Base class for a System. More...

#include <gz/sim/systems/Physics.hh>

Public Member Functions
	Physics ()
	Constructor.

	~Physics () override
	Destructor.

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

System::PriorityType	ConfigurePriority () final
	Documentation inherited.

void	Reset (const UpdateInfo &_info, EntityComponentManager &_ecm) final

void	Update (const UpdateInfo &_info, EntityComponentManager &_ecm) final

Public Member Functions inherited from System
	System ()=default
	Constructor.

virtual	~System ()=default
	Destructor.

Public Member Functions inherited from ISystemConfigure
virtual	~ISystemConfigure ()=default

Public Member Functions inherited from ISystemConfigurePriority
virtual	~ISystemConfigurePriority ()=default

Public Member Functions inherited from ISystemReset
virtual	~ISystemReset ()=default

Public Member Functions inherited from ISystemUpdate
virtual	~ISystemUpdate ()=default

Additional Inherited Members
Public Types inherited from System
using	PriorityType = int32_t
	Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases.

Static Public Attributes inherited from System
static constexpr PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases.

static constexpr std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed.

Detailed Description

Base class for a System.

System Parameters

<include_entity_names>: Optional. When set to false, the name of colliding entities is not populated in the contacts. Remains true by default.
<enforce_fixed_constraint> (optional): Applicable only when the gz-physics bullet-featherstone-plugin is used as the physics engine. If true, the system will enforce the fixed constraint between the child and parent entities of the fixed joint as if the child is 'welded' to the parent. Fixed constraints can be violated, e.g. due to large external forces, so this setting tells the phyics engine to manually correct and maintain the relative pose between the parent and child entities. Defaults to false.
<kinematic> (optional): Settings for kinematic links. Applicable only if the physics engine supports kinematic links (e.g. bullet-featherstone).
- <enabled>: If true, links are kinematic unless their SDF sets <kinematic>false</kinematic>; if false (default), links are dynamic unless their SDF sets <kinematic>true</kinematic>. Kinematic links do not respond to forces like gravity or contacts, they are moved by setting their pose or velocity. Note that this is not the <kinematic> element of a link: the default is applied by setting that element on the links that do not set it, in the SDF the model is created from. Links of static models are left alone, and links created at runtime without SDF take the default. When the default is kinematic, the links kept dynamic by their SDF are listed in a message.
- <contacts><enabled>: If false, contacts between kinematic links and static or other kinematic links are not detected. These contacts have no effect on the simulation, they can only be reported, e.g. by contact sensors, and detecting them costs collision detection time on every step for as long as the links overlap, which for kinematic links is forever. Contacts between kinematic and dynamic links are always detected, and a collision that sets //collision/surface/contact/collide_without_contact keeps the contacts of its kinematic link detected. Defaults to true.

Example

<plugin
  filename="gz-sim-physics-system"
  name="systems::Physics">
  <contacts>
    <include_entity_names>false</include_entity_names>
  </contacts>
  <enforce_fixed_constraint>false</enforce_fixed_constraint>
  <kinematic>
    <enabled>false</enabled>
    <contacts>
      <enabled>true</enabled>
    </contacts>
  </kinematic>
</plugin>

Constructor & Destructor Documentation

◆ Physics()

Physics ( )

explicit

Constructor.

◆ ~Physics()

~Physics ( )

override

Destructor.

Member Function Documentation

◆ Configure()

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

finalvirtual

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.