Buoyancy Class Reference

A system that simulates buoyancy of objects immersed in fluid. All SDF parameters are optional. This system must be attached to the world and this system will apply buoyancy to all links that have inertia and collision shapes. More...

#include <Buoyancy.hh>

Public Member Functions
	Buoyancy ()
	Constructor. More...
	~Buoyancy () override=default
	Destructor. More...
void	Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
	Configure the system. More...
void	PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) override
Public Member Functions inherited from System
	System ()=default
	Constructor. More...
virtual	~System ()=default
	Destructor. More...

Detailed Description

A system that simulates buoyancy of objects immersed in fluid. All SDF parameters are optional. This system must be attached to the world and this system will apply buoyancy to all links that have inertia and collision shapes.

The volume and center of volume will be computed for each link, and stored as components. During each iteration, Archimedes' principle is applied to each link with a volume and center of volume component.

Plane shapes are not handled by this plugin, and will not be affected by buoyancy.

System Parameters

• <uniform_fluid_density> sets the density of the fluid that surrounds the buoyant object.

Example

The buoyancy.sdf SDF file contains three submarines. The first submarine is neutrally buoyant, the second sinks, and the third floats. To run:

ign gazebo -v 4 buoyancy.sdf

Constructor & Destructor Documentation

Buoyancy()

Buoyancy

(

)

Constructor.

~Buoyancy()

~Buoyancy ( )

overridedefault

Destructor.

Member Function Documentation

Configure()

void Configure ( const Entity &  _entity, const std::shared_ptr< const sdf::Element > &  _sdf, EntityComponentManager &  _ecm, EventManager &  _eventMgr  )

overridevirtual

Configure the system.

Parameters

[in]	_entity	The entity this plugin is attached to.
[in]	_sdf	The SDF Element associated with this system plugin.
[in]	_ecm	The EntityComponentManager of the given simulation instance.
[in]	_eventMgr	The EventManager of the given simulation instance.

Implements ISystemConfigure.

PreUpdate()

void PreUpdate ( const UpdateInfo &  _info, EntityComponentManager &  _ecm  )

overridevirtual

Implements ISystemPreUpdate.

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

• Buoyancy.hh