PhysicsEngine.hh
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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
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8  * http://www.apache.org/licenses/LICENSE-2.0
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13  * See the License for the specific language governing permissions and
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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 
30 namespace 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 
67  public: virtual void UpdateCollision() = 0;
68 
71  public: virtual std::string GetType() const = 0;
72 
75  public: virtual void SetSeed(uint32_t _seed) = 0;
76 
79  public: double GetUpdatePeriod();
80 
83  public: double GetTargetRealTimeFactor() const;
84 
87  public: double GetRealTimeUpdateRate() const;
88 
91  public: double GetMaxStepSize() const;
92 
95  public: void SetTargetRealTimeFactor(double _factor);
96 
99  public: void SetRealTimeUpdateRate(double _rate);
100 
103  public: void SetMaxStepSize(double _stepSize);
104 
106  public: virtual void UpdatePhysics() {}
107 
110  public: virtual ModelPtr CreateModel(BasePtr _base);
111 
114  public: virtual LinkPtr CreateLink(ModelPtr _parent) = 0;
115 
119  public: virtual CollisionPtr CreateCollision(
120  const std::string &_shapeType, LinkPtr _link) = 0;
121 
125  public: CollisionPtr CreateCollision(const std::string &_shapeType,
126  const std::string &_linkName);
127 
131  public: virtual ShapePtr CreateShape(const std::string &_shapeType,
132  CollisionPtr _collision) = 0;
133 
137  public: virtual JointPtr CreateJoint(const std::string &_type,
138  ModelPtr _parent = ModelPtr()) = 0;
139 
143  public: virtual math::Vector3 GetGravity() const GAZEBO_DEPRECATED(8.0);
144 
148  public: virtual void SetGravity(
149  const gazebo::math::Vector3 &_gravity) GAZEBO_DEPRECATED(8.0);
150 
153  public: virtual void SetGravity(
154  const ignition::math::Vector3d &_gravity) = 0;
155 
159  public: virtual ignition::math::Vector3d MagneticField() const
160  GAZEBO_DEPRECATED(8.0);
161 
166  public: virtual void SetAutoDisableFlag(bool _autoDisable);
167 
172  public: virtual void SetMaxContacts(unsigned int _maxContacts);
173 
178  public: virtual bool GetAutoDisableFlag() {return 0;}
179 
211  public: virtual bool SetParam(const std::string &_key,
212  const boost::any &_value);
213 
218  public: virtual boost::any GetParam(const std::string &_key) const;
219 
225  public: virtual bool GetParam(const std::string &_key,
226  boost::any &_value) const;
227 
229  public: virtual void DebugPrint() const = 0;
230 
233  public: WorldPtr World() const;
234 
237  public: ContactManager *GetContactManager() const;
238 
241  public: boost::recursive_mutex *GetPhysicsUpdateMutex() const
242  {return this->physicsUpdateMutex;}
243 
246  public: sdf::ElementPtr GetSDF() const;
247 
250  protected: virtual void OnRequest(ConstRequestPtr &_msg);
251 
254  protected: virtual void OnPhysicsMsg(ConstPhysicsPtr &_msg);
255 
257  protected: WorldPtr world;
258 
260  protected: sdf::ElementPtr sdf;
261 
264 
267 
270 
273 
275  protected: boost::recursive_mutex *physicsUpdateMutex;
276 
280 
282  protected: double realTimeUpdateRate;
283 
285  protected: double targetRealTimeFactor;
286 
288  protected: double maxStepSize;
289 
290  // Place ignition::transport objects at the end of this file to
291  // guarantee they are destructed first.
292 
294  protected: ignition::transport::Node nodeIgn;
295 
297  protected: ignition::transport::Node::Publisher responsePubIgn;
298  };
300  }
301 }
302 #endif
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
sdf::ElementPtr sdf
Our SDF values.
Definition: PhysicsEngine.hh:260
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
ignition::transport::Node::Publisher responsePubIgn
Response publisher.
Definition: PhysicsEngine.hh:297
Forward declarations for the common classes.
Definition: Animation.hh:33
boost::recursive_mutex * GetPhysicsUpdateMutex() const
returns a pointer to the PhysicsEngine::physicsUpdateMutex.
Definition: PhysicsEngine.hh:241
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:44
ContactManager * contactManager
Class that handles all contacts generated by the physics engine.
Definition: PhysicsEngine.hh:279
Base class for a physics engine.
Definition: PhysicsEngine.hh:41
Forward declarations for transport.
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
boost::shared_ptr< Subscriber > SubscriberPtr
Definition: TransportTypes.hh:53
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:117
transport::SubscriberPtr physicsSub
Subscribe to the physics topic.
Definition: PhysicsEngine.hh:269
virtual bool GetAutoDisableFlag()
: Remove this function, and replace it with a more generic property map
Definition: PhysicsEngine.hh:178
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
transport::SubscriberPtr requestSub
Subscribe to the request topic.
Definition: PhysicsEngine.hh:272
default namespace for gazebo
virtual void Reset()
Rest the physics engine.
Definition: PhysicsEngine.hh:61
The world provides access to all other object within a simulated environment.
Definition: World.hh:81
double realTimeUpdateRate
Real time update rate.
Definition: PhysicsEngine.hh:282
WorldPtr world
Pointer to the world.
Definition: PhysicsEngine.hh:257
ignition::transport::Node nodeIgn
Ignition node for communication.
Definition: PhysicsEngine.hh:294
double targetRealTimeFactor
Target real time factor.
Definition: PhysicsEngine.hh:285
virtual void UpdatePhysics()
Update the physics engine.
Definition: PhysicsEngine.hh:106
transport::PublisherPtr responsePub
Response publisher.
Definition: PhysicsEngine.hh:266
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:302
boost::shared_ptr< Shape > ShapePtr
Definition: PhysicsTypes.hh:141
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::recursive_mutex * physicsUpdateMutex
Mutex to protect the update cycle.
Definition: PhysicsEngine.hh:275
double maxStepSize
Real time update rate.
Definition: PhysicsEngine.hh:288
transport::NodePtr node
Node for communication.
Definition: PhysicsEngine.hh:263
Aggregates all the contact information generated by the collision detection engine.
Definition: ContactManager.hh:72
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77