#include <osaODEWorld.h>

Inheritance diagram for osaODEWorld:

Public Member Functions
	osaODEWorld (double period, const vctFixedSizeVector< double, 3 > &gravity=GRAVITY)
	Create a new world. More...

	~osaODEWorld ()
	Destroy the world! More...

dWorldID	GetWorldID () const
	Return the world ID. More...

dSpaceID	GetSpaceID () const
	Return the space ID. More...

double	GetTimeStep () const

void	SetGravity (const vctFixedSizeVector< double, 3 > &g=GRAVITY)

void	SetERP (double erp)

void	SetCFM (double cfm)

void	SetContactMaxCorrectingVel (double cmcv)

void	Collision (dGeomID o1, dGeomID o2)
	Process collisions between two geometries. More...

void	Step ()
	Take a simulation step. More...

std::list< osaODEContact >	GetContacts ()
	Get a list of contacts. More...

void	SetContactERP (double erp)

void	SetContactBouncing (double cb)

void	SetContactFriction (double mu)

void	SetContactSurfaceLayer (double sl)

Public Member Functions inherited from osaOSGWorld
	osaOSGWorld ()

	~osaOSGWorld ()

Protected Attributes
double	contacterp

double	contactbounce

double	mu

double	surfacelayer

Static Protected Attributes
static const vctFixedSizeVector< double, 3 >	GRAVITY
	Default gravity. More...

Constructor & Destructor Documentation

osaODEWorld::osaODEWorld	(	double	period,
		const vctFixedSizeVector< double, 3 > &	gravity = `GRAVITY`
	)

Create a new world.

Create a new ODE world. This initializes the ODE engine and create a new world and a new top level space. It also sets simulation parameters such as error reduction parameter (ERP) and constraint force mixing (CFM)

Parameters

gravity A gravity vector. The defalt value is ${bmatrix} 0 & 0 & -9.81 {bmatrix}$.

osaODEWorld::~osaODEWorld ( )

Destroy the world!

Member Function Documentation

void osaODEWorld::Collision	(	dGeomID	o1,
		dGeomID	o2
	)

Process collisions between two geometries.

This is the main call to process collisions between geometries. This must be public since it is called from a C function.

Parameters

o1	The geometry of the first object
o2	The geometry of the second object

std::list< osaODEContact > osaODEWorld::GetContacts ( )

Get a list of contacts.

dSpaceID osaODEWorld::GetSpaceID ( ) const

inline

Return the space ID.

double osaODEWorld::GetTimeStep ( ) const

inline

dWorldID osaODEWorld::GetWorldID ( ) const

inline

Return the world ID.

void osaODEWorld::SetCFM ( double cfm )

inline

void osaODEWorld::SetContactBouncing ( double cb )

inline

void osaODEWorld::SetContactERP ( double erp )

inline

void osaODEWorld::SetContactFriction ( double mu )

inline

void osaODEWorld::SetContactMaxCorrectingVel ( double cmcv )

inline

void osaODEWorld::SetContactSurfaceLayer ( double sl )

inline

void osaODEWorld::SetERP ( double erp )

inline

void osaODEWorld::SetGravity ( const vctFixedSizeVector< double, 3 > & g = GRAVITY )

inline

void osaODEWorld::Step ( )

Take a simulation step.

Member Data Documentation

double osaODEWorld::contactbounce

protected

double osaODEWorld::contacterp

protected

const vctFixedSizeVector<double,3> osaODEWorld::GRAVITY

staticprotected

Default gravity.

double osaODEWorld::mu

protected

double osaODEWorld::surfacelayer

protected

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

/home/adeguet1/catkin_ws/src/cisst-saw/sawOpenDynamicsEngine/include/sawOpenDynamicsEngine/osaODEWorld.h

Public Member Functions

Protected Attributes

Static Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation