PhyicsManager handles the physics and motion calculation, it uses Computations to separate the algorithmic steps into smaller pieces. More...

#include <PhysicsManager.h>

Inheritance diagram for SurgSim::Physics::PhysicsManager:

Public Member Functions
	PhysicsManager ()
	Constructor.

int	getType () const override
	Overrides ComponentManager::getType()

void	getFinalState (SurgSim::Physics::PhysicsManagerState *s) const
	Get the last PhysicsManagerState from the previous PhysicsManager update. More...

void	addComputation (std::shared_ptr< SurgSim::Physics::Computation > computation)
	Add a computation to the list of computations to perform each update. More...

void	setComputations (std::vector< std::shared_ptr< Physics::Computation >> computations)
	Set a group of computations, the computations will be run in the order in the vector. More...

Public Member Functions inherited from SurgSim::Framework::ComponentManager
	ComponentManager (const std::string &name="Unknown Component Manager")

bool	enqueueAddComponent (const std::shared_ptr< Component > &component)
	Queues a component to be added later. More...

bool	enqueueRemoveComponent (const std::shared_ptr< Component > &component)
	Queues a component to be removed. More...

std::shared_ptr< Runtime >	getRuntime () const

void	setRuntime (std::shared_ptr< Runtime > val)

Public Member Functions inherited from SurgSim::Framework::BasicThread
	BasicThread (const std::string &name="Unknown Thread")

virtual	~BasicThread () noexcept(false)
	C++11 introduced noexcept.

void	start (std::shared_ptr< Barrier > startupBarrier=nullptr, bool isSynchronous=false)
	Live cycle functions, public implementation. More...

void	stop ()
	Stopping the execution, blocks until the running thread has actually stopped,. More...

void	setIdle (bool isIdle)
	Set/Unset the thread in an idle state (doUpdate() called or not in the update() method) More...

bool	isIdle ()
	Query if this thread is in idle state or not. More...

bool	isInitialized ()
	Query if this object is initialized. More...

bool	isRunning () const
	Query if this object is running. More...

void	operator() ()
	This is what boost::thread executes on thread creation.

boost::thread &	getThread ()

std::string	getName () const

void	setRate (double val)
	Set the update rate of the thread. More...

bool	setSynchronous (bool val)
	Sets the thread to synchronized execution in concert with the startup barrier, the startup barrier has to exist for this call to succeed. More...

bool	isSynchronous ()
	Query if this object is synchronized. More...

double	getCpuTime () const

size_t	getUpdateCount () const

void	resetCpuTimeAndUpdateCount ()
	Reset the cpu time and the update count to 0.

bool	ignoresExceptions () const

void	setIgnoreExceptions (bool val)

Protected Member Functions
bool	executeAdditions (const std::shared_ptr< SurgSim::Framework::Component > &component) override
	Adds a component. More...

bool	executeRemovals (const std::shared_ptr< SurgSim::Framework::Component > &component) override
	Handle representations, override for each thread. More...

bool	doInitialize () override
	Initialize the Physics Manager Derived class(es) should override this method to have a customized list of computations. More...

bool	doStartUp () override

bool	doUpdate (double dt) override
	Implementation of actual work function for this thread, this has a default implementation to handle destruction better, as it could be called while the thread is under destruction, if left unimplemented this would trigger a call to a pure virtual function. More...

void	doBeforeStop () override
	Prepares the thread for its execution to be stopped. More...

Protected Member Functions inherited from SurgSim::Framework::ComponentManager
template<class T >
std::shared_ptr< T >	tryAddComponent (std::shared_ptr< SurgSim::Framework::Component > component, std::vector< std::shared_ptr< T >> *container)
	Template version of the addComponent method. More...

template<class T >
bool	tryRemoveComponent (std::shared_ptr< SurgSim::Framework::Component > component, std::vector< std::shared_ptr< T >> *container)
	Template version of the removeComponent method. More...

void	processComponents ()
	Processes all the components that are scheduled for addition or removal, this needs to be called inside the doUpdate() function. More...

void	processBehaviors (const double dt)
	Processes behaviors This needs to be called inside doUpdate() function in each 'sub' manager. More...

void	copyScheduledComponents (std::vector< std::shared_ptr< Component >> inflightAdditions, std::vector< std::shared_ptr< Component >> inflightRemovals, std::vector< std::shared_ptr< SceneElement >> *inflightElements)
	Helper, blocks access to the additions and removal queue and copies the components from there to the intermediate inflight queues, after this call, the incoming queues will be empty. More...

std::shared_ptr< SurgSim::Framework::Logger >	getLogger () const
	Returns this manager's logger.

template<class T >
void	retireComponents (const std::vector< std::shared_ptr< T >> &container)

Protected Member Functions inherited from SurgSim::Framework::BasicThread
bool	initialize ()
	Trigger the initialization of this object, this will be called before all other threads doStartup() are called. More...

bool	startUp ()
	Trigger the startup of this object, this will be called after all other threads doInit() was called the thread will only enter the run loop triggering upated() if all threads doInit() and doStartup() returned true. More...

bool	waitForBarrier (bool success)

Protected Attributes
std::vector< std::shared_ptr< Representation > >	m_representations

std::vector< std::shared_ptr< Collision::Representation > >	m_collisionRepresentations

std::vector< std::shared_ptr< Collision::ContactFilter > >	m_contactFilters

std::vector< std::shared_ptr< Particles::Representation > >	m_particleRepresentations

std::vector< std::shared_ptr< ConstraintComponent > >	m_constraintComponents

std::vector< std::shared_ptr< SurgSim::Physics::Computation > >	m_computations
	A list of computations, to perform the physics update.

