235 lines
8.3 KiB
C++
235 lines
8.3 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: Collision class
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* Author: Nate Koenig
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* Date: 13 Feb 2006
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*/
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#ifndef _COLLISION_HH_
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#define _COLLISION_HH_
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#include <string>
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#include <vector>
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#include "gazebo/common/Event.hh"
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#include "gazebo/common/CommonTypes.hh"
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/physics/CollisionState.hh"
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#include "gazebo/physics/Entity.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace physics
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{
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/// \addtogroup gazebo_physics
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/// \{
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/// \brief Base class for all collision entities
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class GZ_PHYSICS_VISIBLE Collision : public Entity
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{
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/// \brief Constructor.
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/// \param[in] _link Link that contains this collision object.
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public: explicit Collision(LinkPtr _link);
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/// \brief Destructor.
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public: virtual ~Collision();
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/// \brief Finalize the collision.
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public: virtual void Fini();
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/// \brief Load the collision.
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/// \param[in] _sdf SDF to load from.
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public: virtual void Load(sdf::ElementPtr _sdf);
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/// \brief Initialize the collision.
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public: virtual void Init();
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/// \brief Update the parameters using new sdf values.
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/// \param[in] _sdf SDF values to update from.
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public: virtual void UpdateParameters(sdf::ElementPtr _sdf);
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/// \brief Set the encapsulated collsion object.
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/// Has a side effect of changing the collision bit masks
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/// \param[in] _placeable True to make the object movable.
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public: void SetCollision(bool _placeable);
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/// \brief Set if this object is moveable
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/// \param[in] _placeable True to make the object movable.
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public: void SetPlaceable(const bool _placeable);
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/// \brief Return whether this collision is movable.
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/// Example on an immovable object is a ray.
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/// \return True if the object is immovable.
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public: bool IsPlaceable() const;
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/// \brief Set the category bits, used during collision detection.
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/// \param[in] _bits The bits to set.
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public: virtual void SetCategoryBits(unsigned int _bits) = 0;
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/// \brief Set the collide bits, used during collision detection.
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/// \param[in] _bits The bits to set.
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public: virtual void SetCollideBits(unsigned int _bits) = 0;
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/// \brief Set the laser retro reflectiveness.
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/// \param[in] _retro The laser retro value.
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public: void SetLaserRetro(float _retro);
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/// \brief Get the laser retro reflectiveness
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/// \return The laser retro value.
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public: float GetLaserRetro() const;
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/// \brief Get the link this collision belongs to.
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/// \return The parent Link.
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public: LinkPtr GetLink() const;
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/// \brief Get the model this collision belongs to.
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/// \return The parent model.
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public: ModelPtr GetModel() const;
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/// \brief Get the bounding box for this collision.
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/// \return The bounding box.
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public: virtual math::Box GetBoundingBox() const = 0;
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/// \brief Get the shape type.
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/// \return The shape type.
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/// \sa EntityType
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public: unsigned int GetShapeType() const;
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/// \brief Set the shape for this collision.
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/// \param[in] _shape The shape for this collision object.
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public: void SetShape(ShapePtr _shape);
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/// \brief Get the collision shape.
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/// \return The collision shape.
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public: ShapePtr GetShape() const;
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/// \brief Set the scale of the collision.
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/// \param[in] _scale Scale to set the collision to.
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public: void SetScale(const math::Vector3 &_scale);
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/// \brief Get the linear velocity of the collision.
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/// \return The linear velocity relative to the parent model.
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public: virtual math::Vector3 GetRelativeLinearVel() const;
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/// \brief Get the linear velocity of the collision in the world
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/// frame.
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/// \return The linear velocity of the collision in the world frame.
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public: virtual math::Vector3 GetWorldLinearVel() const;
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/// \brief Get the angular velocity of the collision.
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/// \return The angular velocity of the collision.
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public: virtual math::Vector3 GetRelativeAngularVel() const;
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/// \brief Get the angular velocity of the collision in the world frame.
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/// \return The angular velocity of the collision in the world frame.
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public: virtual math::Vector3 GetWorldAngularVel() const;
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/// \brief Get the linear acceleration of the collision.
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/// \return The linear acceleration of the collision.
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public: virtual math::Vector3 GetRelativeLinearAccel() const;
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/// \brief Get the linear acceleration of the collision in the world
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/// frame.
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/// \return The linear acceleration of the collision in the world frame.
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public: virtual math::Vector3 GetWorldLinearAccel() const;
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/// \brief Get the angular acceleration of the collision.
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/// \return The angular acceleration of the collision.
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public: virtual math::Vector3 GetRelativeAngularAccel() const;
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/// \brief Get the angular acceleration of the collision in the
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/// world frame.
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/// \return The angular acceleration of the collision in the world frame.
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public: virtual math::Vector3 GetWorldAngularAccel() const;
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/// \brief Get the collision state.
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/// \return The collision state.
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public: CollisionState GetState();
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/// \brief Set the current collision state.
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/// \param[in] The collision state.
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public: void SetState(const CollisionState &_state);
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/// \brief Fill a collision message.
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/// \param[out] _msg The message to fill with this collision's data.
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public: void FillMsg(msgs::Collision &_msg);
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/// \brief Update parameters from a message.
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/// \param[in] _msg Message to update from.
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public: void ProcessMsg(const msgs::Collision &_msg);
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/// \brief Get the surface parameters.
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/// \return The surface parameters.
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public: inline SurfaceParamsPtr GetSurface() const
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{return this->surface;}
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/// \brief Number of contacts allowed for this collision.
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/// This overrides global value (in PhysicsEngine) if specified.
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/// \param[in] _maxContacts max num contacts allowed for this collision.
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public: virtual void SetMaxContacts(unsigned int _maxContacts);
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/// \brief returns number of contacts allowed for this collision.
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/// This overrides global value (in PhysicsEngine) if specified.
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/// \return max num contacts allowed for this collision.
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public: virtual unsigned int GetMaxContacts();
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/// \brief Indicate that the world pose should be recalculated.
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/// The recalculation will be done when Collision::GetWorldPose is
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/// called.
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public: void SetWorldPoseDirty();
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// Documentation inherited.
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public: virtual const math::Pose &GetWorldPose() const;
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/// \brief Helper function used to create a collision visual message.
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/// \return Visual message for a collision.
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private: msgs::Visual CreateCollisionVisual();
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/// \brief The link this collision belongs to
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protected: LinkPtr link;
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/// \brief Flag for placeable.
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protected: bool placeable;
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/// \brief Pointer to physics::Shape.
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protected: ShapePtr shape;
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/// \brief The surface parameters.
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protected: SurfaceParamsPtr surface;
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/// \brief The laser retro value.
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private: float laserRetro = 0.0;
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/// \brief Stores collision state information.
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private: CollisionState state;
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/// \brief Number of contact points allowed for this collision.
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private: unsigned int maxContacts;
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/// \brief Unique id for collision visual.
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private: uint32_t collisionVisualId;
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/// \brief True if the world pose should be recalculated.
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private: mutable bool worldPoseDirty;
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};
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/// \}
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}
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}
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#endif
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