PhysicsEngine.hh
Go to the documentation of this file.
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.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef _PHYSICSENGINE_HH_
18#define _PHYSICSENGINE_HH_
19
20#include <boost/thread/recursive_mutex.hpp>
21#include <string>
22#include <ignition/transport/Node.hh>
23
25#include "gazebo/msgs/msgs.hh"
26
28#include "gazebo/util/system.hh"
29
30namespace gazebo
31{
32 namespace physics
33 {
34 class ContactManager;
35
38
41 class GZ_PHYSICS_VISIBLE PhysicsEngine
42 {
45 public: explicit PhysicsEngine(WorldPtr _world);
46
48 public: virtual ~PhysicsEngine();
49
52 public: virtual void Load(sdf::ElementPtr _sdf);
53
55 public: virtual void Init() = 0;
56
58 public: virtual void Fini();
59
61 public: virtual void Reset() {}
62
64 public: virtual void InitForThread() = 0;
65
89 public: virtual void UpdateCollision() = 0;
90
93 public: virtual std::string GetType() const = 0;
94
97 public: virtual void SetSeed(uint32_t _seed) = 0;
98
101 public: double GetUpdatePeriod();
102
105 public: double GetTargetRealTimeFactor() const;
106
109 public: double GetRealTimeUpdateRate() const;
110
113 public: double GetMaxStepSize() const;
114
117 public: void SetTargetRealTimeFactor(double _factor);
118
121 public: void SetRealTimeUpdateRate(double _rate);
122
125 public: void SetMaxStepSize(double _stepSize);
126
131 public: virtual void UpdatePhysics() {}
132
135 public: virtual ModelPtr CreateModel(BasePtr _base);
136
139 public: virtual LinkPtr CreateLink(ModelPtr _parent) = 0;
140
145 const std::string &_shapeType, LinkPtr _link) = 0;
146
150 public: CollisionPtr CreateCollision(const std::string &_shapeType,
151 const std::string &_linkName);
152
156 public: virtual ShapePtr CreateShape(const std::string &_shapeType,
157 CollisionPtr _collision) = 0;
158
162 public: virtual JointPtr CreateJoint(const std::string &_type,
163 ModelPtr _parent = ModelPtr()) = 0;
164
165
168 public: virtual void SetGravity(
169 const ignition::math::Vector3d &_gravity) = 0;
170
175 public: virtual void SetAutoDisableFlag(bool _autoDisable);
176
181 public: virtual void SetMaxContacts(unsigned int _maxContacts);
182
187 public: virtual bool GetAutoDisableFlag() {return 0;}
188
220 public: virtual bool SetParam(const std::string &_key,
221 const boost::any &_value);
222
227 public: virtual boost::any GetParam(const std::string &_key) const;
228
234 public: virtual bool GetParam(const std::string &_key,
235 boost::any &_value) const;
236
238 public: virtual void DebugPrint() const = 0;
239
242 public: WorldPtr World() const;
243
247
250 public: boost::recursive_mutex *GetPhysicsUpdateMutex() const
251 {return this->physicsUpdateMutex;}
252
255 public: sdf::ElementPtr GetSDF() const;
256
259 protected: virtual void OnRequest(ConstRequestPtr &_msg);
260
263 protected: virtual void OnPhysicsMsg(ConstPhysicsPtr &_msg);
264
266 protected: WorldPtr world;
267
269 protected: sdf::ElementPtr sdf;
270
273
276
279
282
284 protected: boost::recursive_mutex *physicsUpdateMutex;
285
289
291 protected: double realTimeUpdateRate;
292
294 protected: double targetRealTimeFactor;
295
297 protected: double maxStepSize;
298
299 // Place ignition::transport objects at the end of this file to
300 // guarantee they are destructed first.
301
303 protected: ignition::transport::Node nodeIgn;
304
306 protected: ignition::transport::Node::Publisher responsePubIgn;
307 };
309 }
310}
311#endif
default namespace for gazebo
Forward declarations for transport.
Aggregates all the contact information generated by the collision detection engine.
Definition ContactManager.hh:73
Base class for a physics engine.
Definition PhysicsEngine.hh:42
double GetMaxStepSize() const
Get max step size.
virtual bool GetParam(const std::string &_key, boost::any &_value) const
Get a parameter from the physics engine with a boolean to indicate success or failure.
virtual ~PhysicsEngine()
Destructor.
virtual CollisionPtr CreateCollision(const std::string &_shapeType, LinkPtr _link)=0
Create a collision.
double targetRealTimeFactor
Target real time factor.
Definition PhysicsEngine.hh:294
ignition::transport::Node::Publisher responsePubIgn
Response publisher.
