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Klamp't
0.8.1
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A physical simulator for a RobotWorld. More...
#include <WorldSimulation.h>
Public Types | |
| typedef map< pair< ODEObjectID, ODEObjectID >, ContactFeedbackInfo > | ContactFeedbackMap |
Public Member Functions | |
| void | Init (RobotWorld *world) |
| void | OnAddModel () |
| Updates the simulation with new items added to the world model. | |
| void | SetController (int robot, shared_ptr< RobotController > c) |
| Sets the robot's controller. | |
| void | Advance (Real dt) |
| Advance simulation time by dt (may take multiple sub-steps) | |
| void | AdvanceFake (Real dt) |
| Advance simulation time without actually performing ODE simulation. | |
| void | UpdateModel () |
| Takes the simulation state and puts it in the world model. | |
| void | UpdateRobot (int index) |
| Takes the simulation state for the robot and puts it in the world model. | |
| bool | ReadState (File &f) |
| bool | WriteState (File &f) const |
| bool | ReadState (const string &data) |
| bool | WriteState (string &data) const |
| void | EnableContactFeedback (int aid, int bid, bool accum=true, bool accumFull=false) |
| bool | InContact (int aid, int bid=-1) |
| bool | HadContact (int aid, int bid=-1) |
| Returns true if the objects had contact during past Advance call. | |
| bool | HadSeparation (int aid, int bid=-1) |
| Returns true if the objects had no contact during past Advance call. | |
| bool | HadPenetration (int aid, int bid=-1) |
| ContactFeedbackInfo * | GetContactFeedback (int aid, int bid) |
| Returns the ContactFeedback structure for the two objects. | |
| ODEContactList * | GetContactList (int aid, int bid) |
| Returns the contact list for the prior time step. | |
| Vector3 | ContactForce (int aid, int bid=-1) |
| Returns the resultant contact force (on object a) from the prior time step. | |
| Vector3 | ContactTorque (int aid, int bid=-1) |
| Returns the resultant contact torque (on object a, about its origin) from the prior time step. | |
| Vector3 | MeanContactForce (int aid, int bid=-1) |
| Returns the average contact force (on object a) from the past Advance call. | |
| Vector3 | MeanContactTorque (int aid, int bid=-1) |
| Returns the resultant contact torque (on object a, about its origin) from the past Advance call. | |
| int | ODEToWorldID (const ODEObjectID &odeid) const |
| ODEObjectID | WorldToODEID (int id) const |
Public Attributes | |
| RobotWorld * | world |
| ODESimulator | odesim |
| Real | time |
| Real | simStep |
| bool | fakeSimulation |
| vector< ControlledRobotSimulator > | controlSimulators |
| vector< shared_ptr< RobotController > > | robotControllers |
| vector< shared_ptr< WorldSimulationHook > > | hooks |
| ContactFeedbackMap | contactFeedback |
| ODESimulator::Status | worstStatus |
| Worst simulation status over the last Advance() call. | |
A physical simulator for a RobotWorld.
| void WorldSimulation::EnableContactFeedback | ( | int | aid, |
| int | bid, | ||
| bool | accum = true, |
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| bool | accumFull = false |
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Enables contact feedback between the two objects. This must be called before most of the contact querying functions work. The exception is InContact, which works no matter what.
| bool WorldSimulation::HadPenetration | ( | int | aid, |
| int | bid = -1 |
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| ) |
Returns true if the objects had penetration during past Advance call. Penetration indicates that there may be simulation artifacts due to poor contact handling. Can also set both aid=bid=-1 to determine whether the simulation is generally functioning properly.
| bool WorldSimulation::InContact | ( | int | aid, |
| int | bid = -1 |
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Returns true if the objects were in contact on the prior time sub-step. Warning: if contact feedback is not set up, this does not distinguish between terrains. That is, if either a is a terrain and b hits a different terrain, this will return true.
| bool WorldSimulation::ReadState | ( | File & | f | ) |
Load/save state Note: when reading state, the user must make sure that the controllers and hooks are exactly the same objects as when they were written!
1.8.11