ODEPhysicsPrivate.hh

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/*
 * Copyright (C) 2012-2016 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_PRIVATE_HH_
#define _ODEPHYSICS_PRIVATE_HH_

#include <map>
#include <string>
#include <vector>
#include <utility>

#include "gazebo/physics/Contact.hh"
#include "gazebo/physics/ode/ODETypes.hh"

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

      public: Contact *contact;

      public: int count;

      public: dJointFeedback feedbacks[MAX_CONTACT_JOINTS];
    };

    class ODEPhysicsPrivate
    {
      public: dWorldID worldId;

      public: dSpaceID spaceId;

      public: dJointGroupID contactGroup;

      public: std::string stepType;

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

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

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

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

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

      public: dContactGeom contactCollisions[MAX_COLLIDE_RETURNS];

      public: int indices[MAX_CONTACT_JOINTS];

      public: unsigned int jointFeedbackIndex;

      public: unsigned int collidersCount;

      public: unsigned int trimeshCollidersCount;

      public: unsigned int maxContacts;
    };
  }
}

#endif