Collision.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_COLLISION_HH_
#define GAZEBO_PHYSICS_COLLISION_HH_

#include <string>
#include <vector>

#include "gazebo/common/Event.hh"

#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/physics/CollisionState.hh"
#include "gazebo/physics/Entity.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE Collision : public Entity
    {
      public: explicit Collision(LinkPtr _link);

      public: virtual ~Collision();

      public: virtual void Fini() override;

      public: virtual void Load(sdf::ElementPtr _sdf) override;

      public: virtual void Init() override;

      public: virtual void UpdateParameters(sdf::ElementPtr _sdf) override;

      public: void SetCollision(bool _placeable);

      public: void SetPlaceable(const bool _placeable);

      public: bool IsPlaceable() const;

      public: virtual void SetCategoryBits(unsigned int _bits) = 0;

      public: virtual void SetCollideBits(unsigned int _bits) = 0;

      public: void SetLaserRetro(float _retro);

      public: float GetLaserRetro() const;

      public: LinkPtr GetLink() const;

      public: ModelPtr GetModel() const;

      public: virtual ignition::math::AxisAlignedBox BoundingBox() const
          override = 0;

      public: unsigned int GetShapeType() const;

      public: void SetShape(ShapePtr _shape);

      public: ShapePtr GetShape() const;

      public: void SetScale(const ignition::math::Vector3d &_scale);

      public: virtual ignition::math::Vector3d RelativeLinearVel() const
          override;

      public: virtual ignition::math::Vector3d WorldLinearVel() const
          override;

      public: virtual ignition::math::Vector3d RelativeAngularVel() const
          override;

      public: virtual ignition::math::Vector3d WorldAngularVel() const
          override;

      public: virtual ignition::math::Vector3d RelativeLinearAccel() const
          override;

      public: virtual ignition::math::Vector3d WorldLinearAccel() const
          override;

      public: virtual ignition::math::Vector3d RelativeAngularAccel() const
          override;

      public: virtual ignition::math::Vector3d WorldAngularAccel() const
          override;

      public: CollisionState GetState();

      public: void SetState(const CollisionState &_state);

      public: void FillMsg(msgs::Collision &_msg);

      public: void ProcessMsg(const msgs::Collision &_msg);

      public: inline SurfaceParamsPtr GetSurface() const
              {return this->surface;}

      public: virtual void SetMaxContacts(unsigned int _maxContacts);

      public: virtual unsigned int GetMaxContacts();

      public: void SetWorldPoseDirty();

      // Documentation inherited.
      public: virtual const ignition::math::Pose3d &WorldPose() const
          override;

      // Documentation inherited.
      public: virtual std::optional<sdf::SemanticPose> SDFSemanticPose()
                  const override;

      private: msgs::Visual CreateCollisionVisual();

      protected: LinkPtr link;

      protected: bool placeable;

      protected: ShapePtr shape;

      protected: SurfaceParamsPtr surface;

      private: float laserRetro = 0.0;

      private: CollisionState state;

      private: unsigned int maxContacts;

      private: uint32_t collisionVisualId;

      private: mutable bool worldPoseDirty;

      private: const sdf::Collision *collisionSDFDom = nullptr;
    };
  }
}
#endif