RobWorkProject: BtSimulator Class Reference

A physics engine that uses Bullet Physics as the underlying engine. More...

#include <BtSimulator.hpp>

Public Member Functions
	BtSimulator ()
	Construct new simulator.

	BtSimulator (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc)
	Construct new simulator. More...

virtual	~BtSimulator ()
	Destructor.

void	load (rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc)
	adds dynamic workcell More...

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

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

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

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

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 (rw::core::Ptr< rwlibs::simulation::SimulatedController > controller)
	add a simulated controller to this simulator More...

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

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

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

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

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

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

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

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

void	addConstraint (rw::core::Ptr< const rwsim::dynamics::Constraint > constraint)
	Add a Constraint between two bodies. More...

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

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

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

Detailed Description

A physics engine that uses Bullet Physics as the underlying engine.

Constructor & Destructor Documentation

◆ BtSimulator()

BtSimulator ( rw::core::Ptr< rwsim::dynamics::DynamicWorkCell > dwc )

Construct new simulator.

Parameters

dwc	[in] the dynamic workcell.

Member Function Documentation

◆ addBody()

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

virtual

add a body to the physics engine

Parameters

body	[in] body to add
state	[in] current state

Implements PhysicsEngine.

◆ addConstraint()

void addConstraint ( rw::core::Ptr< const rwsim::dynamics::Constraint > constraint )

Add a Constraint between two bodies.

Parameters

constraint [in] a pointer to the RobWork constraint.

◆ addController()

void addController ( rw::core::Ptr< rwlibs::simulation::SimulatedController > controller )

virtual

add a simulated controller to this simulator

Implements PhysicsEngine.

◆ addDevice()

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

virtual

add a dynamic device to the physics engine

Parameters

device	[in] device to add
state	[in] current state

Implements PhysicsEngine.

◆ addSensor()

void addSensor	(	rwlibs::simulation::SimulatedSensor::Ptr	sensor,
		rw::kinematics::State &	state
	)

virtual

add a simulated sensor to this simulator

Implements PhysicsEngine.

◆ attach()

void attach	(	rw::core::Ptr< rwsim::dynamics::Body >	b1,
		rw::core::Ptr< rwsim::dynamics::Body >	b2
	)

virtual

creates a 6dof dynamic constraint between the two bodies b1 and b2

Parameters

b1
b2

Implements PhysicsEngine.

◆ createDebugRender()

rwsim::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.

◆ detach()

void detach	(	rw::core::Ptr< rwsim::dynamics::Body >	b1,
		rw::core::Ptr< rwsim::dynamics::Body >	b2
	)

virtual

removes the 6dof constraint between bodies b1 and b2 if there is any

Parameters

b1
b2

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.

◆ getPropertyMap()

rw::core::PropertyMap& getPropertyMap ( )

virtual

properties of the physics engine

Implements PhysicsEngine.

◆ getSensors()

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

virtual

get the list of simulated sensors

Returns

Implements PhysicsEngine.

◆ getTime()

double getTime ( )

virtual

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

virtual

adds dynamic workcell

Implements PhysicsEngine.

◆ removeController()

void removeController ( rw::core::Ptr< rwlibs::simulation::SimulatedController > controller )

virtual

removes a simulated controller from this simulator

Parameters

controller

Implements PhysicsEngine.

◆ removeSensor()

void removeSensor ( rwlibs::simulation::SimulatedSensor::Ptr sensor )

virtual

add a simulated sensor to this simulator

Implements PhysicsEngine.

◆ 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	(	rw::core::Ptr< rwsim::dynamics::Body >	body,
		bool	enabled
	)

virtual

disables the dynamics of a body.

Parameters

body
enabled

Implements PhysicsEngine.

◆ setEnabled()

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

virtual

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]

Implements 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:

BtSimulator.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BtSimulator()

Member Function Documentation

◆ addBody()

◆ addConstraint()

◆ addController()

◆ addDevice()

◆ addSensor()

◆ attach()

◆ createDebugRender()

◆ detach()

◆ emitPropertyChanged()

◆ exitPhysics()

◆ getPropertyMap()

◆ getSensors()

◆ getTime()

◆ initPhysics()

◆ load()

◆ removeController()

◆ removeSensor()

◆ resetScene()

◆ setContactDetector()

◆ setDynamicsEnabled()

◆ setEnabled()

◆ step()