PhysicsEngine.hh

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/*
 * Copyright (C) 2012-2014 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.
 *
*/
/* Desc: The base class for all physics engines
 * Author: Nate Koenig
 */

#ifndef _PHYSICSENGINE_HH_
#define _PHYSICSENGINE_HH_

#include <boost/thread/recursive_mutex.hpp>
#include <string>

#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/msgs/msgs.hh"

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

namespace gazebo
{
  namespace physics
  {
    class ContactManager;


    class GAZEBO_VISIBLE PhysicsEngine
    {
      public: explicit PhysicsEngine(WorldPtr _world);

      public: virtual ~PhysicsEngine();

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

      public: virtual void Init() = 0;

      public: virtual void Fini();

      public: virtual void Reset() {}

      public: virtual void InitForThread() = 0;

      public: virtual void UpdateCollision() = 0;

      public: virtual std::string GetType() const = 0;

      public: virtual void SetSeed(uint32_t _seed) = 0;

      public: double GetUpdatePeriod();

      public: double GetTargetRealTimeFactor() const;

      public: double GetRealTimeUpdateRate() const;

      public: double GetMaxStepSize() const;

      public: void SetTargetRealTimeFactor(double _factor);

      public: void SetRealTimeUpdateRate(double _rate);

      public: void SetMaxStepSize(double _stepSize);

      public: virtual void UpdatePhysics() {}

      public: virtual ModelPtr CreateModel(BasePtr _base);

      public: virtual LinkPtr CreateLink(ModelPtr _parent) = 0;

      public: virtual CollisionPtr CreateCollision(
                  const std::string &_shapeType, LinkPtr _link) = 0;

      public: CollisionPtr CreateCollision(const std::string &_shapeType,
                                           const std::string &_linkName);

      public: virtual ShapePtr CreateShape(const std::string &_shapeType,
                                           CollisionPtr _collision) = 0;

      public: virtual JointPtr CreateJoint(const std::string &_type,
                                           ModelPtr _parent = ModelPtr()) = 0;

      public: virtual math::Vector3 GetGravity() const;

      public: virtual void SetGravity(
                  const gazebo::math::Vector3 &_gravity) = 0;

      public: virtual void SetWorldCFM(double _cfm);

      public: virtual void SetWorldERP(double _erp);

      public: virtual void SetAutoDisableFlag(bool _autoDisable);

      public: virtual void SetSORPGSPreconIters(unsigned int _iters)
              GAZEBO_DEPRECATED(3.0);

      public: virtual void SetSORPGSIters(unsigned int _iters)
              GAZEBO_DEPRECATED(3.0);

      public: virtual void SetSORPGSW(double _w) GAZEBO_DEPRECATED(3.0);

      public: virtual void SetContactMaxCorrectingVel(double _vel);

      public: virtual void SetContactSurfaceLayer(double _layerDepth);

      public: virtual void SetMaxContacts(unsigned int _maxContacts);

      public: virtual double GetWorldCFM() {return 0;}

      public: virtual double GetWorldERP() {return 0;}

      public: virtual bool GetAutoDisableFlag() {return 0;}

      public: virtual int GetSORPGSPreconIters() GAZEBO_DEPRECATED(3.0)
              {return 0;}

      public: virtual int GetSORPGSIters() GAZEBO_DEPRECATED(3.0)
              {return 0;}

      public: virtual double GetSORPGSW() GAZEBO_DEPRECATED(3.0)
              {return 0;}

      public: virtual double GetContactMaxCorrectingVel() {return 0;}

      public: virtual double GetContactSurfaceLayer() {return 0;}

      public: virtual unsigned int GetMaxContacts() {return 0;}

      public: virtual bool SetParam(const std::string &_key,
                  const boost::any &_value);

      public: virtual boost::any GetParam(const std::string &_key) const;

      public: virtual void DebugPrint() const = 0;

      public: ContactManager *GetContactManager() const;

      public: boost::recursive_mutex *GetPhysicsUpdateMutex() const
              {return this->physicsUpdateMutex;}

      protected: virtual void OnRequest(ConstRequestPtr &_msg);

      protected: virtual void OnPhysicsMsg(ConstPhysicsPtr &_msg);

      protected: WorldPtr world;

      protected: sdf::ElementPtr sdf;

      protected: transport::NodePtr node;

      protected: transport::PublisherPtr responsePub;

      protected: transport::SubscriberPtr physicsSub;

      protected: transport::SubscriberPtr requestSub;

      protected: boost::recursive_mutex *physicsUpdateMutex;

      protected: ContactManager *contactManager;

      protected: double realTimeUpdateRate;

      protected: double targetRealTimeFactor;

      protected: double maxStepSize;
    };
  }
}
#endif