Gazebo Sim

API Reference

9.3.0
Physics Class Reference

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.
 

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.

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>
</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]_entityThe entity this plugin is attached to.
[in]_sdfThe SDF Element associated with this system plugin.
[in]_ecmThe EntityComponentManager of the given simulation instance.
[in]_eventMgrThe EventManager of the given simulation instance.

Implements ISystemConfigure.

◆ ConfigurePriority()

System::PriorityType ConfigurePriority ( )
finalvirtual

Documentation inherited.

Implements ISystemConfigurePriority.

◆ Reset()

void Reset ( const UpdateInfo _info,
EntityComponentManager _ecm 
)
finalvirtual

Implements ISystemReset.

◆ Update()

void Update ( const UpdateInfo _info,
EntityComponentManager _ecm 
)
finalvirtual

Implements ISystemUpdate.


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