18 #ifndef _GAZEBO_DARTPHYSICS_HH_
19 #define _GAZEBO_DARTPHYSICS_HH_
23 #include <boost/thread/thread.hpp>
24 #include <boost/thread/mutex.hpp>
81 public:
virtual void Load(sdf::ElementPtr _sdf);
84 public:
virtual void Init();
87 public:
virtual void Fini();
90 public:
virtual void Reset();
93 public:
virtual void InitForThread();
96 public:
virtual void UpdateCollision();
99 public:
virtual void UpdatePhysics();
102 public:
virtual std::string GetType()
const;
105 public:
virtual void SetSeed(uint32_t _seed);
114 public:
virtual CollisionPtr CreateCollision(
const std::string &_type,
118 public:
virtual JointPtr CreateJoint(
const std::string &_type,
122 public:
virtual ShapePtr CreateShape(
const std::string &_shapeType,
129 public:
virtual void DebugPrint()
const;
132 public:
virtual boost::any GetParam(
const std::string &_key)
const;
135 public:
virtual bool SetParam(
const std::string &_key,
136 const boost::any &_value);
142 public:
virtual boost::any GetParam(DARTParam _param)
const
147 public: dart::simulation::World *GetDARTWorld();
150 protected:
virtual void OnRequest(ConstRequestPtr &_msg);
153 protected:
virtual void OnPhysicsMsg(ConstPhysicsPtr &_msg);
159 const dart::dynamics::BodyNode *_dtBodyNode);
162 private: dart::simulation::World *dtWorld;
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:65
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:81
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:43
boost::shared_ptr< Shape > ShapePtr
Definition: PhysicsTypes.hh:109
Base class for a physics engine.
Definition: PhysicsEngine.hh:44
DART physics engine.
Definition: DARTPhysics.hh:43
#define GAZEBO_DEPRECATED(version)
Definition: CommonTypes.hh:44
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:93
DART wrapper forward declarations and typedefs.
boost::shared_ptr< DARTLink > DARTLinkPtr
Definition: DARTTypes.hh:43
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:77
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:97
DARTParam
DART physics parameter types.
Definition: DARTPhysics.hh:47
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Maximum number of contacts.
Definition: DARTPhysics.hh:68
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:89