121 lines
3.6 KiB
C++
121 lines
3.6 KiB
C++
/*
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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: Specification of a contact
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* Author: Nate Koenig
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* Date: 10 Nov 2009
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*/
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#ifndef _CONTACT_HH_
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#define _CONTACT_HH_
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#include <vector>
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#include <string>
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/common/Time.hh"
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/physics/JointWrench.hh"
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#include "gazebo/util/system.hh"
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// For the sake of efficiency, use fixed size arrays for collision
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// MAX_COLLIDE_RETURNS limits contact detection, needs to be large
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// for proper contact dynamics.
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// MAX_CONTACT_JOINTS truncates <max_contacts> specified in SDF
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#define MAX_COLLIDE_RETURNS 250
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#define MAX_CONTACT_JOINTS 250
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namespace gazebo
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{
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namespace physics
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{
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class Collision;
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/// \addtogroup gazebo_physics
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/// \{
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/// \class Contact Contact.hh physics/physics.hh
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/// \brief A contact between two collisions. Each contact can consist of
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/// a number of contact points
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class GZ_PHYSICS_VISIBLE Contact
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{
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/// \brief Constructor.
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public: Contact();
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/// \brief Copy constructor
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/// \param[in] _contact Contact to copy.
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public: Contact(const Contact &_contact);
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/// \brief Destructor.
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public: virtual ~Contact();
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/// \brief Operator =.
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/// \param[in] _contact Contact to copy.
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/// \return Reference to this contact
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public: Contact &operator =(const Contact &_contact);
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/// \brief Operator =.
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/// \param[in] _contact msgs::Contact to copy.
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/// \return Reference to this contact
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public: Contact &operator =(const msgs::Contact &_contact);
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/// \brief Populate a msgs::Contact with data from this.
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/// \param[out] _msg Contact message the will hold the data.
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public: void FillMsg(msgs::Contact &_msg) const;
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/// \brief Produce a debug string.
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/// \return A string that contains the values of the contact.
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public: std::string DebugString() const;
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/// \brief Reset to default values.
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public: void Reset();
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/// \brief Pointer to the first collision object
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public: Collision *collision1;
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/// \brief Pointer to the second collision object
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public: Collision *collision2;
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/// \brief Array of forces for the contact.
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/// All forces and torques are in the world frame.
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/// All forces and torques are relative to the center of mass of the
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/// respective links that the collision elments are attached to.
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public: JointWrench wrench[MAX_CONTACT_JOINTS];
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/// \brief Array of force positions.
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public: math::Vector3 positions[MAX_CONTACT_JOINTS];
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/// \brief Array of force normals.
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public: math::Vector3 normals[MAX_CONTACT_JOINTS];
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/// \brief Array of contact depths
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public: double depths[MAX_CONTACT_JOINTS];
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/// \brief Length of all the arrays.
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public: int count;
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/// \brief Time at which the contact occurred.
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public: common::Time time;
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/// \brief World in which the contact occurred
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public: WorldPtr world;
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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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