PhysicsEngine::Factory Class Reference

a factory for PhysicsEngine. This factory defines an extension point for PhysicsEngines. More...

#include <PhysicsEngine.hpp>

Inherits ExtensionPoint< Dispatcher >.

Static Public Member Functions
static bool	hasEngineID (const std::string &engineID)
	test if the factory has a specific physics engine More...
static std::vector< std::string >	getEngineIDs ()
	get ids of all engines that are available More...
static PhysicsEngine::Ptr	makePhysicsEngine (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc)
	Create a physics engine using a dynamic workcell. More...
static PhysicsEngine::Ptr	makePhysicsEngine (const std::string &engineID, rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc)
	construct a physics engine with engineID and More...
static PhysicsEngine::Ptr	makePhysicsEngine (const std::string &engineID)
	construct a physics engine with engineID More...

Additional Inherited Members
Public Types inherited from ExtensionPoint< Dispatcher >
typedef rw::core::Ptr< ExtensionPoint >	Ptr
	smart pointer type of ExtensionPoint
Public Member Functions inherited from ExtensionPoint< Dispatcher >
	ExtensionPoint (const std::string &id, const std::string &name, Plugin *plugin=NULL)
	Constructor. More...
const std::string &	getId () const
	get unique identifier of this extensionpoint
const std::string &	getName () const
	get human readable name of this extension point
const rw::core::PropertyMap &	getSchema () const
	the schema describe the possible properties/configurations elements which is used in the PropertyMap. It contain examples of all possible configuration options. This can be used to configure any extensions that needs to attach to this extension point.
std::vector< rw::core::Extension::Descriptor >	getExtensionDescriptors () const
	get all extension descriptions of this extension point
std::vector< rw::core::Ptr< Extension > >	getExtensions () const
	get all extensions of this extension point
Protected Member Functions inherited from ExtensionPoint< Dispatcher >
rw::core::PropertyMap &	getSchema ()
	the schema describe the possible properties/configurations elements which is used in the PropertyMap. The schema property map should just be loaded with all possible configuration options which the extension might use. More...

Detailed Description

a factory for PhysicsEngine. This factory defines an extension point for PhysicsEngines.

Required properties on an extension is:

• name: engineID value:string desc:identifies the engine to the user

Member Function Documentation

getEngineIDs()

static std::vector<std::string> getEngineIDs ( )

static

get ids of all engines that are available

Returns

list of string IDs

hasEngineID()

static bool hasEngineID ( const std::string &  engineID )

static

test if the factory has a specific physics engine

Returns

true if engine with engineID is available

makePhysicsEngine() [1/3]

static PhysicsEngine::Ptr makePhysicsEngine ( const std::string &  engineID )

static

construct a physics engine with engineID

Parameters

engineID

[in] ID of engine

Returns

physics engine

makePhysicsEngine() [2/3]

static PhysicsEngine::Ptr makePhysicsEngine ( const std::string &  engineID, rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >  dwc  )

static

construct a physics engine with engineID and

Parameters

engineID	[in] ID of engine
dwc	[in] dynamic workcell

Returns

physics engine

makePhysicsEngine() [3/3]

static PhysicsEngine::Ptr makePhysicsEngine ( rw::core::Ptr< rwsim::dynamics::DynamicWorkCell >  dwc )

static

Create a physics engine using a dynamic workcell.

Parameters

dwc	[in] the dynamic workcell

Returns

physics engine

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

• PhysicsEngine.hpp