SurfaceParams.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 _GAZEBO_SURFACEPARAMS_HH_
#define _GAZEBO_SURFACEPARAMS_HH_

#include <sdf/sdf.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 GetMuPrimary();

      public: double GetMuSecondary();

      public: void SetMuPrimary(double _mu);

      public: void SetMuSecondary(double _mu);

      private: double GetMu(unsigned int _index);

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

      public: math::Vector3 direction1;

      private: double mu[2];
    };

    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 GetFrictionPyramid() const;

      public: bool collideWithoutContact;

      public: unsigned int collideWithoutContactBitmask;

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