RigidRepresentationBase.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_RIGIDREPRESENTATIONBASE_H
#define SURGSIM_PHYSICS_RIGIDREPRESENTATIONBASE_H

#include "SurgSim/DataStructures/Location.h"
#include "SurgSim/Math/Shape.h"
#include "SurgSim/Physics/Representation.h"
#include "SurgSim/Physics/RigidLocalization.h"
#include "SurgSim/Physics/RigidState.h"

namespace SurgSim
{

namespace Collision
{
class Representation;
}

namespace Physics
{

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

    virtual ~RigidRepresentationBase();

    void setInitialState(const RigidState& state);

    void resetState() override;

    const RigidState& getInitialState() const;
    const RigidState& getCurrentState() const;
    const RigidState& getPreviousState() const;

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

    void setDensity(double rho);

    double getDensity() const;

    double getMass() const;

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

    const SurgSim::Math::Matrix33d& getLocalInertia() const;

    void setLinearDamping(double linearDamping);

    double getLinearDamping() const;

    void setAngularDamping(double angularDamping);

    double getAngularDamping() const;

    void setShape(const std::shared_ptr<SurgSim::Math::Shape> shape);

    const std::shared_ptr<SurgSim::Math::Shape> getShape() const;

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

    void beforeUpdate(double dt) override;
    void afterUpdate(double dt) override;

protected:
    bool doInitialize() override;
    bool doWakeUp() override;

    RigidState m_initialState;
    RigidState m_previousState;
    RigidState m_currentState;
    RigidState m_finalState;

    bool m_parametersValid;

    double m_rho;

    double m_mass;

    double m_linearDamping;

    double m_angularDamping;

    SurgSim::Math::Vector3d m_massCenter;

    SurgSim::Math::Matrix33d m_localInertia;

    std::shared_ptr<SurgSim::Math::Shape> m_shape;

    template <class T>
    std::shared_ptr<T> createTypedLocalization(const SurgSim::DataStructures::Location& location);

private:
    void updateProperties();

    virtual void updateGlobalInertiaMatrices(const RigidState& state) = 0;
};

}; // Physics
}; // SurgSim

#include "SurgSim/Physics/RigidRepresentationBase-inl.h"

#endif // SURGSIM_PHYSICS_RIGIDREPRESENTATIONBASE_H