Simulation

Classes
class	ControlledRobotSimulator
	A class containing information about an ODE-simulated and controlled robot. More...
class	ODEGeometry
	An ODE collision geometry. More...
class	ODERigidObject
	An ODE-simulated rigid object. More...
class	ODERobot
	A robot simulated in an ODE "world". More...
struct	ODESimulatorSettings
	Global simulator settings. More...
class	ODESimulator
	An interface to the ODE simulator. More...
struct	ODEObjectID
	An index that identifies some ODE object in the world. Environments, robots, robot bodies, or rigid objects are supported. More...
struct	ODEContactList
	A list of contacts between two objects, returned as feedback from the simulation. More...
struct	ODESurfaceProperties
	surface properties for any ODE rigid object, robot link, or fixed object. More...
struct	ContactFeedbackInfo
	Container for information about contacts regarding a certain object. Can be set to accumulate a summary over sub-steps or detailed data per-step. More...
class	WorldSimulationHook
	Any function that should be run per sub-step of the simulation needs to be a WorldSimulationHook subclass and added to the WorldSimulation.hooks member. More...
class	WorldSimulation
	A physical simulator for a RobotWorld. More...
class	ForceHook
	A hook that adds a constant force to a body. More...
class	LocalForceHook
	A hook that adds a constant force in world coordinates to a point on a body given in local coordinates. More...
class	WrenchHook
	A hook that adds a constant wrench (force f and moment m) to the body. More...
class	SpringHook
	A hook that acts as a Hookean spring to a given fixed target point. More...

Detailed Description

Klampt's rigid body physics simulation engine.