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| RWSimulator (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc) |
| constructor
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virtual | ~RWSimulator () |
| default destructor
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void | load (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc) |
| adds dynamic workcell More...
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bool | setContactDetector (rw::core::Ptr< rwsim::contacts::BaseContactDetector > detector) |
| Change the contact detector used by the engine. More...
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void | initPhysics (rw::kinematics::State &state) |
| initialize simulator physics with state More...
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void | step (double dt, rw::kinematics::State &state) |
| Performs a step and updates the state. More...
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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...
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void | exitPhysics () |
| cleans up the allocated storage fo bullet physics More...
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double | getTime () |
| gets the the current simulated time More...
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void | attach (dynamics::Body::Ptr b1, dynamics::Body::Ptr b2) |
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void | detach (dynamics::Body::Ptr b1, dynamics::Body::Ptr b2) |
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drawable::SimulatorDebugRender::Ptr | createDebugRender () |
| create a debug render for the specific implementation More...
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virtual void | setEnabled (dynamics::Body::Ptr body, bool enabled) |
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rw::core::PropertyMap & | getPropertyMap () |
| properties of the physics engine
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void | emitPropertyChanged () |
| should be called when properties have been changed and one wants the physics engine to reflect the new properties.
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void | addController (rw::core::Ptr< rwlibs::simulation::SimulatedController > controller) |
| add a simulated controller to this simulator
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void | addBody (rwsim::dynamics::Body::Ptr body, rw::kinematics::State &state) |
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void | addDevice (rw::core::Ptr< rwsim::dynamics::DynamicDevice > dev, rw::kinematics::State &state) |
| add a dynamic device to the physics engine More...
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void | addSensor (rwlibs::simulation::SimulatedSensor::Ptr sensor, rw::kinematics::State &state) |
| add a simulated sensor to this simulator
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void | removeController (rw::core::Ptr< rwlibs::simulation::SimulatedController > controller) |
| removes a simulated controller from this simulator More...
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void | removeSensor (rwlibs::simulation::SimulatedSensor::Ptr sensor) |
| add a simulated sensor to this simulator
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void | setDynamicsEnabled (rwsim::dynamics::Body::Ptr body, bool enabled) |
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std::vector< rwlibs::simulation::SimulatedSensor::Ptr > | getSensors () |
| get the list of simulated sensors More...
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virtual | ~PhysicsEngine () |
| destructor
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virtual void | setEnabled (rw::core::Ptr< rwsim::dynamics::Body > body, bool enabled)=0 |
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virtual void | setDynamicsEnabled (rw::core::Ptr< rwsim::dynamics::Body > body, bool enabled)=0 |
| disables the dynamics of a body. More...
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virtual void | addBody (rw::core::Ptr< rwsim::dynamics::Body > body, rw::kinematics::State &state)=0 |
| add a body to the physics engine More...
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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...
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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...
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virtual void | setSimulatorLog (rw::core::Ptr< rwsim::log::SimulatorLogScope > log) |
| Store internal info during simulation. More...
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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...
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