An interface to the ODE simulator. More...

#include <ODESimulator.h>

Public Types
enum	Status { StatusNormal =0, StatusAdaptiveTimeStepping =1, StatusContactUnreliable =2, StatusUnstable =3, StatusError =4 }

Public Member Functions
void	SetGravity (const Vector3 &g)

void	SetAutoDisable (bool autoDisable=true)

void	SetERP (double erp)

void	SetCFM (double erp)

ODESimulatorSettings &	GetSettings ()

Status	GetStatus () const

void	GetStatusHistory (vector< Status > &statuses, vector< Real > &statusChangeTimes) const

void	AddTerrain (TerrainModel &terr)

void	AddRobot (RobotModel &robot)

void	AddObject (RigidObjectModel &object)

bool	CheckObjectOverlap (vector< pair< ODEObjectID, ODEObjectID > > &overlaps)

void	Step (Real dt)

void	StepDynamics (Real dt)

bool	ReadState (File &f)

bool	WriteState (File &f) const

size_t	numTerrains () const

size_t	numRobots () const

size_t	numObjects () const

dWorldID	world () const

const TerrainModel *	terrain (int i) const

ODEGeometry *	terrainGeom (int i) const

ODERobot *	robot (int i) const

ODERigidObject *	object (int i) const

string	ObjectName (const ODEObjectID &obj) const

dBodyID	ObjectBody (const ODEObjectID &obj) const

dGeomID	ObjectGeom (const ODEObjectID &obj) const

void	EnableContactFeedback (const ODEObjectID &a, const ODEObjectID &b)

ODEContactList *	GetContactFeedback (const ODEObjectID &a, const ODEObjectID &b)

void	GetContactFeedback (const ODEObjectID &a, vector< ODEContactList * > &contacts)

void	ClearContactFeedback ()

bool	InContact (const ODEObjectID &a) const

bool	InContact (const ODEObjectID &a, const ODEObjectID &b) const

void	DisableInstabilityCorrection ()
	Disables instability correction for the next time step. This should be done if you manually set several objects' velocities, for example.

void	DisableInstabilityCorrection (const ODEObjectID &obj)
	Disables instability correction for the given object on the next time step. This should be done if you manually set an object's velocities, for example.

ODEJoint *	AddJoint (const ODEObjectID &obj)
	Adds a new joint between obj and the world. The returned ODEJoint must be set up using the MakeHinge, MakeSlider, or MakeFixed functions.

ODEJoint *	AddJoint (const ODEObjectID &a, const ODEObjectID &b)
	Adds a new joint between a and b. The returned ODEJoint must be set up using the MakeHinge, MakeSlider, or MakeFixed functions.

void	RemoveJoint (ODEJoint *)
	Removes a single joint.

void	RemoveJoints (const ODEObjectID &obj)
	Removes all joints touching obj.

void	RemoveJoints (const ODEObjectID &a, const ODEObjectID &b)
	Removes all joints between a and b.

bool	ReadState_Internal (File &f)

bool	WriteState_Internal (File &f) const

void	DetectCollisions ()

void	SetupContactResponse ()

void	SetupContactResponse (const ODEObjectID &a, const ODEObjectID &b, int feedbackIndex, ODEContactResult &c)

void	ClearCollisions ()

bool	InstabilityCorrection ()

virtual void	GetSurfaceParameters (const ODEObjectID &a, const ODEObjectID &b, dSurfaceParameters &surface) const

Public Attributes
File	lastState

Real	lastStateTimestep

map< pair< ODEObjectID, ODEObjectID >, double >	lastMarginsRemaining

list< ODEJoint >	joints

Detailed Description

An interface to the ODE simulator.

Step() performs collision detection, sets up contact response, calls StepDynamics(), and computes collision feedback.

StepDynamics() integrates the dynamics without setting up collision detection structures. This probably should not be used externally.

Read/WriteState can be used to serialize state to binary.

To get contact force information from the simulator, use the EnableContactFeedback() function to initialize feedback, and then call GetContactFeedback() to get a pointer to the feedback data structure. Contact forces are updated after Step().

Member Enumeration Documentation

enum Klampt::ODESimulator::Status

Overall simulation status flag. If a status is:

Normal: everything is proceeding as normal.
AdaptiveTimeStepping: everything is proceeding as normal, but simulation may be slower than usual because adaptive time stepping needs to be used.
ContactUnreliable, then some objects have penetrated beyond the acceptable limits. Contact response artifacts, like penetration or jittering, may occur.
Unstable: then some objects have gone unstable. Usually this is due to poorly tuned motor PIDs or external forces/torques. Klamp't will try to force things back into a stable state, but the results are not guaranteed.
Error: some unknown error has occurred. All further simulation will stop.

Member Function Documentation

bool Klampt::ODESimulator::CheckObjectOverlap ( vector< pair< ODEObjectID, ODEObjectID > > & overlaps )

Returns true if the current state is in "reliable" status. Otherwise returns false and populates the list of overlapping object pairs.

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

ODESimulator.h

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

Member Function Documentation