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| PhysicsEngineBase (EnvironmentBasePtr penv) |
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virtual | ~PhysicsEngineBase () |
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virtual bool | SetPhysicsOptions (int physicsoptions)=0 |
| Set basic physics engine using the PhysicsEngineOptions enum.
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virtual int | GetPhysicsOptions () const =0 |
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virtual bool | SetPhysicsOptions (std::ostream &sout, std::istream &sinput) RAVE_DEPRECATED=0 |
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virtual bool | InitEnvironment ()=0 |
| called when environment sets this physics engine, engine assumes responsibility for KinBody::_pPhysicsData
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virtual void | DestroyEnvironment ()=0 |
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virtual bool | InitKinBody (KinBodyPtr body)=0 |
| notified when a new body has been initialized in the environment. Return
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virtual void | RemoveKinBody (KinBodyPtr body)=0 |
| notified when a body has been removed from the environment.
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virtual bool | SetLinkVelocity (KinBody::LinkPtr link, const Vector &linearvel, const Vector &angularvel)=0 |
| Force the body velocity of a link, velocities correspond to the link's coordinate system origin.
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virtual bool | SetLinkVelocities (KinBodyPtr body, const std::vector< std::pair< Vector, Vector > > &velocities)=0 |
| Sets the velocities for each link, velocities correspond to the link's coordinate system origin.
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virtual bool | GetLinkVelocity (KinBody::LinkConstPtr link, Vector &linearvel, Vector &angularvel)=0 |
| Gets the velocity of a link, velocities correspond to the link's coordinate system origin.
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virtual bool | GetLinkVelocities (KinBodyConstPtr body, std::vector< std::pair< Vector, Vector > > &velocities)=0 |
| Sets the velocities for each link, velocities correspond to the link's coordinate system origin.
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virtual bool | SetBodyForce (KinBody::LinkPtr link, const Vector &force, const Vector &position, bool bAdd) OPENRAVE_DUMMY_IMPLEMENTATION |
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virtual bool | SetBodyTorque (KinBody::LinkPtr link, const Vector &torque, bool bAdd) OPENRAVE_DUMMY_IMPLEMENTATION |
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virtual bool | AddJointTorque (KinBody::JointPtr pjoint, const std::vector< dReal > &pTorques) OPENRAVE_DUMMY_IMPLEMENTATION |
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virtual bool | GetLinkForceTorque (KinBody::LinkConstPtr link, Vector &force, Vector &torque) OPENRAVE_DUMMY_IMPLEMENTATION |
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virtual void | SetGravity (const Vector &gravity) OPENRAVE_DUMMY_IMPLEMENTATION |
| set the gravity direction
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virtual Vector | GetGravity () OPENRAVE_DUMMY_IMPLEMENTATION |
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virtual void | SimulateStep (dReal fTimeElapsed)=0 |
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virtual bool | GetBodyVelocity (KinBodyConstPtr body, std::vector< Vector > &vLinearVelocities, std::vector< Vector > &vAngularVelocities) RAVE_DEPRECATED |
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virtual bool | SetBodyVelocity (KinBodyPtr body, const std::vector< Vector > &vLinearVelocities, const std::vector< Vector > &vAngularVelocities) RAVE_DEPRECATED |
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| InterfaceBase (InterfaceType type, EnvironmentBasePtr penv) |
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virtual | ~InterfaceBase () |
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InterfaceType | GetInterfaceType () const |
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const std::string & | GetXMLId () const |
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const std::string & | GetPluginName () const |
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EnvironmentBasePtr | GetEnv () const |
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const READERSMAP & | GetReadableInterfaces () const |
| Returns the raw map reference, this is not multithread safe and the GetInterfaceMutex should be locked before using.
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virtual XMLReadablePtr | GetReadableInterface (const std::string &xmltag) const |
| Returns the readable interface. [multi-thread safe]
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virtual XMLReadablePtr | SetReadableInterface (const std::string &xmltag, XMLReadablePtr readable) |
| Set a new readable interface and return the previously set interface if it exists. [multi-thread safe]
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virtual const std::string & | GetDescription () const |
| Documentation of the interface in reStructuredText format. See Documenting Interfaces. [multi-thread safe]
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virtual void | SetDescription (const std::string &description) |
| sets a description [multi-thread safe]
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virtual void | SetUserData (const std::string &key, UserDataPtr data) const |
| set user data for a specific key. [multi-thread safe]
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virtual UserDataPtr | GetUserData (const std::string &key=std::string()) const |
| return the user custom data [multi-thread safe]
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virtual bool | RemoveUserData (const std::string &key) const |
| removes a user data pointer. if user data pointer does not exist, then return 0, otherwise 1. [multi-thread safe]
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virtual void | SetUserData (UserDataPtr data) RAVE_DEPRECATED |
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virtual const std::string & | GetURI () const |
| the URI used to load the interface (sometimes this is not possible if the definition lies inside an environment file). [multi-thread safe]
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virtual const std::string & | GetXMLFilename () const |
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virtual void | Clone (InterfaceBaseConstPtr preference, int cloningoptions) |
| Clone the contents of an interface to the current interface.
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virtual bool | SendCommand (std::ostream &os, std::istream &is) |
| Used to send special commands to the interface and receive output.
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virtual void | Serialize (BaseXMLWriterPtr writer, int options=0) const |
| serializes the interface
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[interface] The physics engine interfaces supporting simulations and dynamics. See Physics Engine Concepts.
physicsengine.h の 36 行で定義されています。