ContactProperties.hh

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/*
 * Copyright (C) 2021 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */

#ifndef IGNITION_PHYSICS_CONTACTPROPERTIES_HH_
#define IGNITION_PHYSICS_CONTACTPROPERTIES_HH_

#include <string>
#include <vector>

#include <ignition/physics/FeatureList.hh>
#include <ignition/physics/ForwardStep.hh>
#include <ignition/physics/Geometry.hh>
#include <ignition/physics/GetContacts.hh>
#include <ignition/physics/SpecifyData.hh>

namespace ignition
{
namespace physics
{
class IGNITION_PHYSICS_VISIBLE SetContactPropertiesCallbackFeature
    : public virtual FeatureWithRequirements<ForwardStep>
{
  public: template <typename PolicyT> struct ContactSurfaceParams
  {
    std::optional<typename PolicyT::Scalar> frictionCoeff;

    std::optional<typename PolicyT::Scalar> secondaryFrictionCoeff;

    std::optional<typename PolicyT::Scalar> rollingFrictionCoeff;

    std::optional<typename PolicyT::Scalar> secondaryRollingFrictionCoeff;

    std::optional<typename PolicyT::Scalar> torsionalFrictionCoeff;

    std::optional<typename PolicyT::Scalar> slipCompliance;

    std::optional<typename PolicyT::Scalar> secondarySlipCompliance;

    std::optional<typename PolicyT::Scalar> restitutionCoeff;

    std::optional<typename FromPolicy<PolicyT>::template Use<Vector>>
      firstFrictionalDirection;

    std::optional<typename FromPolicy<PolicyT>::template Use<Vector>>
      contactSurfaceMotionVelocity;

    std::optional<typename PolicyT::Scalar> errorReductionParameter;

    std::optional<typename PolicyT::Scalar> maxErrorReductionVelocity;

    std::optional<typename PolicyT::Scalar> maxErrorAllowance;

    std::optional<typename PolicyT::Scalar> constraintForceMixing;
  };

  public: template <typename PolicyT, typename FeaturesT>
  class World : public virtual Feature::World<PolicyT, FeaturesT>
  {
    public: using ShapePtrType = typename GetContactsFromLastStepFeature
      ::World<PolicyT, FeaturesT>::ShapePtrType;

    public: typedef std::function<
        void(
          const typename GetContactsFromLastStepFeature::
            World<PolicyT, FeaturesT>::Contact& /*_contact*/,
          size_t /*_numContactsOnCollision*/,
          ContactSurfaceParams<PolicyT>& /*_surfaceParams*/)
      > SurfaceParamsCallback;

    public: void AddContactPropertiesCallback(
      const std::string &_callbackID, SurfaceParamsCallback _callback);

    public: bool RemoveContactPropertiesCallback(
      const std::string &_callbackID);
  };

  public: template <typename PolicyT>
  class Implementation : public virtual Feature::Implementation<PolicyT>
  {
    public: using ContactImpl = typename GetContactsFromLastStepFeature
      ::Implementation<PolicyT>::ContactInternal;

    public: typedef std::function<
        void(const ContactImpl&, size_t, ContactSurfaceParams<PolicyT>&)
      > SurfaceParamsCallback;

    public: virtual void AddContactPropertiesCallback(
      const Identity &_worldID,
      const std::string &_callbackID,
      SurfaceParamsCallback _callback) = 0;

    public: virtual bool RemoveContactPropertiesCallback(
      const Identity &_worldID, const std::string &_callbackID) = 0;
  };
};

}
}

#include "ignition/physics/detail/ContactProperties.hh"

#endif /* end of include guard: IGNITION_PHYSICS_CONTACTPROPERTIES_HH_ */