#include <ODE_World.h>
Classes | |
struct | LinkPair |
Public Types | |
typedef std::vector< LinkPair > | LinkPairArray |
Public Member Functions | |
void | addBody (OpenHRP::BodyInfo_ptr body, const char *name) |
add body to this world | |
void | addCollisionPair (OpenHRP::LinkPair &linkPair) |
void | calcNextState (OpenHRP::CollisionSequence &corbaCollisionSequence) |
compute forward dynamics and update current state | |
void | clearExternalForces () |
void | getGravityAcceleration (dVector3 &gravity) |
get gravity acceleration | |
dJointGroupID | getJointGroupID () |
dSpaceID | getSpaceID () |
dWorldID | getWorldID () |
void | initialize () |
initialize this world. This must be called after all bodies are registered. | |
ODE_World () | |
void | setGravityAcceleration (const dVector3 &gravity) |
set gravity acceleration | |
void | useInternalCollisionDetector (bool use) |
~ODE_World () | |
Public Attributes | |
OpenHRP::CollisionSequence | collisions |
LinkPairArray | linkPairs |
Private Member Functions | |
void | updateSensors () |
Private Attributes | |
dJointGroupID | contactgroupId |
dSpaceID | spaceId |
bool | useInternalCollisionDetector_ |
dWorldID | worldId |
Definition at line 68 of file ODE_World.h.
typedef std::vector<LinkPair> ODE_World::LinkPairArray |
Definition at line 122 of file ODE_World.h.
Definition at line 15 of file ODE_World.cpp.
Definition at line 32 of file ODE_World.cpp.
void ODE_World::addBody | ( | OpenHRP::BodyInfo_ptr | body, |
const char * | name | ||
) |
add body to this world
body |
Definition at line 55 of file ODE_World.cpp.
void ODE_World::addCollisionPair | ( | OpenHRP::LinkPair & | linkPair | ) |
Definition at line 64 of file ODE_World.cpp.
void ODE_World::calcNextState | ( | OpenHRP::CollisionSequence & | corbaCollisionSequence | ) |
compute forward dynamics and update current state
Definition at line 104 of file ODE_World.cpp.
Definition at line 193 of file ODE_World.cpp.
void ODE_World::getGravityAcceleration | ( | dVector3 & | gravity | ) |
dJointGroupID ODE_World::getJointGroupID | ( | ) | [inline] |
Definition at line 114 of file ODE_World.h.
dSpaceID ODE_World::getSpaceID | ( | ) | [inline] |
Definition at line 113 of file ODE_World.h.
dWorldID ODE_World::getWorldID | ( | ) | [inline] |
Definition at line 112 of file ODE_World.h.
void ODE_World::initialize | ( | void | ) | [virtual] |
initialize this world. This must be called after all bodies are registered.
Reimplemented from hrp::WorldBase.
Definition at line 173 of file ODE_World.cpp.
void ODE_World::setGravityAcceleration | ( | const dVector3 & | gravity | ) |
set gravity acceleration
g | gravity acceleration[m/s^2] |
Definition at line 45 of file ODE_World.cpp.
void ODE_World::updateSensors | ( | ) | [private] |
Definition at line 197 of file ODE_World.cpp.
void ODE_World::useInternalCollisionDetector | ( | bool | use | ) | [inline] |
Definition at line 106 of file ODE_World.h.
OpenHRP::CollisionSequence ODE_World::collisions |
Definition at line 116 of file ODE_World.h.
dJointGroupID ODE_World::contactgroupId [private] |
Definition at line 128 of file ODE_World.h.
Definition at line 123 of file ODE_World.h.
dSpaceID ODE_World::spaceId [private] |
Definition at line 127 of file ODE_World.h.
bool ODE_World::useInternalCollisionDetector_ [private] |
Definition at line 130 of file ODE_World.h.
dWorldID ODE_World::worldId [private] |
Definition at line 126 of file ODE_World.h.