6 #ifndef CNOID_ODEPLUGIN_ODE_SIMULATOR_ITEM_H 7 #define CNOID_ODEPLUGIN_ODE_SIMULATOR_ITEM_H 9 #include <cnoid/SimulatorItem> 10 #include <cnoid/EigenTypes> 13 #define ODESimulatorItem GazeboODESimulatorItem 18 class ODESimulatorItemImpl;
29 virtual void setAllLinkPositionOutputMode(
bool on);
31 enum StepMode { STEP_ITERATIVE, STEP_BIG_MATRIX, NUM_STEP_MODES };
33 void setStepMode(
int value);
34 void setGravity(
const Vector3& gravity);
35 void setFriction(
double friction);
36 void setJointLimitMode(
bool on);
37 void set2Dmode(
bool on);
38 void setGlobalERP(
double erp);
39 void setGlobalCFM(
double value);
40 void setNumIterations(
int n);
41 void setOverRelaxation(
double value);
42 void setCorrectingVelocityLimitMode(
bool on);
43 void setMaxCorrectingVelocity(
double vel);
44 void setSurfaceLayerDepth(
double value);
45 void useWorldCollisionDetector(
bool on);
50 virtual bool initializeSimulation(
const std::vector<SimulationBody*>& simBodies);
51 virtual void initializeSimulationThread();
52 virtual bool stepSimulation(
const std::vector<SimulationBody*>& activeSimBodies);
53 virtual void finalizeSimulation();
55 virtual Item* doDuplicate()
const;
57 virtual bool store(
Archive& archive);
58 virtual bool restore(
const Archive& archive);
61 ODESimulatorItemImpl* impl;
62 friend class ODESimulatorItemImpl;
Definition: SimulatorItem.h:80
Definition: ExtensionManager.h:26
Definition: SimulatorItem.h:32
Definition: PutPropertyFunction.h:35
Definition: Referenced.h:128
ref_ptr< ODESimulatorItem > ODESimulatorItemPtr
Definition: ODESimulatorItem.h:65
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
Definition: ODESimulatorItem.h:20
Eigen::Vector3d Vector3
Definition: EigenTypes.h:58
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
StepMode
Definition: ODESimulatorItem.h:31