Declaration of the physical class, that implements the physics interface. More...

#include <WorldPhysics.h>

Public Member Functions
	WorldPhysics (interfaces::ControlCenter *control)
	The constructor for the physical world. More...

virtual	~WorldPhysics (void)
	Close ODE environment. More...

virtual void	initTheWorld (void)
	This function initializes the ode world. More...

virtual void	freeTheWorld (void)
	This functions destroys the ode world. More...

virtual void	stepTheWorld (void)
	This function handles the calculation of a step in the world. More...

virtual bool	existsWorld (void) const
	Returns if a world exists. More...

virtual const utils::Vector	getCenterOfMass (const std::vector< interfaces::NodeInterface *> &nodes) const

virtual void	update (std::vector< interfaces::draw_item > *drawItems)
	This is the update function that updates the position of the vertices of all draw_item structs contained in drawItems. More...

virtual int	checkCollisions (void)

virtual interfaces::sReal	getVectorCollision (const utils::Vector &pos, const utils::Vector &ray) const

dWorldID	getWorld (void) const
	Returns the ode ID of the world object. More...

dSpaceID	getSpace (void) const
	Returns the ode ID of the main space object. More...

bool	getCompositeBody (int comp_group, dBodyID body, NodePhysics node)
	Sets the body pointer param to the body for the comp_group_id. More...

void	destroyBody (dBodyID theBody, NodePhysics *node)
	Destroyes a body from a node: More...

dReal	getWorldStep (void)
	Returns the stepsize for calculating a world step. More...

void	resetCompositeMass (dBodyID theBody)
	resets the mass of a composite body More...

void	moveCompositeMassCenter (dBodyID theBody, dReal x, dReal y, dReal z)

int	handleCollision (dGeomID theGeom)

interfaces::sReal	getCollisionDepth (dGeomID theGeom)

Public Member Functions inherited from mars::interfaces::PhysicsInterface
virtual	~PhysicsInterface ()

Public Attributes
utils::Mutex	iMutex

Public Attributes inherited from mars::interfaces::PhysicsInterface
sReal	ground_friction

sReal	ground_cfm

sReal	ground_erp

sReal	step_size
	Step size in seconds. More...

utils::Vector	world_gravity

bool	fast_step

bool	draw_contact_points

sReal	world_cfm

sReal	world_erp

Static Public Attributes
static interfaces::PhysicsError	error = PHYSICS_NO_ERROR

Private Member Functions
void	nearCallback (dGeomID o1, dGeomID o2)
	In this function the collision handling from ode is performed. More...

Private Member Functions inherited from mars::interfaces::DrawInterface
virtual	~DrawInterface ()

Static Private Member Functions
static void	callbackForward (void *data, dGeomID o1, dGeomID o2)
	This static function is used to project a normal function pointer to a method from a class. More...

Private Attributes
utils::Mutex	drawLock

dSpaceID	space

dWorldID	world

dGeomID	plane

dJointGroupID	contactgroup

bool	world_init

interfaces::ControlCenter *	control

utils::Vector	old_gravity

interfaces::sReal	old_cfm

interfaces::sReal	old_erp

std::vector< body_nbr_tupel >	comp_body_list

std::vector< interfaces::draw_item >	draw_intern

std::vector< interfaces::draw_item >	draw_extern

std::vector< dJointFeedback * >	contact_feedback_list

bool	create_contacts

bool	log_contacts

int	num_contacts

int	ray_collision

Detailed Description

Declaration of the physical class, that implements the physics interface.

Definition at line 85 of file WorldPhysics.h.

Constructor & Destructor Documentation

◆ WorldPhysics()

mars::sim::WorldPhysics::WorldPhysics ( interfaces::ControlCenter * control )

The constructor for the physical world.

pre:

none

post:

all private variables should be initialized correct should correct be spezified?
world, space, contactgroup and world_init to false (0)

Definition at line 85 of file WorldPhysics.cpp.

◆ ~WorldPhysics()

mars::sim::WorldPhysics::~WorldPhysics ( void )

virtual

Close ODE environment.

pre:

none

post:

everthing that was created should be destroyed

Definition at line 131 of file WorldPhysics.cpp.

Member Function Documentation

◆ callbackForward()

void mars::sim::WorldPhysics::callbackForward	(	void *	data,
		dGeomID	o1,
		dGeomID	o2
	)

staticprivate

This static function is used to project a normal function pointer to a method from a class.

pre:

data is a pointer to a correct object from type WorldPhysics

post:

the newCallback method of the data object should be called

Definition at line 752 of file WorldPhysics.cpp.

◆ checkCollisions()

int mars::sim::WorldPhysics::checkCollisions ( void )

virtual

Implements mars::interfaces::PhysicsInterface.

Definition at line 875 of file WorldPhysics.cpp.

