DARTPhysics.hh
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17 
18 #ifndef _GAZEBO_DARTPHYSICS_HH_
19 #define _GAZEBO_DARTPHYSICS_HH_
20 
21 #include <string>
22 
23 #include <boost/thread/thread.hpp>
24 #include <boost/thread/mutex.hpp>
25 
28 #include "gazebo/physics/Shape.hh"
29 
32 #include "gazebo/util/system.hh"
33 
34 namespace gazebo
35 {
36  namespace physics
37  {
39  class DARTPhysicsPrivate;
40 
45 
47  class GZ_PHYSICS_VISIBLE DARTPhysics : public PhysicsEngine
48  {
51  public: enum DARTParam
52  {
53  // /// \brief Solve type
54  // SOLVER_TYPE,
55 
56  // /// \brief Constraint force mixing
57  // GLOBAL_CFM,
58 
59  // /// \brief Error reduction parameter
60  // GLOBAL_ERP,
61 
62  // /// \brief Number of iterations
63  // PGS_ITERS,
64 
65  // /// \brief SOR over-relaxation parameter
66  // SOR,
67 
68  // /// \brief Surface layer depth
69  // CONTACT_SURFACE_LAYER,
70 
73 
75  MIN_STEP_SIZE
76  };
77 
79  public: explicit DARTPhysics(WorldPtr _world);
80 
82  public: virtual ~DARTPhysics();
83 
84  // Documentation inherited
85  public: virtual void Load(sdf::ElementPtr _sdf);
86 
87  // Documentation inherited
88  public: virtual void Init();
89 
90  // Documentation inherited
91  public: virtual void Fini();
92 
93  // Documentation inherited
94  public: virtual void Reset();
95 
96  // Documentation inherited
97  public: virtual void InitForThread();
98 
99  // Documentation inherited
100  public: virtual void UpdateCollision();
101 
102  // Documentation inherited
103  public: virtual void UpdatePhysics();
104 
105  // Documentation inherited
106  public: virtual std::string GetType() const;
107 
108  // Documentation inherited
109  public: virtual void SetSeed(uint32_t _seed);
110 
111  // Documentation inherited
112  public: virtual ModelPtr CreateModel(BasePtr _parent);
113 
114  // Documentation inherited
115  public: virtual LinkPtr CreateLink(ModelPtr _parent);
116 
117  // Documentation inherited
118  public: virtual CollisionPtr CreateCollision(const std::string &_type,
119  LinkPtr _body);
120 
121  // Documentation inherited
122  public: virtual JointPtr CreateJoint(const std::string &_type,
123  ModelPtr _parent);
124 
125  // Documentation inherited
126  public: virtual ShapePtr CreateShape(const std::string &_shapeType,
127  CollisionPtr _collision);
130  public: std::string GetSolverType() const;
131 
134  public: void SetSolverType(const std::string &_type);
135 
136  // Documentation inherited
137  public: virtual void SetGravity(const ignition::math::Vector3d &_gravity);
138 
139  // Documentation inherited
140  public: virtual void DebugPrint() const;
141 
142  // Documentation inherited
143  public: virtual boost::any GetParam(const std::string &_key) const;
144 
145  // Documentation inherited
146  public: virtual bool GetParam(const std::string &_key,
147  boost::any &_value) const;
148 
149  // Documentation inherited
150  public: virtual bool SetParam(const std::string &_key,
151  const boost::any &_value);
152 
155  public: dart::simulation::WorldPtr DARTWorld() const;
156 
160  public: std::string CollisionDetectorInUse() const;
161 
162  // Documentation inherited
163  protected: virtual void OnRequest(ConstRequestPtr &_msg);
164 
165  // Documentation inherited
166  protected: virtual void OnPhysicsMsg(ConstPhysicsPtr &_msg);
167 
171  private: DARTLinkPtr FindDARTLink(
172  const dart::dynamics::BodyNode *_dtBodyNode);
173 
176  private: DARTPhysicsPrivate *dataPtr = nullptr;
177  };
178 
180  }
181 }
182 #endif
virtual void SetGravity(const ignition::math::Vector3d &_gravity)
Set the gravity vector.
DART wrapper forward declarations and typedefs.
Base class for a physics engine.
Definition: PhysicsEngine.hh:41
virtual JointPtr CreateJoint(const std::string &_type, ModelPtr _parent)
Create a new joint.
Forward declarations for the common classes.
Definition: Animation.hh:26
DART physics engine.
Definition: DARTPhysics.hh:47
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
std::string CollisionDetectorInUse() const
Returns a string with the name of the used collision detector.
virtual void UpdateCollision()
Update the physics engine collision.
void SetSolverType(const std::string &_type)
Set the constraint LCP solver type.
virtual LinkPtr CreateLink(ModelPtr _parent)
Create a new body.
virtual ~DARTPhysics()
Destructor.
boost::shared_ptr< DARTLink > DARTLinkPtr
Definition: DARTTypes.hh:47
virtual void UpdatePhysics()
Update the physics engine.
virtual bool SetParam(const std::string &_key, const boost::any &_value)
Set a parameter of the physics engine.
virtual void Load(sdf::ElementPtr _sdf)
Load the physics engine.
virtual boost::any GetParam(const std::string &_key) const
Get an parameter of the physics engine.
dart::simulation::WorldPtr DARTWorld() const
Get pointer to DART World associated with this DART Physics.
virtual ModelPtr CreateModel(BasePtr _parent)
Create a new model.
@ MIN_STEP_SIZE
Minimum step size.
Definition: DARTPhysics.hh:75
DARTParam
DART physics parameter types.
Definition: DARTPhysics.hh:51
std::string GetSolverType() const
Get the constraint LCP solver type.
virtual std::string GetType() const
Return the physics engine type (ode|bullet|dart|simbody).
boost::shared_ptr< Shape > ShapePtr
Definition: PhysicsTypes.hh:141
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
virtual void Init()
Initialize the physics engine.
virtual void Reset()
Rest the physics engine.
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
virtual void SetSeed(uint32_t _seed)
Set the random number seed for the physics engine.
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:117
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
virtual CollisionPtr CreateCollision(const std::string &_type, LinkPtr _body)
Create a collision.
virtual void InitForThread()
Init the engine for threads.
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
@ MAX_CONTACTS
Maximum number of contacts.
Definition: DARTPhysics.hh:72
virtual void OnPhysicsMsg(ConstPhysicsPtr &_msg)
virtual callback for gztopic "~/physics".
virtual void Fini()
Finilize the physics engine.
virtual void DebugPrint() const
Debug print out of the physic engine state.
virtual ShapePtr CreateShape(const std::string &_shapeType, CollisionPtr _collision)
Create a physics::Shape object.
DARTPhysics(WorldPtr _world)
Constructor.
virtual void OnRequest(ConstRequestPtr &_msg)
virtual callback for gztopic "~/request".