Definition PhysicsEngine.hh:306
virtual void Fini()
Finilize the physics engine.
double GetRealTimeUpdateRate() const
Get real time update rate.
double realTimeUpdateRate
Real time update rate.
Definition PhysicsEngine.hh:291
void SetMaxStepSize(double _stepSize)
Set max step size.
sdf::ElementPtr GetSDF() const
Get a pointer to the SDF element for this physics engine.
virtual void Reset()
Rest the physics engine.
Definition PhysicsEngine.hh:61
virtual void Init()=0
Initialize the physics engine.
double maxStepSize
Real time update rate.
Definition PhysicsEngine.hh:297
virtual void DebugPrint() const =0
Debug print out of the physic engine state.
virtual void UpdatePhysics()
Update the physics engine.
Definition PhysicsEngine.hh:131
transport::NodePtr node
Node for communication.
Definition PhysicsEngine.hh:272
virtual void OnRequest(ConstRequestPtr &_msg)
virtual callback for gztopic "~/request".
transport::PublisherPtr responsePub
Response publisher.
Definition PhysicsEngine.hh:275
transport::SubscriberPtr requestSub
Subscribe to the request topic.
Definition PhysicsEngine.hh:281
ignition::transport::Node nodeIgn
Ignition node for communication.
Definition PhysicsEngine.hh:303
boost::recursive_mutex * GetPhysicsUpdateMutex() const
returns a pointer to the PhysicsEngine::physicsUpdateMutex.
Definition PhysicsEngine.hh:250
PhysicsEngine(WorldPtr _world)
Default constructor.
virtual std::string GetType() const =0
Return the physics engine type (ode|bullet|dart|simbody).
void SetRealTimeUpdateRate(double _rate)
Set real time update rate.
virtual void SetGravity(const ignition::math::Vector3d &_gravity)=0
Set the gravity vector.
WorldPtr World() const
Get a pointer to the world.
virtual ShapePtr CreateShape(const std::string &_shapeType, CollisionPtr _collision)=0
Create a physics::Shape object.
virtual bool GetAutoDisableFlag()
\TODO: Remove this function, and replace it with a more generic property map
Definition PhysicsEngine.hh:187
transport::SubscriberPtr physicsSub
Subscribe to the physics topic.
Definition PhysicsEngine.hh:278
sdf::ElementPtr sdf
Our SDF values.
Definition PhysicsEngine.hh:269
virtual void OnPhysicsMsg(ConstPhysicsPtr &_msg)
virtual callback for gztopic "~/physics".
virtual JointPtr CreateJoint(const std::string &_type, ModelPtr _parent=ModelPtr())=0
Create a new joint.
double GetTargetRealTimeFactor() const
Get target real time factor.
virtual boost::any GetParam(const std::string &_key) const
Get an parameter of the physics engine.
virtual void SetAutoDisableFlag(bool _autoDisable)
\TODO: Remove this function, and replace it with a more generic property map
virtual void UpdateCollision()=0
Update the physics engine collision.
virtual ModelPtr CreateModel(BasePtr _base)
Create a new model.
ContactManager * GetContactManager() const
Get a pointer to the contact manger.
WorldPtr world
Pointer to the world.
Definition PhysicsEngine.hh:266
virtual void Load(sdf::ElementPtr _sdf)
Load the physics engine.
double GetUpdatePeriod()
Get the simulation update period.
virtual bool SetParam(const std::string &_key, const boost::any &_value)
Set a parameter of the physics engine.
void SetTargetRealTimeFactor(double _factor)
Set target real time factor.
boost::recursive_mutex * physicsUpdateMutex
Mutex to protect the update cycle.
Definition PhysicsEngine.hh:284
CollisionPtr CreateCollision(const std::string &_shapeType, const std::string &_linkName)
Create a collision.
virtual LinkPtr CreateLink(ModelPtr _parent)=0
Create a new body.
ContactManager * contactManager
Class that handles all contacts generated by the physics engine.
Definition PhysicsEngine.hh:288
virtual void SetSeed(uint32_t _seed)=0
Set the random number seed for the physics engine.
virtual void InitForThread()=0
Init the engine for threads.
virtual void SetMaxContacts(unsigned int _maxContacts)
\TODO: Remove this function, and replace it with a more generic property map
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
boost::shared_ptr< Collision > CollisionPtr
Definition PhysicsTypes.hh:113
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
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
boost::shared_ptr< Subscriber > SubscriberPtr
Definition TransportTypes.hh:53
boost::shared_ptr< Publisher > PublisherPtr
Definition TransportTypes.hh:49
boost::shared_ptr< Node > NodePtr
Definition TransportTypes.hh:57
Forward declarations for the common classes.
Definition Animation.hh:27