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 GZ_PHYSICS_CONTACTPROPERTIES_HH_
#define GZ_PHYSICS_CONTACTPROPERTIES_HH_
 
#include <string>
#include <vector>
 
#include <gz/physics/FeatureList.hh>
#include <gz/physics/ForwardStep.hh>
#include <gz/physics/Geometry.hh>
#include <gz/physics/GetContacts.hh>
#include <gz/physics/SpecifyData.hh>
 
namespace gz
{
namespace physics
{
class GZ_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 "gz/physics/detail/ContactProperties.hh"
 
#endif /* end of include guard: GZ_PHYSICS_CONTACTPROPERTIES_HH_ */