100 lines
2.9 KiB
C++
100 lines
2.9 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _ODEPHYSICS_PRIVATE_HH_
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#define _ODEPHYSICS_PRIVATE_HH_
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#include <map>
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#include <string>
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#include <vector>
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#include <utility>
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#include "gazebo/physics/Contact.hh"
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#include "gazebo/physics/ode/ODETypes.hh"
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namespace gazebo
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{
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namespace physics
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{
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/// \brief Data structure for contact feedbacks
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class ODEJointFeedback
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{
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public: ODEJointFeedback() : contact(NULL), count(0) {}
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/// \brief Contact information.
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public: Contact *contact;
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/// \brief Number of elements in feedbacks array.
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public: int count;
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/// \brief Contact joint feedback information.
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public: dJointFeedback feedbacks[MAX_CONTACT_JOINTS];
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};
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class ODEPhysicsPrivate
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{
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/// \brief Top-level world for all bodies
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public: dWorldID worldId;
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/// \brief Top-level space for all sub-spaces/collisions
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public: dSpaceID spaceId;
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/// \brief Collision attributes
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public: dJointGroupID contactGroup;
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/// \brief The type of the solver.
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public: std::string stepType;
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/// \brief Buffer of contact feedback information.
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public: std::vector<ODEJointFeedback*> jointFeedbacks;
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/// \brief Physics step function.
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public: int (*physicsStepFunc)(dxWorld*, dReal);
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/// \brief All the collsiion spaces.
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public: std::map<std::string, dSpaceID> spaces;
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/// \brief All the normal colliders.
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public: std::vector< std::pair<ODECollision*, ODECollision*> > colliders;
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/// \brief All the triangle mesh colliders.
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public: std::vector< std::pair<ODECollision*, ODECollision*> >
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trimeshColliders;
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/// \brief Array of contact collisions.
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public: dContactGeom contactCollisions[MAX_COLLIDE_RETURNS];
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/// \brief Indices used during creation of contact joints.
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public: int indices[MAX_CONTACT_JOINTS];
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/// \brief Current index into the contactFeedbacks buffer
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public: unsigned int jointFeedbackIndex;
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/// \brief Number of normal colliders.
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public: unsigned int collidersCount;
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/// \brief Number of triangle mesh colliders.
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public: unsigned int trimeshCollidersCount;
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/// \brief Maximum number of contact points per collision pair.
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public: unsigned int maxContacts;
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};
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}
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}
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#endif
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