BulletModel Class Reference

Public Member Functions
Construction
	BulletModel (MultiBody *const _mb, Robot *const _robot=nullptr)
	~BulletModel ()
void	Rebuild ()
Accessors
MultiBody *	GetPMPLMultiBody () const noexcept
	Get the PMPL multibody.
btMultiBody *	GetBulletMultiBody () const noexcept
	Get the bullet multibody.
Simulation Interface
Cfg	GetState () const noexcept
void	SetState (const Cfg &_c) noexcept
void	Execute (const Control &_c) noexcept
void	Execute (const ControlSet &_c) noexcept
void	ZeroVelocities () noexcept
Dynamics World Helpers
These functions handle adding and removing this model from a bullet dynamics world.
void	AddToDynamicsWorld (btMultiBodyDynamicsWorld *const _world)
void	RemoveFromDynamicsWorld ()

Detailed Description

A model of a multibody within a bullet simulation.

This structure contains all of the components which make up a bullet multibody model, as well as functions for interfacing with it from PMPL.

Todo:

This model can currently only support robots with revolute joints. Nonactuated and spherical joints don't work right. One problem is that bullet indexes the number of joints while pmpl uses the number of dof, so some of our joint loops don't line up. Another is that bullet only supports 3-dof spherical joints with no way to constrain them.

Constructor & Destructor Documentation

BulletModel()

BulletModel::BulletModel	(	MultiBody *const	_mb,
		Robot *const	_robot = nullptr
	)

Construct a bullet model of a PMPL multibody.

Parameters

_mb	The PMPL multibody.
_robot	The robot, if any. Static multibodies will not have this.

Member Function Documentation

Rebuild()

void BulletModel::Rebuild

(

)

Destroy and rebuild all internal bullet structures. This is intended for edit tools which need to update bullet models to match changes to the PMPL structures. Requires the model to already be part of a dynamics world, but must be done while the simulation isn't stepping.

GetState()

Cfg BulletModel::GetState ( ) const

noexcept

Get the current configuration of the bullet model. Does not work for static multibodies.

SetState()

void BulletModel::SetState ( const Cfg &  _c )

noexcept

Set the current configuration of the bullet model. Does not work for static multibodies.

Parameters

_c	The configuration to set.

Execute() [1/2]

void BulletModel::Execute ( const Control &  _c )

noexcept

Execute a control on the bullet model for the next time step.

Parameters

_c	The control to apply.

Execute() [2/2]

void BulletModel::Execute ( const ControlSet &  _c )

noexcept

Execute a set of controls on the bullet model for the next time step.

Parameters

_c	The controls to apply.

ZeroVelocities()

void BulletModel::ZeroVelocities ( )

noexcept

Set all velocities on the bullet model to zero. This does NOT respect the mechanics models and should only be used for initialization and debugging.

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The documentation for this class was generated from the following files:

• BulletModel.h
• BulletModel.cpp