ShapeFrameAspect.hpp

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#ifndef DART_DYNAMICS_DETAIL_SHAPEFRAMEASPECT_HPP_
#define DART_DYNAMICS_DETAIL_SHAPEFRAMEASPECT_HPP_

#include <Eigen/Core>

#include "dart/common/EmbeddedAspect.hpp"
#include "dart/dynamics/SmartPointer.hpp"

namespace dart {
namespace dynamics {

class VisualAspect;
class CollisionAspect;
class DynamicsAspect;
class ShapeFrame;

namespace detail {

struct VisualAspectProperties
{
  Eigen::Vector4d mRGBA;

  bool mUseDefaultColor;

  bool mHidden;

  bool mShadowed;

  VisualAspectProperties(
      const Eigen::Vector4d& color = Eigen::Vector4d(0.5, 0.5, 1.0, 1.0),
      const bool hidden = false,
      const bool shadowed = true);

  virtual ~VisualAspectProperties() = default;

  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

struct CollisionAspectProperties
{
  bool mCollidable;

  CollisionAspectProperties(const bool collidable = true);

  virtual ~CollisionAspectProperties() = default;
};

struct DynamicsAspectProperties
{
  double mFrictionCoeff;

  double mRestitutionCoeff;

  double mSecondaryFrictionCoeff;

  double mPrimarySlipCompliance;

  double mSecondarySlipCompliance;

  Eigen::Vector3d mFirstFrictionDirection;

  const Frame* mFirstFrictionDirectionFrame;

  DynamicsAspectProperties(
      const double frictionCoeff = 1.0, const double restitutionCoeff = 0.0);

  DynamicsAspectProperties(
      const double primaryFrictionCoeff,
      const double secondaryFrictionCoeff,
      const double restitutionCoeff,
      const double primarySlipCompliance = -1.0,
      const double secondarySlipCompliance = -1.0,
      const Eigen::Vector3d& firstFrictionDirection = Eigen::Vector3d::Zero(),
      const Frame* firstFrictionDirectionFrame = nullptr);

  virtual ~DynamicsAspectProperties() = default;
};

struct ShapeFrameProperties
{
  ShapePtr mShape;

  ShapeFrameProperties(const ShapePtr& shape = nullptr);

  virtual ~ShapeFrameProperties() = default;
};

using ShapeFrameCompositeBase = common::EmbedPropertiesOnTopOf<
    ShapeFrame,
    ShapeFrameProperties,
    common::
        SpecializedForAspect<VisualAspect, CollisionAspect, DynamicsAspect> >;

} // namespace detail
} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_DETAIL_SHAPEFRAMEASPECT_HPP_