dynamics3d_engine.cpp File Reference

#include "dynamics3d_engine.h"
#include <argos3/core/simulator/simulator.h>
#include <argos3/core/simulator/space/space.h>
#include <argos3/core/simulator/entity/embodied_entity.h>
#include <argos3/plugins/simulator/physics_engines/dynamics3d/dynamics3d_model.h>
#include <argos3/plugins/simulator/physics_engines/dynamics3d/dynamics3d_plugin.h>
#include <argos3/plugins/simulator/physics_engines/dynamics3d/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h>
#include <algorithm>

Include dependency graph for dynamics3d_engine.cpp:

Go to the source code of this file.

Namespaces
	argos
	The namespace containing all the ARGoS related code.

Functions
	argos::REGISTER_PHYSICS_ENGINE (CDynamics3DEngine,"dynamics3d","Michael Allwright [allsey87@gmail.com]","1.0","A 3D dynamics physics engine","This physics engine is a 3D dynamics engine based on the Bullet Physics SDK\n""(https://github.com/bulletphysics/bullet3).\n\n""REQUIRED XML CONFIGURATION\n\n"" <physics_engines>\n"" ...\n"" <dynamics3d id=\"dyn3d\" />\n"" ...\n"" </physics_engines>\n\n""The 'id' attribute is necessary and must be unique among the physics engines.\n\n""OPTIONAL XML CONFIGURATION\n\n""The physics engine supports a number of plugins that add features to the\n""simulation. In the example below, a floor plane has been added which has a\n""height of 1 cm and dimensions of the floor as specified in the arena node. By\n""default, there is no gravity in simulation. This can be changed by adding a\n""gravity node with a single attribute 'g' which is the downwards acceleration\n""caused by gravity. Finally, there is a magnetism plugin. This plugin applies\n""forces and torques to bodies in the simulation whose model contains a magnet\n""equipped entity. The 'max_distance' attribute is an optional optimization\n""that sets the maximum distance at which two magnetic dipoles will interact\n""with each other. In the example, this distance has been set to 4 cm.\n\n"" <physics_engines>\n"" ...\n"" <dynamics3d id=\"dyn3d\">\n"" <floor height=\"0.01\"/>\n"" <gravity g=\"10\" />\n"" <magnetism max_distance=\"0.04\" />\n"" </dynamics3d>\n"" ...\n"" </physics_engines>\n\n","Usable")