dynamics2d_gripping.h

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#ifndef DYNAMICS2D_GRIPPING_H
#define DYNAMICS2D_GRIPPING_H
 
namespace argos {
   class CDynamics2DEngine;
   class CDynamics2DGripper;
   class CDynamics2DGrippable;
   class CGripperEquippedEntity;
}
 
#include <argos3/plugins/simulator/physics_engines/dynamics2d/chipmunk-physics/include/chipmunk.h>
#include <argos3/plugins/simulator/entities/gripper_equipped_entity.h>
#include <list>
 
namespace argos {
 
   /****************************************/
   /****************************************/
 
   class CDynamics2DGripper {
 
   public:
 
      typedef std::list<CDynamics2DGripper*> TList;
 
   public:
 
      CDynamics2DGripper(CDynamics2DEngine& c_engine,
                         CGripperEquippedEntity& c_gripper_entity,
                         cpShape* pt_gripper_shape);
 
      ~CDynamics2DGripper();
 
      inline bool IsGripping() const {
         return m_pcGrippee != NULL;
      }
 
      inline bool IsLocked() const {
         return m_cGripperEntity.IsLocked();
      }
 
      inline CGripperEquippedEntity& GetGripperEntity() {
         return m_cGripperEntity;
      }
 
      inline cpShape* GripperShape() {
         return m_ptGripperShape;
      }
      
      inline CDynamics2DGrippable* GetGrippee() {
         return m_pcGrippee;
      }
 
      inline cpConstraint* GetConstraint() {
         return m_tConstraint;
      }
 
      Real GetExtension() const;
 
      void CalculateAnchor(cpArbiter* pt_arb);
 
      void Grip(CDynamics2DGrippable* pc_grippee);
 
      void Release();
 
   private:
 
      CDynamics2DEngine&      m_cEngine;
      CGripperEquippedEntity& m_cGripperEntity;
      cpShape*                m_ptGripperShape;
      CDynamics2DGrippable*   m_pcGrippee;
      cpVect                  m_tGrippeeAnchor;
      cpConstraint*           m_tConstraint;
      cpFloat                 m_fRestLength;
 
   };
 
   /****************************************/
   /****************************************/
 
   class CDynamics2DGrippable {
 
   public:
 
      CDynamics2DGrippable(CEmbodiedEntity& c_entity,
                           cpShape* pt_shape);
 
      ~CDynamics2DGrippable();
 
      inline CEmbodiedEntity& GetEmbodiedEntity() {
         return m_cEmbodiedEntity;
      }
 
      inline cpShape* GetShape() {
         return m_ptShape;
      }
 
      inline bool HasGrippers() const {
         return !m_listGrippers.empty();
      }
 
      void Attach(CDynamics2DGripper& c_gripper);
 
      void Remove(CDynamics2DGripper& c_gripper);
 
      void Release(CDynamics2DGripper& c_gripper);
 
      void ReleaseAll();
 
   private:
 
      CEmbodiedEntity&          m_cEmbodiedEntity;
      cpShape*                  m_ptShape;
      CDynamics2DGripper::TList m_listGrippers;
 
   };
 
   /****************************************/
   /****************************************/
 
   extern int BeginCollisionBetweenGripperAndGrippable(cpArbiter* pt_arb,
                                                       cpSpace* pt_space,
                                                       void* p_data);
 
   extern int ManageCollisionBetweenGripperAndGrippable(cpArbiter* pt_arb,
                                                        cpSpace* pt_space,
                                                        void* p_data);
   
   extern void AddConstraintBetweenGripperAndGrippable(cpSpace* pt_space,
                                                       void* p_obj,
                                                       void* p_data);
   
   extern void RemoveConstraintBetweenGripperAndGrippable(cpSpace* pt_space,
                                                          void* p_obj,
                                                          void* p_data);
   
   /****************************************/
   /****************************************/
 
}
 
#endif