DARTPhysics.hh
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1 /*
2  * Copyright (C) 2014 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
9  *
10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _GAZEBO_DARTPHYSICS_HH_
19 #define _GAZEBO_DARTPHYSICS_HH_
20 
21 #include <string>
22 
23 #include <boost/thread/thread.hpp>
24 #include <boost/thread/mutex.hpp>
25 
28 #include "gazebo/physics/Shape.hh"
29 
32 #include "gazebo/util/system.hh"
33 
34 namespace gazebo
35 {
36  namespace physics
37  {
39  class DARTPhysicsPrivate;
40 
45 
47  class GZ_PHYSICS_VISIBLE DARTPhysics : public PhysicsEngine
48  {
51  public: enum DARTParam
52  {
53  // /// \brief Solve type
54  // SOLVER_TYPE,
55 
56  // /// \brief Constraint force mixing
57  // GLOBAL_CFM,
58 
59  // /// \brief Error reduction parameter
60  // GLOBAL_ERP,
61 
62  // /// \brief Number of iterations
63  // PGS_ITERS,
64 
65  // /// \brief SOR over-relaxation parameter
66  // SOR,
67 
68  // /// \brief Surface layer depth
69  // CONTACT_SURFACE_LAYER,
70 
73 
75  MIN_STEP_SIZE
76  };
77 
79  public: DARTPhysics(WorldPtr _world);
80 
82  public: virtual ~DARTPhysics();
83 
84  // Documentation inherited
85  public: virtual void Load(sdf::ElementPtr _sdf);
86 
87  // Documentation inherited
88  public: virtual void Init();
89 
90  // Documentation inherited
91  public: virtual void Fini();
92 
93  // Documentation inherited
94  public: virtual void Reset();
95 
96  // Documentation inherited
97  public: virtual void InitForThread();
98 
99  // Documentation inherited
100  public: virtual void UpdateCollision();
101 
102  // Documentation inherited
103  public: virtual void UpdatePhysics();
104 
105  // Documentation inherited
106  public: virtual std::string GetType() const;
107 
108  // Documentation inherited
109  public: virtual void SetSeed(uint32_t _seed);
110 
111  // Documentation inherited
112  public: virtual ModelPtr CreateModel(BasePtr _parent);
113 
114  // Documentation inherited
115  public: virtual LinkPtr CreateLink(ModelPtr _parent);
116 
117  // Documentation inherited
118  public: virtual CollisionPtr CreateCollision(const std::string &_type,
119  LinkPtr _body);
120 
121  // Documentation inherited
122  public: virtual JointPtr CreateJoint(const std::string &_type,
123  ModelPtr _parent);
124 
125  // Documentation inherited
126  public: virtual ShapePtr CreateShape(const std::string &_shapeType,
127  CollisionPtr _collision);
128 
129  // Documentation inherited
130  public: virtual void SetGravity(const ignition::math::Vector3d &_gravity);
131 
132  // Documentation inherited
133  public: virtual void DebugPrint() const;
134 
135  // Documentation inherited
136  public: virtual boost::any GetParam(const std::string &_key) const;
137 
138  // Documentation inherited
139  public: virtual bool GetParam(const std::string &_key,
140  boost::any &_value) const;
141 
142  // Documentation inherited
143  public: virtual bool SetParam(const std::string &_key,
144  const boost::any &_value);
145 
149  public: dart::simulation::World *GetDARTWorld() const
150  GAZEBO_DEPRECATED(8.0);
151 
154  public: dart::simulation::WorldPtr DARTWorld() const;
155 
156  // Documentation inherited
157  protected: virtual void OnRequest(ConstRequestPtr &_msg);
158 
159  // Documentation inherited
160  protected: virtual void OnPhysicsMsg(ConstPhysicsPtr &_msg);
161 
165  private: DARTLinkPtr FindDARTLink(
166  const dart::dynamics::BodyNode *_dtBodyNode);
167 
170  private: DARTPhysicsPrivate *dataPtr = nullptr;
171  };
172 
174  }
175 }
176 #endif
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
Forward declarations for the common classes.
Definition: Animation.hh:33
Base class for a physics engine.
Definition: PhysicsEngine.hh:42
DART physics engine.
Definition: DARTPhysics.hh:47
DARTParam
DART physics parameter types.
Definition: DARTPhysics.hh:51
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:117
boost::shared_ptr< DARTLink > DARTLinkPtr
Definition: DARTTypes.hh:46
DART wrapper forward declarations and typedefs.
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:302
boost::shared_ptr< Shape > ShapePtr
Definition: PhysicsTypes.hh:141
Maximum number of contacts.
Definition: DARTPhysics.hh:72
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::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77