Representation.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013, 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_REPRESENTATION_H
#define SURGSIM_PHYSICS_REPRESENTATION_H

#include <string>
#include <typeindex>

#include "SurgSim/Framework/Representation.h"
#include "SurgSim/Math/Vector.h"
#include "SurgSim/Physics/ConstraintType.h"

namespace SurgSim
{

namespace DataStructures
{
struct Location;
}

namespace Framework
{
class Logger;
}

namespace Collision
{
class Representation;
}

namespace Physics
{

class Constraint;
class ConstraintData;
class ConstraintImplementation;
class Localization;

class Representation : public SurgSim::Framework::Representation
{
public:
    explicit Representation(const std::string& name);

    virtual ~Representation();

    virtual void resetState();

    size_t getNumDof() const;

    void setIsGravityEnabled(bool isGravityEnabled);

    bool isGravityEnabled() const;

    void setIsDrivingSceneElementPose(bool isDrivingSceneElementPose);

    bool isDrivingSceneElementPose();

    virtual void beforeUpdate(double dt);

    virtual void update(double dt);

    virtual void afterUpdate(double dt);

    virtual std::shared_ptr<Localization> createLocalization(const SurgSim::DataStructures::Location& location);

    virtual void applyCorrection(double dt, const Eigen::VectorBlock<SurgSim::Math::Vector>& deltaVelocity);

    std::shared_ptr<SurgSim::Collision::Representation> getCollisionRepresentation() const;

    virtual void setCollisionRepresentation(std::shared_ptr<SurgSim::Collision::Representation> representation);

    std::shared_ptr<ConstraintImplementation> getConstraintImplementation(SurgSim::Physics::ConstraintType type);

protected:
    void setNumDof(size_t numDof);

    const SurgSim::Math::Vector3d& getGravity() const;

    std::shared_ptr<SurgSim::Collision::Representation> m_collisionRepresentation;

    void driveSceneElementPose(const SurgSim::Math::RigidTransform3d& pose);

    std::shared_ptr<SurgSim::Framework::Logger> m_logger;

private:
    Representation(const Representation&);

    Representation& operator =(const Representation&);

    const SurgSim::Math::Vector3d m_gravity;

    size_t m_numDof;

    bool m_isGravityEnabled;

    bool m_isDrivingSceneElementPose;
};

};  // namespace Physics

};  // namespace SurgSim

#endif  // SURGSIM_PHYSICS_REPRESENTATION_H