16 #ifndef SURGSIM_PHYSICS_PHYSICSMANAGER_H 17 #define SURGSIM_PHYSICS_PHYSICSMANAGER_H 19 #include <boost/thread/mutex.hpp> 68 int getType()
const override;
70 friend class PhysicsManagerTest;
80 void addComputation(std::shared_ptr<SurgSim::Physics::Computation> computation);
85 void setComputations(std::vector<std::shared_ptr<Physics::Computation>> computations);
88 bool executeAdditions(
const std::shared_ptr<SurgSim::Framework::Component>& component)
override;
90 bool executeRemovals(
const std::shared_ptr<SurgSim::Framework::Component>& component)
override;
96 bool doInitialize()
override;
98 bool doStartUp()
override;
100 bool doUpdate(
double dt)
override;
102 void doBeforeStop()
override;
124 std::vector<std::shared_ptr<Physics::Computation>>
createDcdPipeline(
bool copyState =
false);
128 std::vector<std::shared_ptr<Physics::Computation>>
createCcdPipeline(
bool copyState =
false);
Definition: CompoundShapeToGraphics.cpp:29
std::vector< std::shared_ptr< Particles::Representation > > m_particleRepresentations
Definition: PhysicsManager.h:110
PhyicsManager handles the physics and motion calculation, it uses Computations to separate the algori...
Definition: PhysicsManager.h:59
Base Component Manager class.
Definition: ComponentManager.h:49
DataStructures::Vertices< ParticleData > Particles
Definition: Particles.h:53
std::vector< std::shared_ptr< Physics::Computation > > createDcdPipeline(bool copyState)
Creates default DCD pipeline, this currently does basic DCD without regard to CCD.
Definition: PhysicsManager.cpp:174
std::vector< std::shared_ptr< Collision::ContactFilter > > m_contactFilters
Definition: PhysicsManager.h:108
std::vector< std::shared_ptr< Representation > > m_representations
Definition: PhysicsManager.h:104
Definition: PhysicsManagerState.h:48
std::vector< std::shared_ptr< Physics::Computation > > createCcdPipeline(bool copyState)
Create default CCD pipeline, this currently does basic CCD without regard to DCD. ...
Definition: PhysicsManager.cpp:196
std::vector< std::shared_ptr< SurgSim::Physics::Computation > > m_computations
A list of computations, to perform the physics update.
Definition: PhysicsManager.h:116
SurgSim::Framework::LockedContainer< SurgSim::Physics::PhysicsManagerState > m_finalState
A thread-safe copy of the last PhysicsManagerState in the previous update.
Definition: PhysicsManager.h:119
std::vector< std::shared_ptr< Collision::Representation > > m_collisionRepresentations
Definition: PhysicsManager.h:106
std::vector< std::shared_ptr< ConstraintComponent > > m_constraintComponents
Definition: PhysicsManager.h:112