RobWorkProject: ODESimulator Class Reference

an implementation that use the physics engine ODE to implement the Simulator interface of RWSim. All information into the simulator is derived through RWSim classes. More...

#include <ODESimulator.hpp>

Inherits PhysicsEngine.

Classes
struct	ODEStateStuff

Public Types
enum	StepMethod { WorldStep , WorldQuickStep , WorldFast1 }

enum	SpaceType { Simple , HashTable , QuadTree }
	type of broad phase collision detection to use

typedef rw::core::Ptr< ODESimulator >	Ptr
	smart pointer type

Public Types inherited from PhysicsEngine
typedef rw::core::Ptr< PhysicsEngine >	Ptr
	smart pointer type of PhysicsEngine

Public Member Functions
	ODESimulator ()
	empty constructor

	ODESimulator (dynamics::DynamicWorkCell::Ptr dwc, rw::core::Ptr< rwsim::contacts::BaseContactDetector > detector=NULL)
	constructor More...

virtual	~ODESimulator ()
	destructor

void	load (rwsim::dynamics::DynamicWorkCell::Ptr dwc)
	adds dynamic workcell More...

bool	setContactDetector (rw::core::Ptr< rwsim::contacts::BaseContactDetector > detector)
	Change the contact detector used by the engine. More...

void	setStepMethod (StepMethod method)
	sets the ODE step method that should be used for stepping

void	step (double dt, rw::kinematics::State &state)
	Performs a step and updates the state. More...

void	resetScene (rw::kinematics::State &state)
	reset velocity and acceleration of all bodies to 0. And sets the position of all bodies to that described in state More...

void	initPhysics (rw::kinematics::State &state)
	initialize simulator physics with state More...

void	exitPhysics ()
	cleans up the allocated storage fo bullet physics More...

double	getTime ()
	gets the the current simulated time More...

void	DWCChangedListener (dynamics::DynamicWorkCell::DWCEventType type, boost::any data)

void	setEnabled (dynamics::Body::Ptr body, bool enabled)

void	setDynamicsEnabled (dynamics::Body::Ptr body, bool enabled)

drawable::SimulatorDebugRender::Ptr	createDebugRender ()
	create a debug render for the specific implementation More...

virtual rw::core::PropertyMap &	getPropertyMap ()
	properties of the physics engine More...

void	emitPropertyChanged ()
	should be called when properties have been changed and one wants the physics engine to reflect the new properties. More...

void	addController (rwlibs::simulation::SimulatedController::Ptr controller)

bool	isInitialized ()

void	addBody (rwsim::dynamics::Body::Ptr body, rw::kinematics::State &state)

void	addConstraint (rwsim::dynamics::Constraint::Ptr constraint)
	Add a Constraint between two bodies. More...

void	addDevice (rwsim::dynamics::DynamicDevice::Ptr device, rw::kinematics::State &state)

void	addSensor (rwlibs::simulation::SimulatedSensor::Ptr sensor, rw::kinematics::State &state)
	add a simulated sensor to this simulator

void	removeController (rwlibs::simulation::SimulatedController::Ptr controller)

void	removeSensor (rwlibs::simulation::SimulatedSensor::Ptr sensor)
	add a simulated sensor to this simulator

const rw::kinematics::FramePairMap< std::vector< dynamics::ContactManifold > > &	getContactManifoldMap ()

std::vector< ODEBody * > &	getODEBodies ()

dynamics::DynamicWorkCell::Ptr	getDynamicWorkCell ()

std::vector< rwlibs::simulation::SimulatedSensor::Ptr >	getSensors ()
	get the list of simulated sensors More...

void	attach (rwsim::dynamics::Body::Ptr b1, rwsim::dynamics::Body::Ptr b2)

void	detach (rwsim::dynamics::Body::Ptr b1, rwsim::dynamics::Body::Ptr b2)

void	setSimulatorLog (rw::core::Ptr< rwsim::log::SimulatorLogScope > log)
	Store internal info during simulation. More...

void	disableCollision (rwsim::dynamics::Body::Ptr b1, rwsim::dynamics::Body::Ptr b2)

void	enableCollision (rwsim::dynamics::Body::Ptr b1, rwsim::dynamics::Body::Ptr b2)

rw::math::Vector3D	getGravity ()
	get current gravity

dWorldID	getODEWorldId () const

void	addODEJoint (ODEJoint *odejoint)

ODEJoint *	getODEJoint (rw::models::Joint *joint)

void	addODEBody (ODEBody *odebody)

void	addODEBody (dBodyID body)

void	addODEJoint (dJointID joint)