◆ destroyBody()

void mars::sim::WorldPhysics::destroyBody	(	dBodyID	theBody,
		NodePhysics *	node
	)

Destroyes a body from a node:

This function checks if not more than one geom is connected to the body and destroyes the body in that case. In the other case the counter of the connected geoms is decreased.

pre:

the body exists in the physical world

post:

if more than one geoms are connected to the body, decrease the counter of connected geoms
otherwise, if only one geom is connected to the body, destroy the body

Definition at line 375 of file WorldPhysics.cpp.

◆ existsWorld()

bool mars::sim::WorldPhysics::existsWorld ( void ) const

virtual

Returns if a world exists.

pre:

none

post:

return state of world_init

Implements mars::interfaces::PhysicsInterface.

Definition at line 210 of file WorldPhysics.cpp.

◆ freeTheWorld()

void mars::sim::WorldPhysics::freeTheWorld ( void )

virtual

This functions destroys the ode world.

pre:

world_init = true

post:

world, space and contactgroup have to be destroyed here
afte that, world_init have to become false

Implements mars::interfaces::PhysicsInterface.

Definition at line 189 of file WorldPhysics.cpp.

◆ getCenterOfMass()

const Vector mars::sim::WorldPhysics::getCenterOfMass ( const std::vector< interfaces::NodeInterface *> & nodes ) const

virtual

Implements mars::interfaces::PhysicsInterface.

Definition at line 805 of file WorldPhysics.cpp.

◆ getCollisionDepth()

double mars::sim::WorldPhysics::getCollisionDepth ( dGeomID theGeom )

Definition at line 844 of file WorldPhysics.cpp.

◆ getCompositeBody()

bool mars::sim::WorldPhysics::getCompositeBody	(	int	comp_group,
		dBodyID *	body,
		NodePhysics *	node
	)

Sets the body pointer param to the body for the comp_group_id.

The functions sets the body pointer to the body ID that represents the composite object. If no body is aviable for the composite group a body will be created. The functions return if an body allready exists or if one had been created.

Careful with this function, bad implementation. This function should be only called if a new geom will be conected to the given body.

pre:

comp_group > 0

post:

body pointer should be set to a regular body that is in the vector comp_body_list
retruned true if a body was created, otherwise retruned false

Definition at line 335 of file WorldPhysics.cpp.

◆ getSpace()

dSpaceID mars::sim::WorldPhysics::getSpace ( void ) const

Returns the ode ID of the main space object.

pre:

none

post:

space ID returned

Definition at line 311 of file WorldPhysics.cpp.

◆ getVectorCollision()

double mars::sim::WorldPhysics::getVectorCollision	(	const utils::Vector &	pos,
		const utils::Vector &	ray
	)		const

virtual

Implements mars::interfaces::PhysicsInterface.

Definition at line 883 of file WorldPhysics.cpp.

◆ getWorld()

dWorldID mars::sim::WorldPhysics::getWorld ( void ) const

Returns the ode ID of the world object.

pre:

none

post:

world ID returned

Definition at line 298 of file WorldPhysics.cpp.

◆ getWorldStep()

dReal mars::sim::WorldPhysics::getWorldStep ( void )

Returns the stepsize for calculating a world step.

pre:

none

post:

the step_size value should be returned

Definition at line 414 of file WorldPhysics.cpp.

◆ handleCollision()

int mars::sim::WorldPhysics::handleCollision ( dGeomID theGeom )

Definition at line 837 of file WorldPhysics.cpp.

◆ initTheWorld()

void mars::sim::WorldPhysics::initTheWorld ( void )

virtual

This function initializes the ode world.

pre:

world_init = false

post:

world, space and contactgroup should be created
the ODE world parameters should be set
at the end world_init have to become true

Implements mars::interfaces::PhysicsInterface.

Definition at line 150 of file WorldPhysics.cpp.

◆ moveCompositeMassCenter()

void mars::sim::WorldPhysics::moveCompositeMassCenter	(	dBodyID	theBody,
		dReal	x,
		dReal	y,
		dReal	z
	)

Definition at line 784 of file WorldPhysics.cpp.

◆ nearCallback()

void mars::sim::WorldPhysics::nearCallback	(	dGeomID	o1,
		dGeomID	o2
	)

private

In this function the collision handling from ode is performed.

pre:

world_init = true
o1 and o2 are regular geoms

post:

if o1 or o2 was a Space, called SpaceCollide and exit
otherwise tested if the geoms collide and created a contact joint if so.

A lot of the code is uncommented in this function. This code maybe used later to handle sensors or other special cases in the simulation.

test if a space is colliding with something

exit without doing anything if the two bodies are connected by a joint

Definition at line 434 of file WorldPhysics.cpp.

◆ resetCompositeMass()

void mars::sim::WorldPhysics::resetCompositeMass ( dBodyID theBody )

resets the mass of a composite body

pre:

the body exists in the physical world

post:

Definition at line 765 of file WorldPhysics.cpp.

