ODEPhysics.hh

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/*
 * Copyright (C) 2012-2015 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 _ODEPHYSICS_HH_
#define _ODEPHYSICS_HH_

#include <tbb/spin_mutex.h>
#include <tbb/concurrent_vector.h>
#include <map>
#include <string>
#include <vector>
#include <utility>

#include <boost/thread/thread.hpp>

#include "gazebo/physics/ode/ode_inc.h"
#include "gazebo/physics/ode/ODETypes.hh"
#include "gazebo/physics/PhysicsEngine.hh"
#include "gazebo/physics/Contact.hh"
#include "gazebo/physics/Shape.hh"
#include "gazebo/gazebo_config.h"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {
    class GAZEBO_VISIBLE ODEJointFeedback
    {
      public: ODEJointFeedback() : contact(NULL), count(0) {}

      public: Contact *contact;

      public: int count;

      public: dJointFeedback feedbacks[MAX_CONTACT_JOINTS];
    };

    class GAZEBO_VISIBLE ODEPhysics : public PhysicsEngine
    {
      public: enum ODEParam
      {
        SOLVER_TYPE,

        GLOBAL_CFM,

        GLOBAL_ERP,

        SOR_PRECON_ITERS,

        PGS_ITERS,

        SOR,

        CONTACT_MAX_CORRECTING_VEL,

        CONTACT_SURFACE_LAYER,

        MAX_CONTACTS,

        MIN_STEP_SIZE,

        INERTIA_RATIO_REDUCTION
      };

      public: ODEPhysics(WorldPtr _world);

      public: virtual ~ODEPhysics();

      // Documentation inherited
      public: virtual void Load(sdf::ElementPtr _sdf);

      // Documentation inherited
      public: virtual void Init();

      // Documentation inherited
      public: virtual void Reset();

      // Documentation inherited
      public: virtual void InitForThread();

      // Documentation inherited
      public: virtual void UpdateCollision();

      // Documentation inherited
      public: virtual void UpdatePhysics();

      // Documentation inherited
      public: virtual void Fini();

      // Documentation inherited
      public: virtual std::string GetType() const
                      { return "ode"; }

      // Documentation inherited
      public: virtual LinkPtr CreateLink(ModelPtr _parent);

      // Documentation inherited
      public: virtual CollisionPtr CreateCollision(
                  const std::string &_shapeType, LinkPtr _parent);

      // Documentation inherited
      public: virtual ShapePtr CreateShape(const std::string &_shapeType,
                                           CollisionPtr _collision);

      // Documentation inherited
      public: virtual JointPtr CreateJoint(const std::string &_type,
                                           ModelPtr _parent);

      // Documentation inherited
      public: virtual void SetGravity(const gazebo::math::Vector3 &_gravity);

      // Documentation inherited
      public: virtual void SetWorldCFM(double cfm);

      // Documentation inherited
      public: virtual void SetWorldERP(double erp);

      // Documentation inherited
      public: virtual void SetSORPGSPreconIters(unsigned int iters);

      // Documentation inherited
      public: virtual void SetSORPGSIters(unsigned int iters);

      // Documentation inherited
      public: virtual void SetSORPGSW(double w);

      // Documentation inherited
      public: virtual void SetContactMaxCorrectingVel(double vel);

      // Documentation inherited
      public: virtual void SetContactSurfaceLayer(double layer_depth);

      // Documentation inherited
      public: virtual void SetMaxContacts(unsigned int max_contacts);

      // Documentation inherited
      public: virtual double GetWorldCFM();

      // Documentation inherited
      public: virtual double GetWorldERP();

      // Documentation inherited
      public: virtual int GetSORPGSPreconIters();

      // Documentation inherited
      public: virtual int GetSORPGSIters();

      // Documentation inherited
      public: virtual double GetSORPGSW();

      // Documentation inherited
      public: virtual double GetContactMaxCorrectingVel();

      // Documentation inherited
      public: virtual double GetContactSurfaceLayer();

      // Documentation inherited
      public: virtual unsigned int GetMaxContacts();

      // Documentation inherited
      public: virtual void DebugPrint() const;

      // Documentation inherited
      public: virtual void SetSeed(uint32_t _seed);

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

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

      public: dSpaceID GetSpaceId() const;

      public: dWorldID GetWorldId();

      public: static void ConvertMass(InertialPtr _interial, void *_odeMass);

      public: static void ConvertMass(void *_odeMass, InertialPtr _inertial);

      public: virtual std::string GetStepType() const;

      public: virtual void SetStepType(const std::string &_type);


      public: void Collide(ODECollision *_collision1, ODECollision *_collision2,
                           dContactGeom *_contactCollisions);

      public: void ProcessJointFeedback(ODEJointFeedback *_feedback);

      protected: virtual void OnRequest(ConstRequestPtr &_msg);

      protected: virtual void OnPhysicsMsg(ConstPhysicsPtr &_msg);

      private: static void CollisionCallback(void *_data, dGeomID _o1,
                                             dGeomID _o2);


      private: void AddTrimeshCollider(ODECollision *_collision1,
                                       ODECollision *_collision2);

      private: void AddCollider(ODECollision *_collision1,
                                ODECollision *_collision2);

      private: dWorldID worldId;

      private: dSpaceID spaceId;

      private: dJointGroupID contactGroup;

      private: std::string stepType;

      private: std::vector<ODEJointFeedback*> jointFeedbacks;

      private: unsigned int jointFeedbackIndex;

      private: std::map<std::string, dSpaceID> spaces;

      private: std::vector< std::pair<ODECollision*, ODECollision*> > colliders;

      private: std::vector< std::pair<ODECollision*, ODECollision*> >
               trimeshColliders;

      private: unsigned int collidersCount;

      private: unsigned int trimeshCollidersCount;

      private: dContactGeom contactCollisions[MAX_COLLIDE_RETURNS];

      private: int (*physicsStepFunc)(dxWorld*, dReal);

      private: int indices[MAX_CONTACT_JOINTS];

      private: unsigned int maxContacts;
    };
  }
}
#endif