gz/physics/Feature.hh

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/*
 * Copyright (C) 2017 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 GZ_PHYSICS_FEATURE_HH_
#define GZ_PHYSICS_FEATURE_HH_
 
#include <cstddef>
#include <memory>
#include <tuple>
 
#include <gz/physics/Export.hh>
#include <gz/physics/Entity.hh>
 
namespace gz
{
  namespace physics
  {
    class Feature
    {
      public: template <typename Policy, typename FeaturesT>
      class Engine : public virtual Entity<Policy, FeaturesT>
      {
        public: virtual ~Engine() = default;
      };
 
      public: template <typename Policy, typename FeaturesT>
      class World : public virtual Entity<Policy, FeaturesT>
      {
        public: virtual ~World() = default;
      };
 
      public: template <typename Policy, typename FeaturesT>
      class Model : public virtual Entity<Policy, FeaturesT>
      {
        public: virtual ~Model() = default;
      };
 
      public: template <typename Policy, typename FeaturesT>
      class Link : public virtual Entity<Policy, FeaturesT>
      {
        public: virtual ~Link() = default;
      };
 
      public: template <typename Policy, typename FeaturesT>
      class Joint : public virtual Entity<Policy, FeaturesT>
      {
        public: virtual ~Joint() = default;
      };
 
      public: template <typename Policy, typename FeaturesT>
      class Shape : public virtual Entity<Policy, FeaturesT>
      {
        public: virtual ~Shape() = default;
      };
 
      public: template <typename Policy>
      class Implementation : public detail::Implementation
      {
        public: virtual Identity InitiateEngine(std::size_t engineID = 0) = 0;
 
        public: virtual ~Implementation() = default;
      };
 
      template <typename SomeFeatureList, bool /*AssertNoConflict*/ = false>
      static constexpr bool ConflictsWith()
      {
        return false;
      }
 
      using RequiredFeatures = void;
    };
  }
}
 
#endif