ODEPhysics.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_HH_
#define _ODEPHYSICS_HH_

#include <tbb/spin_mutex.h>
#include <tbb/concurrent_vector.h>
#include <string>
#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 ODEJointFeedback;
    class ODEPhysicsPrivate;

    class GZ_PHYSICS_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,

        FRICTION_MODEL,

        WORLD_SOLVER_TYPE
      };

      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);

      public: virtual void SetFrictionModel(const std::string &_fricModel);

      public: virtual void
              SetWorldStepSolverType(const std::string &_worldSolverType);

      // 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();

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

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

      // 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: virtual bool GetParam(const std::string &_key,
                  boost::any &_value) 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: static Friction_Model
              ConvertFrictionModel(const std::string &_fricModel);

      public: static std::string
              ConvertFrictionModel(const Friction_Model _fricModel);

      public: static std::string
              ConvertWorldStepSolverType(const World_Solver_Type _solverType);

      public: static World_Solver_Type
              ConvertWorldStepSolverType(const std::string &_solverType);

      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: ODEPhysicsPrivate *dataPtr;
    };
  }
}
#endif