◆ stepTheWorld()

void mars::sim::WorldPhysics::stepTheWorld ( void )

virtual

This function handles the calculation of a step in the world.

pre:

world_init = true
step_size > 0

post:

handled the collisions
step the world for step_size seconds
the contactgroup should be empty

first clear the collision counters of all geoms

then we have to clear the contacts

first check for collisions

then calculate the next state for a time of step_size seconds

Implements mars::interfaces::PhysicsInterface.

Definition at line 226 of file WorldPhysics.cpp.

◆ update()

void mars::sim::WorldPhysics::update ( std::vector< interfaces::draw_item > * drawItems )

virtual

This is the update function that updates the position of the vertices of all draw_item structs contained in drawItems.

Implements mars::interfaces::DrawInterface.

Definition at line 823 of file WorldPhysics.cpp.

Member Data Documentation

◆ comp_body_list

std::vector<body_nbr_tupel> mars::sim::WorldPhysics::comp_body_list

private

Definition at line 123 of file WorldPhysics.h.

◆ contact_feedback_list

std::vector<dJointFeedback*> mars::sim::WorldPhysics::contact_feedback_list

private

Definition at line 126 of file WorldPhysics.h.

◆ contactgroup

dJointGroupID mars::sim::WorldPhysics::contactgroup

private

Definition at line 117 of file WorldPhysics.h.

◆ control

interfaces::ControlCenter* mars::sim::WorldPhysics::control

private

Definition at line 119 of file WorldPhysics.h.

◆ create_contacts

bool mars::sim::WorldPhysics::create_contacts

private

Definition at line 127 of file WorldPhysics.h.

◆ draw_extern

std::vector<interfaces::draw_item> mars::sim::WorldPhysics::draw_extern

private

Definition at line 125 of file WorldPhysics.h.

◆ draw_intern

std::vector<interfaces::draw_item> mars::sim::WorldPhysics::draw_intern

private

Definition at line 124 of file WorldPhysics.h.

◆ drawLock

utils::Mutex mars::sim::WorldPhysics::drawLock

private

Definition at line 113 of file WorldPhysics.h.

◆ error

PhysicsError mars::sim::WorldPhysics::error = PHYSICS_NO_ERROR

static

Definition at line 110 of file WorldPhysics.h.

◆ iMutex

utils::Mutex mars::sim::WorldPhysics::iMutex

mutable

Definition at line 108 of file WorldPhysics.h.

◆ log_contacts

bool mars::sim::WorldPhysics::log_contacts

private

Definition at line 127 of file WorldPhysics.h.

◆ num_contacts

int mars::sim::WorldPhysics::num_contacts

private

Definition at line 128 of file WorldPhysics.h.

◆ old_cfm

interfaces::sReal mars::sim::WorldPhysics::old_cfm

private

Definition at line 121 of file WorldPhysics.h.

◆ old_erp

interfaces::sReal mars::sim::WorldPhysics::old_erp

private

Definition at line 121 of file WorldPhysics.h.

◆ old_gravity

utils::Vector mars::sim::WorldPhysics::old_gravity

private

Definition at line 120 of file WorldPhysics.h.

◆ plane

dGeomID mars::sim::WorldPhysics::plane

private

Definition at line 116 of file WorldPhysics.h.

◆ ray_collision

int mars::sim::WorldPhysics::ray_collision

private

Definition at line 129 of file WorldPhysics.h.

◆ space

dSpaceID mars::sim::WorldPhysics::space

private

Definition at line 114 of file WorldPhysics.h.

◆ world

dWorldID mars::sim::WorldPhysics::world

private

Definition at line 115 of file WorldPhysics.h.

◆ world_init

bool mars::sim::WorldPhysics::world_init

private

Definition at line 118 of file WorldPhysics.h.

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

/Developer/bob-learning-dev/simulation/mars/sim/src/physics/WorldPhysics.h
/Developer/bob-learning-dev/simulation/mars/sim/src/physics/WorldPhysics.cpp

Public Member Functions

Public Attributes

Static Public Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ WorldPhysics()

◆ ~WorldPhysics()

Member Function Documentation

◆ callbackForward()

◆ checkCollisions()

◆ destroyBody()

◆ existsWorld()

◆ freeTheWorld()

◆ getCenterOfMass()

◆ getCollisionDepth()

◆ getCompositeBody()

◆ getSpace()

◆ getVectorCollision()

◆ getWorld()

◆ getWorldStep()

◆ handleCollision()

◆ initTheWorld()

◆ moveCompositeMassCenter()

◆ nearCallback()

◆ resetCompositeMass()

◆ stepTheWorld()

◆ update()

Member Data Documentation

◆ comp_body_list

◆ contact_feedback_list

◆ contactgroup

◆ control

◆ create_contacts

◆ draw_extern

◆ draw_intern

◆ drawLock

◆ error

◆ iMutex

◆ log_contacts

◆ num_contacts

◆ old_cfm

◆ old_erp

◆ old_gravity

◆ plane

◆ ray_collision

◆ space

◆ world

◆ world_init