RobWorkProject
Public Member Functions | List of all members
BtSimulator Class Reference

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

#include <BtSimulator.hpp>

Inherits PhysicsEngine.

Public Member Functions

 BtSimulator ()
 Construct new simulator.
 
 BtSimulator (rw::common::Ptr< rwsim::dynamics::DynamicWorkCell > dwc)
 Construct new simulator. More...
 
virtual ~BtSimulator ()
 Destructor.
 
void load (rw::common::Ptr< rwsim::dynamics::DynamicWorkCell > dwc)
 
bool setContactDetector (rw::common::Ptr< rwsim::contacts::ContactDetector > detector)
 
void step (double dt, rw::kinematics::State &state)
 
void resetScene (rw::kinematics::State &state)
 
void initPhysics (rw::kinematics::State &state)
 
void exitPhysics ()
 
double getTime ()
 
void setEnabled (rw::common::Ptr< rwsim::dynamics::Body > body, bool enabled)
 
void setDynamicsEnabled (rw::common::Ptr< rwsim::dynamics::Body > body, bool enabled)
 
rwsim::drawable::SimulatorDebugRender::Ptr createDebugRender ()
 
rw::common::PropertyMapgetPropertyMap ()
 
void emitPropertyChanged ()
 
void addController (rw::common::Ptr< rwlibs::simulation::SimulatedController > controller)
 
void removeController (rw::common::Ptr< rwlibs::simulation::SimulatedController > controller)
 
void addBody (rw::common::Ptr< rwsim::dynamics::Body > body, rw::kinematics::State &state)
 
void addDevice (rw::common::Ptr< rwsim::dynamics::DynamicDevice > device, rw::kinematics::State &state)
 
void addSensor (rwlibs::simulation::SimulatedSensor::Ptr sensor, rw::kinematics::State &state)
 
void removeSensor (rwlibs::simulation::SimulatedSensor::Ptr sensor)
 
void attach (rw::common::Ptr< rwsim::dynamics::Body > b1, rw::common::Ptr< rwsim::dynamics::Body > b2)
 
void detach (rw::common::Ptr< rwsim::dynamics::Body > b1, rw::common::Ptr< rwsim::dynamics::Body > b2)
 
std::vector< rwlibs::simulation::SimulatedSensor::PtrgetSensors ()
 
void addConstraint (rw::common::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::common::Ptr< rwsim::log::SimulatorLogScope > log)
 Store internal info during simulation. More...
 

Additional Inherited Members

- Public Types inherited from PhysicsEngine
typedef rw::common::Ptr< PhysicsEnginePtr
 smart pointer type of PhysicsEngine
 

Detailed Description

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

Constructor & Destructor Documentation

◆ BtSimulator()

Construct new simulator.

Parameters
dwc[in] the dynamic workcell.

Member Function Documentation

◆ addBody()

void addBody ( rw::common::Ptr< rwsim::dynamics::Body body,
rw::kinematics::State state 
)
virtual

Implements PhysicsEngine.

◆ addConstraint()

void addConstraint ( rw::common::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::common::Ptr< rwlibs::simulation::SimulatedController controller)
virtual

Implements PhysicsEngine.

◆ addDevice()

void addDevice ( rw::common::Ptr< rwsim::dynamics::DynamicDevice device,
rw::kinematics::State state 
)
virtual

Implements PhysicsEngine.

◆ addSensor()

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

Implements PhysicsEngine.

◆ attach()

void attach ( rw::common::Ptr< rwsim::dynamics::Body b1,
rw::common::Ptr< rwsim::dynamics::Body b2 
)
virtual

Implements PhysicsEngine.

◆ createDebugRender()

rwsim::drawable::SimulatorDebugRender::Ptr createDebugRender ( )
virtual

Implements PhysicsEngine.

◆ detach()

void detach ( rw::common::Ptr< rwsim::dynamics::Body b1,
rw::common::Ptr< rwsim::dynamics::Body b2 
)
virtual

Implements PhysicsEngine.

◆ emitPropertyChanged()

void emitPropertyChanged ( )
virtual

Implements PhysicsEngine.

◆ exitPhysics()

void exitPhysics ( )
virtual

Implements PhysicsEngine.

◆ getPropertyMap()

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

Implements PhysicsEngine.

◆ getSensors()

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

Implements PhysicsEngine.

◆ getTime()

double getTime ( )
virtual

Implements PhysicsEngine.

◆ initPhysics()

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

Implements PhysicsEngine.

◆ load()

void load ( rw::common::Ptr< rwsim::dynamics::DynamicWorkCell dwc)
virtual

Implements PhysicsEngine.

◆ removeController()

void removeController ( rw::common::Ptr< rwlibs::simulation::SimulatedController controller)
virtual

Implements PhysicsEngine.

◆ removeSensor()

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

Implements PhysicsEngine.

◆ resetScene()

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

Implements PhysicsEngine.

◆ setContactDetector()

bool setContactDetector ( rw::common::Ptr< rwsim::contacts::ContactDetector detector)
virtual

Implements PhysicsEngine.

◆ setDynamicsEnabled()

void setDynamicsEnabled ( rw::common::Ptr< rwsim::dynamics::Body body,
bool  enabled 
)
virtual

Implements PhysicsEngine.

◆ setEnabled()

void setEnabled ( rw::common::Ptr< rwsim::dynamics::Body body,
bool  enabled 
)
virtual

Implements PhysicsEngine.

◆ step()

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

Implements PhysicsEngine.


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