a convienience class for bridging RWSim body states with ode body states. Properties of the objects such as MaterialID, collision reduction threshold is kept per instance. More...

#include <ODEBody.hpp>

Public Types
enum	ODEBodyType { FIXED , KINEMATIC , RIGID , RIGIDODE , LINK , RigidDummy }

Public Member Functions
	ODEBody (dBodyID odeBody, rw::kinematics::Frame *frame)
	constructor for rigid bodies More...

	ODEBody (dBodyID odeBody, rw::core::Ptr< rwsim::dynamics::RigidBody > rwbody, rw::math::Vector3D<> offset, int matID, int conID)
	constructor for rigid bodies More...

	ODEBody (dBodyID odeBody, dynamics::Body::Ptr body, rw::math::Vector3D<> offset, int matID, int conID, ODEBodyType type)
	constructor for user defined type, eg. body does not necesarilly need to by of RigidBody to create an ODEBody::RIGID More...

	ODEBody (dBodyID odeBody, rw::core::Ptr< rwsim::dynamics::KinematicBody > rwbody, int matID, int conID)
	constructor for kinematic bodies More...

	ODEBody (std::vector< dGeomID > geomId, dynamics::Body::Ptr body, int matID, int conID)
	constructor for fixed bodies More...

virtual	~ODEBody ()
	Destructor.

void	update (const rwlibs::simulation::Simulator::UpdateInfo &dt, rw::kinematics::State &state)
	Called before collision checking and time stepping. More...

void	postupdate (rw::kinematics::State &state)
	This method updates the state with state info of this ode object. Which means that ode states are converted to rw states. More...

void	reset (const rw::kinematics::State &state)
	resets the ODE body to the values of the RW body More...

rwsim::dynamics::Body::Ptr	getRwBody () const
	returns the RobWork Body

dBodyID	getBodyID () const
	get the ODE bodyId

rw::math::Transform3D	getTransform () const
	get transform from world to bodyframe

rw::math::Transform3D	getTransformCOM () const
	get transform from world to COM

void	setTransform (const rw::kinematics::State &state)
	set transform of body, using bodyframe

void	setTransform (const rw::math::Transform3D<> &wTbody)
	set transform of body, using bodyframe

void	setTransformCOM (const rw::math::Transform3D<> &wTcom)
	set transform of body, using COM

ODEBodyType	getType () const
	get type of ODEBody

int	getMaterialID ()
	get material id

int	getContactID ()
	get contact model id

rw::kinematics::Frame *	getFrame ()
	get body frame

void	setCRTThres (double crtthres)
	set contact reduction parameter

double	getCRThres ()
	get contact reduction parameter

rw::math::Vector3D	getLastForce ()

void	bodyChangedListener (dynamics::Body::BodyEventType eventtype)

void	setTriGeomData (std::vector< ODEUtil::TriGeomData * > &data)

std::vector< ODEUtil::TriGeomData * > &	getTriGeomData ()

Static Public Member Functions
static ODEBody *	makeRigidBody (dynamics::Body::Ptr rwbody, dSpaceID spaceId, ODESimulator *sim)
	Construct a rigid body. More...

static ODEBody *	makeKinematicBody (dynamics::Body::Ptr kbody, dSpaceID spaceid, ODESimulator *sim)
	Construct a kinematic body. More...

static ODEBody *	makeFixedBody (dynamics::Body::Ptr kbody, dSpaceID spaceid, ODESimulator *sim)
	Construct a fixed body. More...

Detailed Description

a convienience class for bridging RWSim body states with ode body states. Properties of the objects such as MaterialID, collision reduction threshold is kept per instance.

Member Enumeration Documentation

◆ ODEBodyType

enum ODEBodyType

this enum determines how and what the ODEBody maps from (ODE) and into (RW).

