SimbodyPhysics.hh

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/*
 * Copyright (C) 2012 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_PHYSICS_SIMBODY_SIMBODYPHYSICS_HH
#define GAZEBO_PHYSICS_SIMBODY_SIMBODYPHYSICS_HH
#include <string>

#include <boost/thread/thread.hpp>
#include <boost/thread/mutex.hpp>

#include "gazebo/physics/PhysicsEngine.hh"
#include "gazebo/physics/Collision.hh"
#include "gazebo/physics/Shape.hh"
#include "gazebo/physics/simbody/SimbodyTypes.hh"

#include "gazebo/physics/simbody/simbody_inc.h"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE SimbodyPhysics : public PhysicsEngine
    {
      public: explicit SimbodyPhysics(WorldPtr _world);

      public: virtual ~SimbodyPhysics();

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

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

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

      public: void InitModel(const physics::ModelPtr _model);

      // 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;

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

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

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

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

      public: SimTK::MultibodySystem *GetDynamicsWorld() const;

      // Documentation inherited
      public: virtual void SetGravity(const ignition::math::Vector3d &_gravity);

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

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

      // Documentation inherited
      public: virtual ModelPtr CreateModel(BasePtr _parent);

      public: static SimTK::Quaternion QuadToQuad(
          const ignition::math::Quaterniond &_q);

      public: static ignition::math::Quaterniond QuadToQuadIgn(
          const SimTK::Quaternion &_q);

      public: static SimTK::Vec3 Vector3ToVec3(
          const ignition::math::Vector3d &_v);

      public: static ignition::math::Vector3d Vec3ToVector3Ign(
                  const SimTK::Vec3 &_v);

      public: static SimTK::Transform Pose2Transform(
                  const ignition::math::Pose3d &_pose);

      public: static ignition::math::Pose3d Transform2PoseIgn(
          const SimTK::Transform &_xAB);

      public: static SimTK::Transform GetPose(sdf::ElementPtr _element);

      public: static std::string GetTypeString(unsigned int _type);

      public: static std::string GetTypeString(physics::Base::EntityType _type);

      // Documentation inherited
      protected: virtual void OnRequest(ConstRequestPtr &_msg);

      // Documentation inherited
      protected: virtual void OnPhysicsMsg(ConstPhysicsPtr &_msg);

      private: void CreateMultibodyGraph(
        SimTK::MultibodyGraphMaker& _mbgraph, const physics::ModelPtr _model);

      private: void InitSimbodySystem();

      private: void AddStaticModelToSimbodySystem(
                   const physics::ModelPtr _model);

      private: void AddDynamicModelToSimbodySystem(
        const SimTK::MultibodyGraphMaker &_mbgraph,
        const physics::ModelPtr _model);

      private: void AddCollisionsToLink(const physics::SimbodyLink *_link,
        SimTK::MobilizedBody &_mobod, SimTK::ContactCliqueId _modelClique);

      public: SimTK::MultibodySystem system;
      public: SimTK::SimbodyMatterSubsystem matter;
      public: SimTK::GeneralForceSubsystem forces;
      public: SimTK::Force::Gravity gravity;
      public: SimTK::Force::DiscreteForces discreteForces;
      public: SimTK::ContactTrackerSubsystem tracker;
      public: SimTK::CompliantContactSubsystem contact;
      public: SimTK:: Integrator *integ;

      public: bool simbodyPhysicsInitialized;

      public: bool simbodyPhysicsStepped;

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

      // Documentation inherited
      public: virtual bool GetParam(const std::string &_key,
                  boost::any &_value) const;

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

      private: double contactMaterialStiffness;

      private: double contactMaterialDissipation;

      private: double contactMaterialPlasticCoefRestitution;

      private: double contactMaterialPlasticImpactVelocity;

      private: double contactMaterialStaticFriction;

      private: double contactMaterialDynamicFriction;

      private: double contactMaterialViscousFriction;

      private: double contactImpactCaptureVelocity;

      private: double contactStictionTransitionVelocity;

      private: SimTK::MultibodySystem *dynamicsWorld;

      private: common::Time lastUpdateTime;

      private: double stepTimeDouble;

      private: std::string solverType;

      private: std::string integratorType;
    };
  }
}
#endif