dynamics3d_model.h

Go to the documentation of this file.

 
#ifndef DYNAMICS3D_MODEL_H
#define DYNAMICS3D_MODEL_H
 
namespace argos {
   class  CDynamics3DEngine;
}
 
#include <argos3/core/simulator/physics_engine/physics_model.h>
#include <argos3/core/simulator/entity/composable_entity.h>
#include <argos3/core/utility/math/vector3.h>
#include <argos3/core/utility/math/quaternion.h>
 
#ifdef __APPLE__
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wreorder"
#else
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wreorder"
#endif
 
#include <argos3/plugins/simulator/physics_engines/dynamics3d/bullet/btBulletCollisionCommon.h>
#include <argos3/plugins/simulator/physics_engines/dynamics3d/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h>
 
#ifdef __APPLE__
#pragma clang diagnostic pop
#else
#pragma GCC diagnostic pop
#endif
 
#include <functional>
 
namespace argos {
 
   /****************************************/
   /****************************************/
 
   class CDynamics3DModel : public CPhysicsModel {
 
   public:
 
      typedef std::map<std::string, CDynamics3DModel*> TMap;
 
   public:
 
   class CAbstractBody {
 
   public:
 
         using TVector = std::vector<std::shared_ptr<CAbstractBody> >;
 
         using TVectorIterator = std::vector<std::shared_ptr<CAbstractBody> >::iterator;
 
         struct SData {
            
            struct SDipole {
               /* Constructor */
               SDipole(const std::function<btVector3()>& fn_get_field,
                       const btTransform& c_offset) :
                  GetField(fn_get_field),
                  Offset(c_offset) {}
               /* Data */
               std::function<btVector3()> GetField;
               btTransform Offset;
            };
 
            /* Constructor */
            SData(const btTransform& c_start_transform,
                  const btTransform& c_center_of_mass_offset,
                  const btVector3& c_inertia,
                  btScalar f_mass,
                  btScalar f_friction,
                  const std::vector<SDipole>& vec_dipoles = std::vector<SDipole>());
            /* Data */
            btTransform StartTransform;
            btTransform InverseStartTransform;
            btTransform CenterOfMassOffset;
            btTransform InverseCenterOfMassOffset;
            btVector3 Inertia;
            btScalar Mass;
            btScalar Friction;
            std::vector<SDipole> Dipoles;
         };
 
      public:
 
         CAbstractBody(CDynamics3DModel& c_model,
                       SAnchor* ps_anchor,
                       const std::shared_ptr<btCollisionShape>& ptr_shape,
                       const SData& s_data);
 
         virtual ~CAbstractBody() {}
 
         CDynamics3DModel& GetModel();
 
         SAnchor& GetAnchor();
 
         btCollisionShape& GetShape();
 
         const SData& GetData() const;
 
         virtual void Reset() = 0;
 
         virtual void AddToWorld(btMultiBodyDynamicsWorld& c_world) = 0;
 
         virtual void RemoveFromWorld(btMultiBodyDynamicsWorld& c_world) = 0;
 
         virtual void ApplyForce(const btVector3& c_force) = 0;
 
         virtual void ApplyForce(const btVector3& c_force, const btVector3& c_offset) = 0;
 
         virtual void ApplyTorque(const btVector3& c_torque) = 0;
 
         virtual btTransform& GetTransform() = 0;
 
         void UpdateAnchor();
 
      protected:
         /* Link to the model */
         CDynamics3DModel& m_cModel;
         /* Link to the anchor */
         SAnchor* m_psAnchor;
         /* Link to the collision shape */
         std::shared_ptr<btCollisionShape> m_ptrShape;
         /* Data for setting up the body */
         SData m_sData;
      };
 
   public:
 
      CDynamics3DModel(CDynamics3DEngine& c_engine,
                       CComposableEntity& c_entity);
 
      virtual ~CDynamics3DModel() {}
 
      virtual void Reset() = 0;
 
      inline CDynamics3DEngine& GetEngine() {
         return m_cEngine;
      }
 
      inline const CDynamics3DEngine& GetEngine() const {
         return m_cEngine;
      }
 
      inline CComposableEntity& GetComposableEntity() {
         return m_cComposableEntity;
      }
 
      inline const CComposableEntity& GetComposableEntity() const {
         return m_cComposableEntity;
      }
 
      virtual bool IsCollidingWithSomething() const;
 
      virtual void UpdateEntityStatus();
 
      virtual void UpdateFromEntityStatus() {}
 
      std::vector<std::shared_ptr<CAbstractBody> >& GetBodies() {
         return m_vecBodies;
      }
 
      virtual void AddToWorld(btMultiBodyDynamicsWorld& c_world) = 0;
 
      virtual void RemoveFromWorld(btMultiBodyDynamicsWorld& c_world) = 0;
 
   protected:
 
      std::vector<std::shared_ptr<CAbstractBody> > m_vecBodies;
 
   private:
 
      CDynamics3DEngine& m_cEngine;
      CComposableEntity& m_cComposableEntity;
 
   };
   
   /****************************************/
   /****************************************/
 
}
 
#endif