Enumerator
FIXED	a fixed body
KINEMATIC	a kinematic ode body and a kinematic RW body
RIGID	a rigid ode body and a RigidBody RW
RIGIDODE	a rigid ode body and a RW Body type (any other than RigidBody)

Constructor & Destructor Documentation

◆ ODEBody() [1/5]

ODEBody	(	dBodyID	odeBody,
		rw::kinematics::Frame *	frame
	)

constructor for rigid bodies

Parameters

odeBody	[in] the id of the ode body.
frame	[in] the body frame.

◆ ODEBody() [2/5]

ODEBody	(	dBodyID	odeBody,
		rw::core::Ptr< rwsim::dynamics::RigidBody >	rwbody,
		rw::math::Vector3D<>	offset,
		int	matID,
		int	conID
	)

constructor for rigid bodies

Parameters

odeBody	[in] the id of the ode body.
rwbody
offset	[in] offset of the center of mass relative to rwbody
matID	[in]
conID	[in]

◆ ODEBody() [3/5]

ODEBody	(	dBodyID	odeBody,
		dynamics::Body::Ptr	body,
		rw::math::Vector3D<>	offset,
		int	matID,
		int	conID,
		ODEBodyType	type
	)

constructor for user defined type, eg. body does not necesarilly need to by of RigidBody to create an ODEBody::RIGID

Parameters

odeBody	[in] the id of the ode body.
body
offset	[in] offset of the center of mass relative to body
matID
conID
type

◆ ODEBody() [4/5]

ODEBody	(	dBodyID	odeBody,
		rw::core::Ptr< rwsim::dynamics::KinematicBody >	rwbody,
		int	matID,
		int	conID
	)

constructor for kinematic bodies

Parameters

odeBody	[in]
rwbody
matID
conID

◆ ODEBody() [5/5]

ODEBody	(	std::vector< dGeomID >	geomId,
		dynamics::Body::Ptr	body,
		int	matID,
		int	conID
	)

constructor for fixed bodies

Parameters

geomId
body
matID
conID

Member Function Documentation

◆ makeFixedBody()

static ODEBody* makeFixedBody	(	dynamics::Body::Ptr	kbody,
		dSpaceID	spaceid,
		ODESimulator *	sim
	)

static

Construct a fixed body.

Parameters

kbody	[in] the RobWork body.
spaceid	[in] the ODE space to construct body in.
sim	[in] the ODE simulator.

Returns: a new ODEBody.

◆ makeKinematicBody()

static ODEBody* makeKinematicBody	(	dynamics::Body::Ptr	kbody,
		dSpaceID	spaceid,
		ODESimulator *	sim
	)

static

Construct a kinematic body.

Parameters

kbody	[in] the RobWork body.
spaceid	[in] the ODE space to construct body in.
sim	[in] the ODE simulator.

Returns: a new ODEBody.

◆ makeRigidBody()

static ODEBody* makeRigidBody	(	dynamics::Body::Ptr	rwbody,
		dSpaceID	spaceId,
		ODESimulator *	sim
	)

static

Construct a rigid body.

Parameters

rwbody	[in] the RobWork body.
spaceId	[in] the ODE space to construct body in.
sim	[in] the ODE simulator.

Returns: a new ODEBody.

◆ postupdate()

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

This method updates the state with state info of this ode object. Which means that ode states are converted to rw states.

Parameters

state

◆ reset()

void reset ( const rw::kinematics::State & state )

resets the ODE body to the values of the RW body

Parameters

state

◆ update()

void update	(	const rwlibs::simulation::Simulator::UpdateInfo &	dt,
		rw::kinematics::State &	state
	)

Called before collision checking and time stepping.

Parameters

dt	[in] info related to the timestep.
state

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

ODEBody.hpp

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ ODEBodyType

Constructor & Destructor Documentation

◆ ODEBody() [1/5]

◆ ODEBody() [2/5]

◆ ODEBody() [3/5]

◆ ODEBody() [4/5]

◆ ODEBody() [5/5]

Member Function Documentation

◆ makeFixedBody()

◆ makeKinematicBody()

◆ makeRigidBody()

◆ postupdate()

◆ reset()

◆ update()