ContactManager.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 GAZEBO_PHYSICS_CONTACTMANAGER_HH_
#define GAZEBO_PHYSICS_CONTACTMANAGER_HH_

#include <vector>
#include <string>
#include <map>
#include <ignition/transport/Node.hh>

#include <boost/unordered/unordered_set.hpp>
#include <boost/unordered/unordered_map.hpp>
#include <boost/thread/recursive_mutex.hpp>

#include "gazebo/transport/TransportTypes.hh"

#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/physics/Contact.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {
    class GZ_PHYSICS_VISIBLE ContactPublisher
    {
      public: transport::PublisherPtr publisher;

      public: boost::unordered_set<Collision *> collisions;

      public: std::vector<std::string> collisionNames;

      public: std::vector<Contact *> contacts;

      // Place ignition::transport objects at the end of this file to
      // guarantee they are destructed first.

      public: ignition::transport::Node::Publisher publisherIgn;
    };


    class GZ_PHYSICS_VISIBLE ContactManager
    {
      public: ContactManager();

      public: virtual ~ContactManager();

      public: void Init(WorldPtr _world);

      public: Contact *NewContact(Collision *_collision1,
                                  Collision *_collision2,
                                  const common::Time &_time);

      public: void SetNeverDropContacts(const bool _neverDrop);

      public: bool NeverDropContacts() const;

      public: bool SubscribersConnected(Collision *_collision1,
                                        Collision *_collision2) const;

      public: unsigned int GetContactCount() const;

      public: Contact *GetContact(unsigned int _index) const;

      public: const std::vector<Contact *> &GetContacts() const;

      public: void Clear();

      public: void PublishContacts();

      public: void ResetCount();

      public: std::string CreateFilter(const std::string &_topic,
                  const std::vector<std::string> &_collisions);

      public: std::string CreateFilter(const std::string &_topic,
                  const std::string &_collision);

      public: std::string CreateFilter(const std::string &_name,
                  const std::map<std::string, physics::CollisionPtr>
                  &_collisions);

      public: void RemoveFilter(const std::string &_name);

      public: unsigned int GetFilterCount();

      public: bool HasFilter(const std::string &_name);

      private: void GetCustomPublishers(Collision *_collision1,
                       Collision *_collision2, const bool _getOnlyConnected,
                       std::vector<ContactPublisher*> &_publishers);

      private: std::vector<Contact*> contacts;

      private: unsigned int contactIndex;

      private: transport::NodePtr node;

      private: transport::PublisherPtr contactPub;

      private: WorldPtr world;

      private: boost::unordered_map<std::string, ContactPublisher *>
          customContactPublishers;

      private: boost::recursive_mutex *customMutex;

      // Place ignition::transport objects at the end of this file to
      // guarantee they are destructed first.

      private: ignition::transport::Node nodeIgn;

      private: ignition::transport::Node::Publisher contactPubIgn;

      private: bool neverDropContacts;
    };
  }
}
#endif