sdf::SDF_VERSION_NAMESPACE::Physics Class Reference

The physics element specifies the type and properties of a dynamics engine. More...

#include <Physics.hh>

Public Member Functions
	Physics ()
	Default constructor. More...
sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load. More...
std::string	EngineType () const
	Get the physics profile dynamics engine type. More...
bool	IsDefault () const
	Get whether this physics profile is marked as default. More...
Errors	Load (ElementPtr _sdf)
	Load the physics based on an element pointer. More...
int	MaxContacts () const
	Get the maximum number of contacts allowed between two entities. More...
double	MaxStepSize () const
	Get the max step size in seconds. More...
std::string	Name () const
	Get the name of this set of physics parameters. More...
double	RealTimeFactor () const
	Get the target real time factor. More...
void	SetDefault (const bool _default)
	Set whether this physics profile is the default. More...
void	SetEngineType (const std::string &_type)
	Set the physics profile dynamics engine type. More...
void	SetMaxContacts (int _maxContacts)
	Set the maximum number of contacts allowed between two entities. More...
void	SetMaxStepSize (const double _step)
	Set the max step size in seconds. More...
void	SetName (const std::string &_name)
	Set the name of this set of physics parameters. More...
void	SetRealTimeFactor (const double _factor)
	Set the target realtime factor. More...
sdf::ElementPtr	ToElement () const
	Create and return an SDF element filled with data from this physics. More...
sdf::ElementPtr	ToElement (sdf::Errors &_errors) const
	Create and return an SDF element filled with data from this physics. More...

Detailed Description

The physics element specifies the type and properties of a dynamics engine.

Constructor & Destructor Documentation

Physics()

sdf::SDF_VERSION_NAMESPACE::Physics::Physics

(

)

Default constructor.

Member Function Documentation

Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Physics::Element

(

)

const

Get a pointer to the SDF element that was used during load.

Returns

SDF element pointer. The value will be nullptr if Load has not been called.

EngineType()

std::string sdf::SDF_VERSION_NAMESPACE::Physics::EngineType

(

)

const

Get the physics profile dynamics engine type.

Current options are ode, bullet, simbody and dart. Defaults to ode if left unspecified.

Returns

The type of dynamics engine.

IsDefault()

bool sdf::SDF_VERSION_NAMESPACE::Physics::IsDefault

(

)

const

Get whether this physics profile is marked as default.

If true, this physics profile is set as the default physics profile for the World. If multiple default physics elements exist, the first physics profile marked as default is chosen. If no default physics element exists, the first physics element is chosen.

Returns

True if this profile is the default.

Load()

Errors sdf::SDF_VERSION_NAMESPACE::Physics::Load

(

ElementPtr

_sdf

)

Load the physics based on an element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in]

_sdf

The SDF Element pointer

Returns

Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

MaxContacts()

int sdf::SDF_VERSION_NAMESPACE::Physics::MaxContacts

(

)

const

Get the maximum number of contacts allowed between two entities.

This value can be overridden by a max_contacts element in a collision element.

Returns

Maximum number of contacts.

MaxStepSize()

double sdf::SDF_VERSION_NAMESPACE::Physics::MaxStepSize

(

)

const

Get the max step size in seconds.

The Maximum time step size at which every system in simulation can interact with the states of the world.

Returns

The max step size in seconds.

Name()

std::string sdf::SDF_VERSION_NAMESPACE::Physics::Name

(

)

const

Get the name of this set of physics parameters.

Returns

Name of the physics profile.

RealTimeFactor()

double sdf::SDF_VERSION_NAMESPACE::Physics::RealTimeFactor

(

)

const

Get the target real time factor.

Target simulation speedup factor, defined by ratio of simulation time to real-time.

Returns

The target real time factor.

SetDefault()

void sdf::SDF_VERSION_NAMESPACE::Physics::SetDefault

(

const bool

_default

)

Set whether this physics profile is the default.

Parameters

[in]

_default

True to make this profile default.

SetEngineType()

void sdf::SDF_VERSION_NAMESPACE::Physics::SetEngineType

(

const std::string &

_type

)

Set the physics profile dynamics engine type.

Parameters

[in]

_type

The type of dynamics engine.

SetMaxContacts()

void sdf::SDF_VERSION_NAMESPACE::Physics::SetMaxContacts

(

int

_maxContacts

)

Set the maximum number of contacts allowed between two entities.

This value can be overridden by a max_contacts element in a collision element.

Parameters

[in]

_maxContacts

Maximum number of contacts.

SetMaxStepSize()

void sdf::SDF_VERSION_NAMESPACE::Physics::SetMaxStepSize

(

const double

_step

)

Set the max step size in seconds.

Parameters

[in]

_step

The max step size in seconds.

SetName()

void sdf::SDF_VERSION_NAMESPACE::Physics::SetName

(

const std::string &

_name

)

Set the name of this set of physics parameters.

Parameters

[in]

_name

Name of the physics profile.

SetRealTimeFactor()

void sdf::SDF_VERSION_NAMESPACE::Physics::SetRealTimeFactor

(

const double

_factor

)

Set the target realtime factor.

Parameters

[in]

_factor

The target real time factor.

ToElement() [1/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Physics::ToElement

(

)

const

Create and return an SDF element filled with data from this physics.

Note that parameter passing functionality is not captured with this function.

Returns

SDF element pointer with updated physics values.

ToElement() [2/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Physics::ToElement

(

sdf::Errors &

_errors

)

const

Create and return an SDF element filled with data from this physics.

Note that parameter passing functionality is not captured with this function.

Parameters

[out]

_errors

Vector of errors.

Returns

SDF element pointer with updated physics values.

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

• Physics.hh