PhysicsManager.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013-2015, SimQuest Solutions Inc.
//
// 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 SURGSIM_PHYSICS_PHYSICSMANAGER_H
#define SURGSIM_PHYSICS_PHYSICSMANAGER_H

#include <boost/thread/mutex.hpp>

#include <list>
#include <memory>
#include <vector>

#include "SurgSim/Framework/ComponentManager.h"
#include "SurgSim/Framework/LockedContainer.h"
#include "SurgSim/Physics/PhysicsManagerState.h"


namespace SurgSim
{

namespace Collision
{
class CollisionPair;
class Representation;
class ContactFilter;
}

namespace Framework
{
class Component;
}

namespace Particles
{
class Representation;
}

namespace Physics
{

class Computation;

class PhysicsManager : public SurgSim::Framework::ComponentManager
{
public:

    PhysicsManager();
    virtual ~PhysicsManager();

    int getType() const override;

    friend class PhysicsManagerTest;

    void getFinalState(SurgSim::Physics::PhysicsManagerState* s) const;

    void addComputation(std::shared_ptr<SurgSim::Physics::Computation> computation);

    void setComputations(std::vector<std::shared_ptr<Physics::Computation>> computations);

protected:
    bool executeAdditions(const std::shared_ptr<SurgSim::Framework::Component>& component) override;

    bool executeRemovals(const std::shared_ptr<SurgSim::Framework::Component>& component) override;

    bool doInitialize() override;

    bool doStartUp() override;

    bool doUpdate(double dt) override;

    void doBeforeStop() override;

    std::vector<std::shared_ptr<Representation>> m_representations;

    std::vector<std::shared_ptr<Collision::Representation>> m_collisionRepresentations;

    std::vector<std::shared_ptr<Collision::ContactFilter>> m_contactFilters;

    std::vector<std::shared_ptr<Particles::Representation>> m_particleRepresentations;

    std::vector<std::shared_ptr<ConstraintComponent>> m_constraintComponents;


    std::vector<std::shared_ptr<SurgSim::Physics::Computation>> m_computations;

    SurgSim::Framework::LockedContainer<SurgSim::Physics::PhysicsManagerState> m_finalState;
};

std::vector<std::shared_ptr<Physics::Computation>> createDcdPipeline(bool copyState = false);

std::vector<std::shared_ptr<Physics::Computation>> createCcdPipeline(bool copyState = false);
}; // namespace Physics
}; // namespace SurgSim

#endif