: virtual void InitForThread();
115
116 // Documentation inherited
117 public: virtual void UpdateCollision();
118
119 // Documentation inherited
120 public: virtual void UpdatePhysics();
121
122 // Documentation inherited
123 public: virtual void Fini();
124
125 // Documentation inherited
126 public: virtual std::string GetType() const
127 { return "ode"; }
128
129 // Documentation inherited
130 public: virtual LinkPtr CreateLink(ModelPtr _parent);
131
132 // Documentation inherited
134 const std::string &_shapeType, LinkPtr _parent);
135
136 // Documentation inherited
137 public: virtual ShapePtr CreateShape(const std::string &_shapeType,
138 CollisionPtr _collision);
139
140 // Documentation inherited
141 public: virtual JointPtr CreateJoint(const std::string &_type,
142 ModelPtr _parent);
143
144 // Documentation inherited
145 public: virtual void SetGravity(const ignition::math::Vector3d &_gravity);
146
147 // Documentation inherited
148 public: virtual void SetWorldCFM(double cfm);
149
150 // Documentation inherited
151 public: virtual void SetWorldERP(double erp);
152
153 // Documentation inherited
154 public: virtual void SetSORPGSPreconIters(unsigned int iters);
155
156 // Documentation inherited
157 public: virtual void SetSORPGSIters(unsigned int iters);
158
159 // Documentation inherited
160 public: virtual void SetSORPGSW(double w);
161
162 // Documentation inherited
163 public: virtual void SetContactMaxCorrectingVel(double vel);
164
165 // Documentation inherited
166 public: virtual void SetContactSurfaceLayer(double layer_depth);
167
170 public: virtual void SetFrictionModel(const std::string &_fricModel);
171
174 public: virtual void
175 SetWorldStepSolverType(const std::string &_worldSolverType);
176
177 // Documentation inherited
178 public: virtual void SetMaxContacts(unsigned int max_contacts);
179
180 // Documentation inherited
181 public: virtual double GetWorldCFM();
182
183 // Documentation inherited
184 public: virtual double GetWorldERP();
185
186 // Documentation inherited
187 public: virtual int GetSORPGSPreconIters();
188
189 // Documentation inherited
190 public: virtual int GetSORPGSIters();
191
192 // Documentation inherited
193 public: virtual double GetSORPGSW();
194
195 // Documentation inherited
196 public: virtual double GetContactMaxCorrectingVel();
197
200 public: virtual std::string GetFrictionModel() const;
201
204 public: virtual std::string GetWorldStepSolverType() const;
205
206 // Documentation inherited
207 public: virtual double GetContactSurfaceLayer();
208
209 // Documentation inherited
210 public: virtual unsigned int GetMaxContacts();
211
212 // Documentation inherited
213 public: virtual void DebugPrint() const;
214
215 // Documentation inherited
216 public: virtual void SetSeed(uint32_t _seed);
217
219 public: virtual bool SetParam(const std::string &_key,
220 const boost::any &_value);
221
223 public: virtual boost::any GetParam(const std::string &_key) const;
224
226 public: virtual bool GetParam(const std::string &_key,
227 boost::any &_value) const;
228
231 public: dSpaceID GetSpaceId() const;
232
235 public: dWorldID GetWorldId();
236
240 public: static void ConvertMass(InertialPtr _interial, void *_odeMass);
241
246 public: static void ConvertMass(void *_odeMass, InertialPtr _inertial);
247
252 public: static Friction_Model
253 ConvertFrictionModel(const std::string &_fricModel);
254
259 public: static std::string
260 ConvertFrictionModel(const Friction_Model _fricModel);
261
266 public: static std::string
267 ConvertWorldStepSolverType(const World_Solver_Type _solverType);
268
273 public: static World_Solver_Type
274 ConvertWorldStepSolverType(const std::string &_solverType);
275
278 public: virtual std::string GetStepType() const;
279
282 public: virtual void SetStepType(const std::string &_type);
283
284
289 public: void Collide(ODECollision *_collision1, ODECollision *_collision2,
290 dContactGeom *_contactCollisions);
291
294 public: void ProcessJointFeedback(ODEJointFeedback *_feedback);
295
296 protected: virtual void OnRequest(ConstRequestPtr &_msg);
297
298 protected: virtual void OnPhysicsMsg(ConstPhysicsPtr &_msg);
299
304 private: static void CollisionCallback(void *_data, dGeomID _o1,
305 dGeomID _o2);
306
307
311 private: void AddTrimeshCollider(ODECollision *_collision1,
312 ODECollision *_collision2);
313
317 private: void AddCollider(ODECollision *_collision1,
318 ODECollision *_collision2);
319
322 private: ODEPhysicsPrivate *dataPtr;
323 };
325 }
326}
327#endif
ODE wrapper forward declarations and typedefs.
Base class for all ODE collisions.
Definition ODECollision.hh:41
ODE physics engine.
Definition ODEPhysics.hh:51
void ProcessJointFeedback(ODEJointFeedback *_feedback)
process joint feedbacks.
virtual bool GetParam(const std::string &_key, boost::any &_value) const
Documentation inherited.
virtual LinkPtr CreateLink(ModelPtr _parent)
Create a new body.
static World_Solver_Type ConvertWorldStepSolverType(const std::string &_solverType)
Convert a string to a World_Solver_Type enum.
virtual double GetSORPGSW()
virtual void SetWorldCFM(double cfm)
virtual void SetContactMaxCorrectingVel(double vel)
ODEParam
ODE Physics parameter types.
Definition ODEPhysics.hh:55
@ GLOBAL_CFM
Constraint force mixing.
