SurfaceParams.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_SURFACEPARAMS_HH_
#define GAZEBO_PHYSICS_SURFACEPARAMS_HH_

#include <sdf/sdf.hh>
#include <ignition/math/Vector3.hh>

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

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE FrictionPyramid
    {
      public: FrictionPyramid();

      public: virtual ~FrictionPyramid();

      public: double MuPrimary() const;

      public: double MuSecondary() const;

      public: double MuTorsion() const;

      public: double PatchRadius() const;

      public: double SurfaceRadius() const;

      public: bool UsePatchRadius() const;

      public: void SetMuPrimary(double _mu);

      public: void SetMuSecondary(double _mu);

      public: void SetMuTorsion(const double _mu);

      public: void SetPatchRadius(const double _radius);

      public: void SetSurfaceRadius(const double _radius);

      public: void SetUsePatchRadius(const bool _use);

      public: double PoissonsRatio() const;

      public: void SetPoissonsRatio(const double _ratio);

      public: double ElasticModulus() const;

      public: void SetElasticModulus(const double _modulus);

      public: ignition::math::Vector3d direction1;

      private: double Mu(const unsigned int _index) const;

      private: void SetMu(unsigned int _index, double _mu);

      private: double mu[3];

      private: double patchRadius;

      private: double surfaceRadius;

      private: bool usePatchRadius;

      private: double poissonsRatio;

      private: double elasticModulus;
    };

    class GZ_PHYSICS_VISIBLE SurfaceParams
    {
      public: SurfaceParams();

      public: virtual ~SurfaceParams();

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

      public: virtual void FillMsg(msgs::Surface &_msg);

      public: virtual void ProcessMsg(const msgs::Surface &_msg);

      public: virtual FrictionPyramidPtr FrictionPyramid() const;

      public: bool collideWithoutContact;

      public: unsigned int collideWithoutContactBitmask;

      public: unsigned int collideBitmask;
    };
  }
}
#endif