SurgSim::Framework::LockedContainer< SurgSim::Physics::PhysicsManagerState >	m_finalState
	A thread-safe copy of the last PhysicsManagerState in the previous update.

Protected Attributes inherited from SurgSim::Framework::ComponentManager
boost::mutex	m_componentMutex
	Blocks protects addition and removal queues.

std::vector< std::shared_ptr< SurgSim::Framework::Behavior > >	m_behaviors
	Collection of behaviors.

std::vector< std::shared_ptr< Component > >	m_componentAdditions

std::vector< std::shared_ptr< Component > >	m_componentRemovals

std::vector< std::shared_ptr< SceneElement > >	m_elementCache

Protected Attributes inherited from SurgSim::Framework::BasicThread
Timer	m_timer
	Timer to measure the actual time taken to doUpdate.

std::shared_ptr< SurgSim::Framework::Logger >	m_logger
	Logger for this thread.

Friends
class	PhysicsManagerTest

Detailed Description

PhyicsManager handles the physics and motion calculation, it uses Computations to separate the algorithmic steps into smaller pieces.

The PhysicsManager pipeline can be configured, using the addComputation/setComputaton method.

Member Function Documentation

§ addComputation()

void SurgSim::Physics::PhysicsManager::addComputation ( std::shared_ptr< SurgSim::Physics::Computation > computation )

Add a computation to the list of computations to perform each update.

Note: The computations will be run in order they were added. This can't be done after initialization

Parameters

computation The Computation to add.

§ doBeforeStop()

void SurgSim::Physics::PhysicsManager::doBeforeStop ( )

overrideprotectedvirtual

Prepares the thread for its execution to be stopped.

Note: Called from this thread before joined

Reimplemented from SurgSim::Framework::ComponentManager.

§ doInitialize()

bool SurgSim::Physics::PhysicsManager::doInitialize ( )

overrideprotectedvirtual

Initialize the Physics Manager Derived class(es) should override this method to have a customized list of computations.

Note: Current default is to only use DCD contacts

See also: SurgSim::Physics::Computation

Implements SurgSim::Framework::BasicThread.

Reimplemented in SurgSim::Testing::MockPhysicsManager.

§ doUpdate()

bool SurgSim::Physics::PhysicsManager::doUpdate ( double dt )

overrideprotectedvirtual

Implementation of actual work function for this thread, this has a default implementation to handle destruction better, as it could be called while the thread is under destruction, if left unimplemented this would trigger a call to a pure virtual function.

Returns: false when the thread is done, this will stop execution

Reimplemented from SurgSim::Framework::BasicThread.

Reimplemented in SurgSim::Testing::MockPhysicsManager.

§ executeAdditions()

bool SurgSim::Physics::PhysicsManager::executeAdditions ( const std::shared_ptr< SurgSim::Framework::Component > & component )

overrideprotectedvirtual

Adds a component.

Parameters

component The component to be added.

Returns: true if the component was scheduled for addition, this does not indicate that the component will actually be added to this manager.

Implements SurgSim::Framework::ComponentManager.

Reimplemented in SurgSim::Testing::MockPhysicsManager.

§ executeRemovals()

bool SurgSim::Physics::PhysicsManager::executeRemovals ( const std::shared_ptr< SurgSim::Framework::Component > & component )

overrideprotectedvirtual

Handle representations, override for each thread.

Parameters

component The component to be removed.

Returns: true if the component was scheduled for removal, this does not indicate that the component will actually be removed from this manager.

Implements SurgSim::Framework::ComponentManager.

Reimplemented in SurgSim::Testing::MockPhysicsManager.

§ getFinalState()

void SurgSim::Physics::PhysicsManager::getFinalState ( SurgSim::Physics::PhysicsManagerState * s ) const

Get the last PhysicsManagerState from the previous PhysicsManager update.

Parameters

[out] s pointer to an allocated PhysicsManagerState object.

Warning: The state contains many pointers. The objects pointed to are not thread-safe.

§ setComputations()

void SurgSim::Physics::PhysicsManager::setComputations ( std::vector< std::shared_ptr< Physics::Computation >> computations )

Set a group of computations, the computations will be run in the order in the vector.

Note: this can't be done after initialization

Parameters

computations The computations that you want to set on the physics manager

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

SurgSim/Physics/PhysicsManager.h
SurgSim/Physics/PhysicsManager.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Function Documentation

§ addComputation()

§ doBeforeStop()

§ doInitialize()

§ doUpdate()

§ executeAdditions()

§ executeRemovals()

§ getFinalState()

§ setComputations()