Package org.robwork.sdurwsim

Class PhysicsEngine

java.lang.Object

org.robwork.sdurwsim.PhysicsEngine

Direct Known Subclasses:

ODESimulator

public class PhysicsEngine
extends java.lang.Object

Constructor Summary

Constructors

Constructor	Description
PhysicsEngine(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	addBody(BodyPtr body, State state)
void	addController(SimulatedControllerPtr controller)
void	addDevice(DynamicDevicePtr dev, State state)
void	addSensor(SimulatedSensorPtr sensor, State state)
void	attach(BodyPtr b1, BodyPtr b2)
void	delete()
void	detach(BodyPtr b1, BodyPtr b2)
void	emitPropertyChanged()
void	exitPhysics()
static long	getCPtr(PhysicsEngine obj)
PropertyMap	getPropertyMap()
SWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedSensor_t_t	getSensors()
double	getTime()
void	initPhysics(State state)
void	load(DynamicWorkCellPtr dwc)
void	removeController(SimulatedControllerPtr controller)
void	removeSensor(SimulatedSensorPtr sensor)
void	resetScene(State state)
boolean	setContactDetector(ContactDetectorPtr detector)
void	setDynamicsEnabled(BodyPtr body, boolean enabled)
void	setEnabled(BodyPtr body, boolean enabled)
void	step(double dt, State state)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

PhysicsEngine

public PhysicsEngine(long cPtr,
                     boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(PhysicsEngine obj)

delete

public void delete()

load

public void load(DynamicWorkCellPtr dwc)

setContactDetector

public boolean setContactDetector(ContactDetectorPtr detector)

step

public void step(double dt,
                 State state)

resetScene

public void resetScene(State state)

initPhysics

public void initPhysics(State state)

exitPhysics

public void exitPhysics()

getTime

public double getTime()

setEnabled

public void setEnabled(BodyPtr body,
                       boolean enabled)

setDynamicsEnabled

public void setDynamicsEnabled(BodyPtr body,
                               boolean enabled)

getPropertyMap

public PropertyMap getPropertyMap()

emitPropertyChanged

public void emitPropertyChanged()

addController

public void addController(SimulatedControllerPtr controller)

removeController

public void removeController(SimulatedControllerPtr controller)

addBody

public void addBody(BodyPtr body,
                    State state)

addDevice

public void addDevice(DynamicDevicePtr dev,
                      State state)

addSensor

public void addSensor(SimulatedSensorPtr sensor,
                      State state)

removeSensor

public void removeSensor(SimulatedSensorPtr sensor)

attach

public void attach(BodyPtr b1,
                   BodyPtr b2)

detach

public void detach(BodyPtr b1,
                   BodyPtr b2)

getSensors

public SWIGTYPE_p_std__vectorT_rw__core__PtrT_rwlibs__simulation__SimulatedSensor_t_t getSensors()