ODEPhysics.hh

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/*
 * Copyright (C) 2012 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 _ODEPHYSICS_HH_
#define _ODEPHYSICS_HH_
 
#include <tbb/spin_mutex.h>
#include <tbb/concurrent_vector.h>
#include <string>
#include <utility>
 
#include <boost/thread/thread.hpp>
 
#include "gazebo/physics/ode/ode_inc.h"
#include "gazebo/physics/ode/ODETypes.hh"
#include "gazebo/physics/PhysicsEngine.hh"
#include "gazebo/physics/Contact.hh"
#include "gazebo/physics/Shape.hh"
#include "gazebo/gazebo_config.h"
#include "gazebo/util/system.hh"
 
namespace gazebo
{
  namespace physics
  {
    class ODEJointFeedback;
    class ODEPhysicsPrivate;
 
 
    class GZ_PHYSICS_VISIBLE ODEPhysics : public PhysicsEngine
    {
      public: enum ODEParam
      {
        SOLVER_TYPE,
 
        GLOBAL_CFM,
 
        GLOBAL_ERP,
 
        SOR_PRECON_ITERS,
 
        PGS_ITERS,
 
        SOR,
 
        CONTACT_MAX_CORRECTING_VEL,
 
        CONTACT_SURFACE_LAYER,
 
        MAX_CONTACTS,
 
        MIN_STEP_SIZE,
 
        INERTIA_RATIO_REDUCTION,
 
        FRICTION_MODEL,
 
        WORLD_SOLVER_TYPE
      };
 
      public: explicit ODEPhysics(WorldPtr _world);
 
      public: virtual ~ODEPhysics();
 
      // Documentation inherited
      public: virtual void Load(sdf::ElementPtr _sdf);
 
      // Documentation inherited
      public: virtual void Init();
 
      // Documentation inherited
      public: virtual void Reset();
 
      // Documentation inherited
      public: virtual void InitForThread();
 
      // Documentation inherited
      public: virtual void UpdateCollision();
 
      // Documentation inherited
      public: virtual void UpdatePhysics();
 
      // Documentation inherited
      public: virtual void Fini();
 
      // Documentation inherited
      public: virtual std::string GetType() const
                      { return "ode"; }
 
      // Documentation inherited
      public: virtual LinkPtr CreateLink(ModelPtr _parent);
 
      // Documentation inherited
      public: virtual CollisionPtr CreateCollision(
                  const std::string &_shapeType, LinkPtr _parent);
 
      // Documentation inherited
      public: virtual ShapePtr CreateShape(const std::string &_shapeType,
                                           CollisionPtr _collision);
 
      // Documentation inherited
      public: virtual JointPtr CreateJoint(const std::string &_type,
                                           ModelPtr _parent);
 
      // Documentation inherited
      public: virtual void SetGravity(const ignition::math::Vector3d &_gravity);
 
      // Documentation inherited
      public: virtual void SetWorldCFM(double cfm);
 
      // Documentation inherited
      public: virtual void SetWorldERP(double erp);
 
      // Documentation inherited
      public: virtual void SetSORPGSPreconIters(unsigned int iters);
 
      // Documentation inherited
      public: virtual void SetSORPGSIters(unsigned int iters);
 
      // Documentation inherited
      public: virtual void SetSORPGSW(double w);
 
      // Documentation inherited
      public: virtual void SetContactMaxCorrectingVel(double vel);
 
      // Documentation inherited
      public: virtual void SetContactSurfaceLayer(double layer_depth);
 
      public: virtual void SetFrictionModel(const std::string &_fricModel);
 
      public: virtual void
              SetWorldStepSolverType(const std::string &_worldSolverType);
 
      // Documentation inherited
      public: virtual void SetMaxContacts(unsigned int max_contacts);
 
      // Documentation inherited
      public: virtual double GetWorldCFM();
 
      // Documentation inherited
      public: virtual double GetWorldERP();
 
      // Documentation inherited
      public: virtual int GetSORPGSPreconIters();
 
      // Documentation inherited
      public: virtual int GetSORPGSIters();
 
      // Documentation inherited
      public: virtual double GetSORPGSW();
 
      // Documentation inherited
      public: virtual double GetContactMaxCorrectingVel();
 
      public: virtual std::string GetFrictionModel() const;
 
      public: virtual std::string GetWorldStepSolverType() const;
 
      // Documentation inherited
      public: virtual double GetContactSurfaceLayer();
 
      // Documentation inherited
      public: virtual unsigned int GetMaxContacts();
 
      // Documentation inherited
      public: virtual void DebugPrint() const;
 
      // Documentation inherited
      public: virtual void SetSeed(uint32_t _seed);
 
      public: virtual bool SetParam(const std::string &_key,
                  const boost::any &_value);
 
      public: virtual boost::any GetParam(const std::string &_key) const;
 
      public: virtual bool GetParam(const std::string &_key,
                  boost::any &_value) const;
 
      public: dSpaceID GetSpaceId() const;
 
      public: dWorldID GetWorldId();
 
      public: static void ConvertMass(InertialPtr _interial, void *_odeMass);
 
      public: static void ConvertMass(void *_odeMass, InertialPtr _inertial);
 
      public: static Friction_Model
              ConvertFrictionModel(const std::string &_fricModel);
 
      public: static std::string
              ConvertFrictionModel(const Friction_Model _fricModel);
 
      public: static std::string
              ConvertWorldStepSolverType(const World_Solver_Type _solverType);
 
      public: static World_Solver_Type
              ConvertWorldStepSolverType(const std::string &_solverType);
 
      public: virtual std::string GetStepType() const;
 
      public: virtual void SetStepType(const std::string &_type);
 
 
      public: void Collide(ODECollision *_collision1, ODECollision *_collision2,
                           dContactGeom *_contactCollisions);
 
      public: void ProcessJointFeedback(ODEJointFeedback *_feedback);
 
      protected: virtual void OnRequest(ConstRequestPtr &_msg);
 
      protected: virtual void OnPhysicsMsg(ConstPhysicsPtr &_msg);
 
      private: static void CollisionCallback(void *_data, dGeomID _o1,
                                             dGeomID _o2);
 
 
      private: void AddTrimeshCollider(ODECollision *_collision1,
                                       ODECollision *_collision2);
 
      private: void AddCollider(ODECollision *_collision1,
                                ODECollision *_collision2);
 
      private: ODEPhysicsPrivate *dataPtr;
    };
  }
}
#endif