esp::physics namespace

Classes

template<class T>

class AbstractManagedPhysicsObject

Base class template for wrapper for physics objects of all kinds to enable Managed Container access.

template<class T>

class AbstractManagedRigidBase

Class template describing wrapper for RigidBase constructions. Provides bindings for all RigidBase functionality.

class ArticulatedLink

A single rigid link in a kinematic chain. Abstract class. Feature attaches to a SceneNode.

class ArticulatedObject

An articulated rigid object (i.e. kinematic chain). Abstract class to be derived by physics simulator specific implementations.

class ArticulatedObjectManager

Class template defining responsibilities and functionality shared for managing all esp::physics::ManagedArticulatedObject wrappers.

class BulletArticulatedLink

class BulletArticulatedObject

class BulletBase

This class is intended to implement bullet-specific.

class BulletCollisionHelper

class BulletPhysicsManager

Dynamic stage and object manager interfacing with Bullet physics engine: https://github.com/bulletphysics/bullet3.

class BulletRigidObject

An individual rigid object instance implementing an interface with Bullet physics to enable dynamic objects. See btRigidBody.

class BulletRigidStage

An individual rigid stage instance implementing an interface with Bullet physics to enable dynamics. See btCollisionObject.

class BulletURDFImporter

Derived importer class for loading URDF into Bullet physics.

struct childParentIndex

struct to encapsulate mapping between child and parent links ids.

class CollisionGroupHelper

A convenience class with all static functions providing an interface for customizing collision masking behavior for simulated objects.

struct ContactPointData

based on Bullet b3ContactPointData

struct JointLimitConstraintInfo

Structure to hold joint limit constraint info during construction.

struct JointMotor

A general wrapper class for JointMotor (e.g. PD control) implementation.

struct JointMotorSettings

Stores JointMotor (i.e. per-DoF PD control) parameters for creation and updates.

class ManagedArticulatedObject

Class describing wrapper for ArticulatedObject constructions. Provides bindings for all ArticulatedObject-specific functionality.

class ManagedBulletArticulatedObject

Class describing wrapper for dynamic ArticulatedObject constructions using the Bullet library. Provides bindings for all ArticulatedObject-specific functionality.

class ManagedBulletRigidObject

Class describing wrapper for RigidObject constructions. Provides bindings for all RigidObject-specific functionality.

class ManagedRigidObject

Class describing wrapper for RigidObject constructions. Provides bindings for all RigidObject-specific functionality.

class PhysicsManager

Kinematic and dynamic scene and object manager. Responsible for tracking, updating, and synchronizing the state of the physical world and all non-static geometry in the scene as well as interfacing with specific physical simulation implementations.

class PhysicsObjectBase

template<class T>

class PhysicsObjectBaseManager

Class template defining responsibilities and functionality for managineg object wrappers specializing esp::physics::AbstractManagedPhysicsObject template.

struct RaycastResults

Holds information about all ray hit instances from a ray cast.

struct RayHitInfo

Holds information about one ray hit instance.

class RigidBase

This class specifies the functionality expected of rigid objects and stages, particularly with regard to dynamic simulation, if such a library, such as bullet, is available.

struct RigidConstraintSettings

Stores rigid constraint parameters for creation and updates.

class RigidObject

A RigidBase representing an individual rigid object instance attached to a SceneNode, updating its state through simulation. This may be a esp::physics::MotionType::STATIC scene collision geometry or an object of any MotionType which can interact with other members of a physical world. Must have a collision mesh. By default, a RigidObject is MotionType::KINEMATIC without an underlying simulator implementation. Derived classes can be used to introduce specific implementations of dynamics.

class RigidObjectManager

Class template defining responsibilities and functionality shared for managing all esp::physics::ManagedRigidObject wrappers.

class RigidStage

A RigidBase representing an individual rigid stage instance attached to a SceneNode. This construction currently may only be esp::physics::MotionType::STATIC.

struct SimulationContactResultCallback

Implements Bullet physics btCollisionWorld::ContactResultCallback interface.

class URDFImporter

Virtual base class for loading URDF into various simulator implementations.

struct URDFToBulletCached

Structure to hold construction time multi-body data.

struct VelocityControl

Convenience struct for applying constant velocity control to a rigid body.

Enums

enum class JointType: int { Revolute = 0, Prismatic = 1, Spherical = 2, Planar = 3, Fixed = 4, Invalid }

enum class JointMotorType { SingleDof, Spherical }

describes the type of a motor for generality.

enum class CollisionGroup: unsigned int { Default = 1, Static = 1 << 1, Kinematic = 1 << 2, Dynamic = 1 << 3, Robot = 1 << 4, Noncollidable = 1 << 5, UserGroup0 = 1 << 6, UserGroup1 = 1 << 7, UserGroup2 = 1 << 8, UserGroup3 = 1 << 9, UserGroup4 = 1 << 10, UserGroup5 = 1 << 11, UserGroup6 = 1 << 12, UserGroup7 = 1 << 13, UserGroup8 = 1 << 14, UserGroup9 = 1 << 15 }

Defined available collision groups with bitwise integer correspondance for use in collision filtering masks.

enum class RigidConstraintType { PointToPoint, Fixed }

describes the type of a rigid constraint.

enum class MotionType { UNDEFINED = -1, STATIC, KINEMATIC, DYNAMIC }

Motion type of a esp::physics::RigidObject. Defines its treatment by the simulator and operations which can be performed on it.

enum ConvertURDFFlags { CUF_USE_SDF = 1, CUF_USE_URDF_INERTIA = 2, CUF_USE_MJCF = 4, CUF_USE_SELF_COLLISION = 8, CUF_USE_SELF_COLLISION_EXCLUDE_PARENT = 16, CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS = 32, CUF_RESERVED = 64, CUF_USE_IMPLICIT_CYLINDER = 128, CUF_GLOBAL_VELOCITIES_MB = 256, CUF_MJCF_COLORS_FROM_FILE = 512, CUF_ENABLE_CACHED_GRAPHICS_SHAPES = 1024, CUF_ENABLE_SLEEPING = 2048, CUF_INITIALIZE_SAT_FEATURES = 4096, CUF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192, CUF_PARSE_SENSORS = 16384, CUF_USE_MATERIAL_COLORS_FROM_MTL = 32768, CUF_USE_MATERIAL_TRANSPARENCY_FROM_MTL = 65536, CUF_MAINTAIN_LINK_ORDER = 131072 }

Typedefs

using CollisionGroups = Corrade::Containers::EnumSet<CollisionGroup>

Functions

void initPhysicsBindings(pybind11::module& m)

Specify bindings for esp::physics::VelocityControl , esp::physics::JointMotorSettings , esp::physics::RigidConstraintSettings , esp::physics::RayHitInfo , esp::physics::RaycastResults , esp::physics::ContactPointData , and esp::physics::CollisionGroupHelper.

void initPhysicsObjectBindings(pybind11::module& m)

Specify bindings for the various esp::physics wrapper objects.

void initPhysicsWrapperManagerBindings(pybind11::module& m)

Specify bindings for the various esp::physics wrapper object managers.

auto espLoggingSubsystem() -> logging::Subsystem

void processContactParameters(const metadata::URDF::LinkContactInfo& contactInfo, btCollisionObject* col)

Enum documentation

Typedef documentation

Function documentation