ODEBody *	getODEBody (rw::kinematics::Frame *frame)

dBodyID	getODEBodyId (rw::kinematics::Frame::Ptr frame)

dBodyID	getODEBodyId (rwsim::dynamics::Body *body)

std::vector< ODEDevice * >	getODEDevices ()

void	addEmulatedContact (const rw::math::Vector3D<> &pos, const rw::math::Vector3D<> &force, const rw::math::Vector3D<> &normal, dynamics::Body *b)

virtual void	forceUpdate (rwsim::dynamics::Body::Ptr body, rw::kinematics::State &state) override
	this will force the physics engine to update the state of the body. This can be i.e. be used to teleport a rigid body to a new position. More...

void	setContactLoggingEnabled (bool enable)
	Enables logging of the contact points.

boost::unordered_map< std::pair< std::string, std::string >, bool >	getContactingBodies ()
	Returns a map of contacting body frame names and their contact points.

void	handleCollisionBetween (dGeomID o0, dGeomID o1)

const std::vector< ODEUtil::TriGeomData * > &	getTriMeshs ()

std::vector< dynamics::ContactPoint >	getContacts ()

int	getContactCnt ()

double	getMaxSeperatingDistance ()

dSpaceID	getODESpace ()

void	addContacts (std::vector< dContact > &contacts, size_t nr_con, ODEBody dataB1, ODEBody dataB2)

std::vector< ODETactileSensor * >	getODESensors (dBodyID odebody)

dynamics::MaterialDataMap &	getMaterialMap ()

dynamics::ContactDataMap &	getContactMap ()

Public Member Functions inherited from PhysicsEngine
virtual	~PhysicsEngine ()
	destructor

virtual void	load (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc)=0
	adds dynamic workcell

virtual void	setEnabled (rw::core::Ptr< rwsim::dynamics::Body > body, bool enabled)=0

virtual void	setDynamicsEnabled (rw::core::Ptr< rwsim::dynamics::Body > body, bool enabled)=0
	disables the dynamics of a body. More...

virtual void	addController (rw::core::Ptr< rwlibs::simulation::SimulatedController > controller)=0
	add a simulated controller to this simulator

virtual void	removeController (rw::core::Ptr< rwlibs::simulation::SimulatedController > controller)=0
	removes a simulated controller from this simulator More...

virtual void	addBody (rw::core::Ptr< rwsim::dynamics::Body > body, rw::kinematics::State &state)=0
	add a body to the physics engine More...

virtual void	addDevice (rw::core::Ptr< rwsim::dynamics::DynamicDevice > device, rw::kinematics::State &state)=0
	add a dynamic device to the physics engine More...

virtual void	attach (rw::core::Ptr< rwsim::dynamics::Body > b1, rw::core::Ptr< rwsim::dynamics::Body > b2)=0
	creates a 6dof dynamic constraint between the two bodies b1 and b2 More...

virtual void	detach (rw::core::Ptr< rwsim::dynamics::Body > b1, rw::core::Ptr< rwsim::dynamics::Body > b2)=0
	removes the 6dof constraint between bodies b1 and b2 if there is any More...

virtual void	forceUpdate (rw::core::Ptr< rwsim::dynamics::Body > body, rw::kinematics::State &state)
	this will force the physics engine to update the state of the body. This can be i.e. be used to teleport a rigid body to a new position. More...

Protected Member Functions
void	detectCollisionsContactDetector (const rw::kinematics::State &state)

bool	detectCollisionsRW (rw::kinematics::State &state, bool onlyTestPenetration=false)

Detailed Description

an implementation that use the physics engine ODE to implement the Simulator interface of RWSim. All information into the simulator is derived through RWSim classes.

Supported objects types include Rigid, Kinematic and fixed Supported device types include Rigid and Kinematic

The simulation step looks like this

1 updateControllers() 2 updateDevices() // sets the target velocity of devices 3 performContactDetection() 4 performConstraintSolving() 5 updateSensorStates() 6 updateDeviceStates() 7 updateBodyStates()

The ODE physics engine support several engine specific properties. These can be tweaked to obtain higher performance or robustness. ODE specific options:

Only used when RobWork contact generation is used (its the default). MaxSepDistance - float - All triangles within a distance MaxSepDistance is used in the contact generation.

object specific:

SoftLayer - float -

example:

* <Property name="StepMethod">WorldStep</Property>
* <Property name="WorldCFM" type="float">0.000001</Property>
* <Property name="WorldERP" type="float">0.2</Property>
* <Property name="MaxIterations" type="int">100</Property>
* <Property name="ContactSurfaceLayer" type="float">0.001</Property>
*
* <Property name="MaxSepDistance" type="float">0.01</Property>
* <Property name="MaxCorrectingVelocity" type="float">0.1</Property>
*

Member Enumeration Documentation

◆ StepMethod

enum StepMethod

type of step method, worldStep is direct solver, worldquickstep is faster iterative solver. When dynamically simulating robot arms use worldstep, else simulate chains as kinematic bodies.

