World.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_WORLD_HH_
#define GZ_PHYSICS_WORLD_HH_
 
#include <cstddef>
#include <string>
 
#include <gz/physics/FeatureList.hh>
#include <gz/physics/FrameSemantics.hh>
 
namespace gz
{
  namespace physics
  {
    class GZ_PHYSICS_VISIBLE CollisionDetector : public virtual Feature
    {
      public: template <typename PolicyT, typename FeaturesT>
      class World : public virtual Feature::World<PolicyT, FeaturesT>
      {
        public: void SetCollisionDetector(
            const std::string &_collisionDetector);
 
        public: const std::string &GetCollisionDetector() const;
      };
 
      public: template <typename PolicyT>
      class Implementation : public virtual Feature::Implementation<PolicyT>
      {
        public: virtual void SetWorldCollisionDetector(
            const Identity &_id, const std::string &_collisionDetector) = 0;
 
        public: virtual const std::string &GetWorldCollisionDetector(
            const Identity &_id) const = 0;
      };
    };
 
    using GravityRequiredFeatures = FeatureList<FrameSemantics>;
 
    class GZ_PHYSICS_VISIBLE Gravity
        : public virtual
          FeatureWithRequirements<GravityRequiredFeatures>
    {
      public: template <typename PolicyT, typename FeaturesT>
      class World : public virtual Feature::World<PolicyT, FeaturesT>
      {
        public: using LinearVectorType =
            typename FromPolicy<PolicyT>::template Use<LinearVector>;
 
        public: using RelativeForceType =
            typename FromPolicy<PolicyT>::template Use<RelativeForce>;
 
        public: void SetGravity(const RelativeForceType &_gravity);
 
        public: void SetGravity(
            const LinearVectorType &_gravity,
            const FrameID &_forceInCoordinatesOf = FrameID::World());
 
        public: LinearVectorType GetGravity(
            const FrameID &_forceInCoordinatesOf = FrameID::World()) const;
      };
 
      public: template <typename PolicyT>
      class Implementation : public virtual Feature::Implementation<PolicyT>
      {
        public: using LinearVectorType =
            typename FromPolicy<PolicyT>::template Use<LinearVector>;
 
        public: virtual void SetWorldGravity(
            const Identity &_id, const LinearVectorType &_gravity) = 0;
 
        public: virtual LinearVectorType GetWorldGravity(
            const Identity &_id) const = 0;
      };
    };
 
    class GZ_PHYSICS_VISIBLE CollisionPairMaxContacts:
        public virtual Feature
    {
      public: template <typename PolicyT, typename FeaturesT>
      class World : public virtual Feature::World<PolicyT, FeaturesT>
      {
        public: void SetCollisionPairMaxContacts(std::size_t _maxContacts);
 
        public: std::size_t GetCollisionPairMaxContacts() const;
      };
 
      public: template <typename PolicyT>
      class Implementation : public virtual Feature::Implementation<PolicyT>
      {
        public: virtual void SetWorldCollisionPairMaxContacts(
            const Identity &_id, std::size_t _maxContacts) = 0;
 
        public: virtual std::size_t GetWorldCollisionPairMaxContacts(
            const Identity &_id) const = 0;
      };
    };
 
    class GZ_PHYSICS_VISIBLE Solver : public virtual Feature
    {
      public: template <typename PolicyT, typename FeaturesT>
      class World : public virtual Feature::World<PolicyT, FeaturesT>
      {
        public: void SetSolver(const std::string &_solver);
 
        public: const std::string &GetSolver() const;
 
        public: void SetSolverIterations(std::size_t _iterations);
 
        public: std::size_t GetSolverIterations() const;
      };
 
      public: template <typename PolicyT>
      class Implementation : public virtual Feature::Implementation<PolicyT>
      {
        public: virtual void SetWorldSolver(
            const Identity &_id, const std::string &_solver) = 0;
 
        public: virtual const std::string &GetWorldSolver(
            const Identity &_id) const = 0;
 
        public: virtual void SetWorldSolverIterations(
            const Identity &_id, std::size_t _iterations) = 0;
 
        public: virtual std::size_t GetWorldSolverIterations(
            const Identity &_id) const = 0;
      };
    };
  }
}
 
#include <gz/physics/detail/World.hh>
 
#endif