Collision.hh

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/*
 * Copyright 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.
 *
*/
/* Desc: Collision class
 * Author: Nate Koenig
 * Date: 13 Feb 2006
 */

#ifndef _COLLISION_HH_
#define _COLLISION_HH_

#include <string>
#include <vector>

#include "gazebo/common/Event.hh"
#include "gazebo/common/CommonTypes.hh"

#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/physics/CollisionState.hh"
#include "gazebo/physics/Entity.hh"

namespace gazebo
{
  namespace physics
  {

    class Collision : public Entity
    {
      public: explicit Collision(LinkPtr _link);

      public: virtual ~Collision();

      public: virtual void Fini();

      public: virtual void Load(sdf::ElementPtr _sdf);

      public: virtual void Init();

      public: virtual void UpdateParameters(sdf::ElementPtr _sdf);

      public: void SetCollision(bool _placeable);

      public: bool IsPlaceable() const;

      public: virtual void SetCategoryBits(unsigned int _bits) = 0;

      public: virtual void SetCollideBits(unsigned int _bits) = 0;

      public: void SetLaserRetro(float _retro);

      public: float GetLaserRetro() const;

      public: LinkPtr GetLink() const;

      public: ModelPtr GetModel() const;

      public: virtual math::Box GetBoundingBox() const = 0;

      public: unsigned int GetShapeType();

      public: void SetShape(ShapePtr _shape);

      public: ShapePtr GetShape() const;

      public: void SetContactsEnabled(bool _enable);

      public: bool GetContactsEnabled() const;

      public: void AddContact(const Contact &_contact);

      public: virtual math::Vector3 GetRelativeLinearVel() const;

      public: virtual math::Vector3 GetWorldLinearVel() const;

      public: virtual math::Vector3 GetRelativeAngularVel() const;

      public: virtual math::Vector3 GetWorldAngularVel() const;

      public: virtual math::Vector3 GetRelativeLinearAccel() const;

      public: virtual math::Vector3 GetWorldLinearAccel() const;

      public: virtual math::Vector3 GetRelativeAngularAccel() const;

      public: virtual math::Vector3 GetWorldAngularAccel() const;

      public: CollisionState GetState();

      public: void SetState(const CollisionState &_state);

      public: template<typename T>
              event::ConnectionPtr ConnectContact(T _subscriber)
              {return contact.Connect(_subscriber);}

      public: void DisconnectContact(event::ConnectionPtr &_conn)
              {contact.Disconnect(_conn);}

      public: void FillMsg(msgs::Collision &_msg);

      public: void ProcessMsg(const msgs::Collision &_msg);

      public: inline SurfaceParamsPtr GetSurface() const
              {return this->surface;}

      public: virtual void SetMaxContacts(double _maxContacts);

      public: virtual int GetMaxContacts();

      private: msgs::Visual CreateCollisionVisual();

      protected: LinkPtr link;

      protected: bool placeable;

      protected: ShapePtr shape;

      private: bool contactsEnabled;

      private: event::EventT<void (const std::string &,
                                   const Contact &)> contact;

      private: SurfaceParamsPtr surface;

      private: float laserRetro;

      private: CollisionState state;

      private: int maxContacts;
    };
  }
}
#endif