Constructor & Destructor Documentation

◆ ODESimulator()

ODESimulator	(	dynamics::DynamicWorkCell::Ptr	dwc,
		rw::core::Ptr< rwsim::contacts::BaseContactDetector >	detector = `NULL`
	)

constructor

Parameters

dwc	[in] the dynamic workcell for which the simulator should work
detector	[in] the contact detector to use

Member Function Documentation

◆ addConstraint()

void addConstraint ( rwsim::dynamics::Constraint::Ptr constraint )

Add a Constraint between two bodies.

Parameters

constraint [in] a pointer to the RobWork constraint.

◆ createDebugRender()

drawable::SimulatorDebugRender::Ptr createDebugRender ( )

virtual

create a debug render for the specific implementation

Returns: NULL if no render is available else a valid render

Implements PhysicsEngine.

◆ emitPropertyChanged()

void emitPropertyChanged ( )

virtual

should be called when properties have been changed and one wants the physics engine to reflect the new properties.

Implements PhysicsEngine.

◆ exitPhysics()

void exitPhysics ( )

virtual

cleans up the allocated storage fo bullet physics

Implements PhysicsEngine.

◆ forceUpdate()

virtual void forceUpdate	(	rwsim::dynamics::Body::Ptr	body,
		rw::kinematics::State &	state
	)

overridevirtual

this will force the physics engine to update the state of the body. This can be i.e. be used to teleport a rigid body to a new position.

Parameters

body	[in] the body to update.
state	[in] the state to update the body from.

◆ getPropertyMap()

virtual rw::core::PropertyMap& getPropertyMap ( )

inlinevirtual

properties of the physics engine

Implements PhysicsEngine.

◆ getSensors()

std::vector<rwlibs::simulation::SimulatedSensor::Ptr> getSensors ( )

inlinevirtual

get the list of simulated sensors

Returns

Implements PhysicsEngine.

◆ getTime()

double getTime ( )

inlinevirtual

gets the the current simulated time

Implements PhysicsEngine.

◆ initPhysics()

void initPhysics ( rw::kinematics::State & state )

virtual

initialize simulator physics with state

Implements PhysicsEngine.

◆ load()

void load ( rwsim::dynamics::DynamicWorkCell::Ptr dwc )

adds dynamic workcell

◆ resetScene()

void resetScene ( rw::kinematics::State & state )

virtual

reset velocity and acceleration of all bodies to 0. And sets the position of all bodies to that described in state

Implements PhysicsEngine.

◆ setContactDetector()

bool setContactDetector ( rw::core::Ptr< rwsim::contacts::BaseContactDetector > detector )

virtual

Change the contact detector used by the engine.

Parameters

detector [in] the contact detector to use (NULL for default contact detection)

Returns: true if engine supports using a ContactDetector and the detector was set successfully.

Implements PhysicsEngine.

◆ setDynamicsEnabled()

void setDynamicsEnabled	(	dynamics::Body::Ptr	body,
		bool	enabled
	)

Enables or disables a body. A body is automatically enabled if contacts or new interactions with the Body arrise

Parameters

body	[in] the body to enable/disable
enabled	[in]

◆ setEnabled()

void setEnabled	(	dynamics::Body::Ptr	body,
		bool	enabled
	)

Enables or disables a body. A body is automatically enabled if contacts or new interactions with the Body arrise

Parameters

body	[in] the body to enable/disable
enabled	[in]

◆ setSimulatorLog()

void setSimulatorLog ( rw::core::Ptr< rwsim::log::SimulatorLogScope > log )

virtual

Store internal info during simulation.

This can be used for debugging, statistics, visualization of internal subresults, timing, benchmark and similar.

Parameters

log	[in] a pointer to the log structure to store to.

Reimplemented from PhysicsEngine.

◆ step()

void step	(	double	dt,
		rw::kinematics::State &	state
	)

virtual

Performs a step and updates the state.

Implements PhysicsEngine.

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

ODESimulator.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Member Enumeration Documentation

◆ StepMethod

Constructor & Destructor Documentation

◆ ODESimulator()

Member Function Documentation

◆ addConstraint()

◆ createDebugRender()

◆ emitPropertyChanged()

◆ exitPhysics()

◆ forceUpdate()

◆ getPropertyMap()

◆ getSensors()

◆ getTime()

◆ initPhysics()

◆ load()

◆ resetScene()

◆ setContactDetector()

◆ setDynamicsEnabled()

◆ setEnabled()

◆ setSimulatorLog()

◆ step()