Definition ODEPhysics.hh:60
@ INERTIA_RATIO_REDUCTION
Limit ratios of inertias of adjacent links (note that the corresponding SDF tag is "use_dynamic_moi_r...
Definition ODEPhysics.hh:88
@ GLOBAL_ERP
Error reduction parameter.
Definition ODEPhysics.hh:63
@ CONTACT_SURFACE_LAYER
Surface layer depth.
Definition ODEPhysics.hh:78
@ CONTACT_MAX_CORRECTING_VEL
Max correcting velocity.
Definition ODEPhysics.hh:75
@ PGS_ITERS
Number of iterations.
Definition ODEPhysics.hh:69
@ SOLVER_TYPE
Solve type.
Definition ODEPhysics.hh:57
@ MIN_STEP_SIZE
Minimum step size.
Definition ODEPhysics.hh:84
@ FRICTION_MODEL
friction model
Definition ODEPhysics.hh:91
@ WORLD_SOLVER_TYPE
LCP Solver.
Definition ODEPhysics.hh:94
@ MAX_CONTACTS
Maximum number of contacts.
Definition ODEPhysics.hh:81
@ SOR
SOR over-relaxation parameter.
Definition ODEPhysics.hh:72
@ SOR_PRECON_ITERS
Number of iterations.
Definition ODEPhysics.hh:66
static void ConvertMass(void *_odeMass, InertialPtr _inertial)
Convert an Inertial to ODE mass.
virtual void Fini()
Finilize the physics engine.
void Collide(ODECollision *_collision1, ODECollision *_collision2, dContactGeom *_contactCollisions)
Collide two collision objects.
dWorldID GetWorldId()
Get the world id.
virtual void Init()
Initialize the physics engine.
ODEPhysics(WorldPtr _world)
Constructor.
virtual void Reset()
Rest the physics engine.
virtual ~ODEPhysics()
Destructor.
virtual void UpdateCollision()
Update the physics engine collision.
static std::string ConvertWorldStepSolverType(const World_Solver_Type _solverType)
Convert a World_Solver_Type enum to a string.
virtual void UpdatePhysics()
Update the physics engine.
virtual void OnRequest(ConstRequestPtr &_msg)
virtual callback for gztopic "~/request".
virtual void SetWorldERP(double erp)
virtual void SetMaxContacts(unsigned int max_contacts)
\TODO: Remove this function, and replace it with a more generic property map
virtual std::string GetWorldStepSolverType() const
Get solver type for world step.
virtual double GetWorldERP()
virtual void SetWorldStepSolverType(const std::string &_worldSolverType)
Set world step solver type.
virtual void SetSORPGSW(double w)
virtual ShapePtr CreateShape(const std::string &_shapeType, CollisionPtr _collision)
Create a physics::Shape object.
virtual void InitForThread()
Init the engine for threads.
virtual void SetSORPGSPreconIters(unsigned int iters)
static Friction_Model ConvertFrictionModel(const std::string &_fricModel)
Convert a string to a Friction_Model enum.
virtual std::string GetType() const
Return the physics engine type (ode|bullet|dart|simbody).
Definition ODEPhysics.hh:126
virtual void SetSORPGSIters(unsigned int iters)
virtual void OnPhysicsMsg(ConstPhysicsPtr &_msg)
virtual callback for gztopic "~/physics".
virtual void SetStepType(const std::string &_type)
Set the step type (quick, world).
virtual boost::any GetParam(const std::string &_key) const
Documentation inherited.
virtual void SetGravity(const ignition::math::Vector3d &_gravity)
Set the gravity vector.
static std::string ConvertFrictionModel(const Friction_Model _fricModel)
Convert a Friction_Model enum to a string.
virtual void DebugPrint() const
Debug print out of the physic engine state.
virtual void Load(sdf::ElementPtr _sdf)
Load the physics engine.
virtual double GetWorldCFM()
virtual bool SetParam(const std::string &_key, const boost::any &_value)
Documentation inherited.
virtual void SetSeed(uint32_t _seed)
Set the random number seed for the physics engine.
virtual void SetContactSurfaceLayer(double layer_depth)
virtual CollisionPtr CreateCollision(const std::string &_shapeType, LinkPtr _parent)
Create a collision.
virtual unsigned int GetMaxContacts()
virtual void SetFrictionModel(const std::string &_fricModel)
Set friction model type.
dSpaceID GetSpaceId() const
Return the world space id.
virtual double GetContactSurfaceLayer()
virtual JointPtr CreateJoint(const std::string &_type, ModelPtr _parent)
Create a new joint.
virtual double GetContactMaxCorrectingVel()
virtual std::string GetStepType() const
Get the step type (quick, world).
virtual int GetSORPGSPreconIters()
virtual std::string GetFrictionModel() const
Get friction model.
static void ConvertMass(InertialPtr _interial, void *_odeMass)
Convert an ODE mass to Inertial.
Base class for a physics engine.
Definition PhysicsEngine.hh:42
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
boost::shared_ptr< Inertial > InertialPtr
Definition PhysicsTypes.hh:157
boost::shared_ptr< Collision > CollisionPtr
Definition PhysicsTypes.hh:113
boost::shared_ptr< Shape > ShapePtr
Definition PhysicsTypes.hh:141
boost::shared_ptr< World > WorldPtr
Definition PhysicsTypes.hh:89
boost::shared_ptr< Model > ModelPtr
Definition PhysicsTypes.hh:93
boost::shared_ptr< Joint > JointPtr
Definition PhysicsTypes.hh:117
Forward declarations for the common classes.
Definition Animation.hh:27