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 |
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System ()=default | |
Constructor. | |
virtual | ~System ()=default |
Destructor. | |
Additional Inherited Members | |
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using | PriorityType = int32_t |
Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases. | |
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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()
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explicit |
Constructor.
◆ ~Physics()
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override |
Destructor.
Member Function Documentation
◆ Configure()
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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.
Implements ISystemConfigure.
◆ ConfigurePriority()
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finalvirtual |
Documentation inherited.
Implements ISystemConfigurePriority.
◆ Reset()
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finalvirtual |
Implements ISystemReset.
◆ Update()
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finalvirtual |
Implements ISystemUpdate.
The documentation for this class was generated from the following file: