RigidRepresentation.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_RIGIDREPRESENTATION_H
#define SURGSIM_PHYSICS_RIGIDREPRESENTATION_H

#include "SurgSim/DataStructures/BufferedValue.h"
#include "SurgSim/Framework/Macros.h"
#include "SurgSim/Framework/ObjectFactory.h"
#include "SurgSim/Math/Vector.h"
#include "SurgSim/Math/Matrix.h"
#include "SurgSim/Physics/RigidRepresentationBase.h"

namespace SurgSim
{

namespace Physics
{
class RigidState;
class Localization;

typedef RigidLocalization RigidLocalization;

SURGSIM_STATIC_REGISTRATION(RigidRepresentation);

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

    virtual ~RigidRepresentation();

    SURGSIM_CLASSNAME(SurgSim::Physics::RigidRepresentation);

    void setLinearVelocity(const SurgSim::Math::Vector3d& linearVelocity);

    void setAngularVelocity(const SurgSim::Math::Vector3d& angularVelocity);

    void addExternalGeneralizedForce(const SurgSim::Math::Vector6d& generalizedForce,
                                     const SurgSim::Math::Matrix66d& K = SurgSim::Math::Matrix66d::Zero(),
                                     const SurgSim::Math::Matrix66d& D = SurgSim::Math::Matrix66d::Zero());

    void addExternalGeneralizedForce(const SurgSim::DataStructures::Location& location,
                                     const SurgSim::Math::Vector6d& generalizedForce,
                                     const SurgSim::Math::Matrix66d& K = SurgSim::Math::Matrix66d::Zero(),
                                     const SurgSim::Math::Matrix66d& D = SurgSim::Math::Matrix66d::Zero());

    SurgSim::DataStructures::BufferedValue<SurgSim::Math::Vector6d>& getExternalGeneralizedForce();

    const SurgSim::Math::Matrix66d& getExternalGeneralizedStiffness() const;

    const SurgSim::Math::Matrix66d& getExternalGeneralizedDamping() const;

    void beforeUpdate(double dt) override;

    void update(double dt) override;

    void afterUpdate(double dt) override;

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

    const SurgSim::Math::Matrix66d& getComplianceMatrix() const;

protected:
    SurgSim::Math::Matrix33d m_globalInertia;
    SurgSim::Math::Matrix33d m_invGlobalInertia;

    SurgSim::Math::Vector3d m_force;
    SurgSim::Math::Vector3d m_torque;

    SurgSim::Math::Matrix66d m_C;

    bool m_hasExternalGeneralizedForce;
    SurgSim::DataStructures::BufferedValue<SurgSim::Math::Vector6d> m_externalGeneralizedForce;
    SurgSim::Math::Matrix66d m_externalGeneralizedStiffness;
    SurgSim::Math::Matrix66d m_externalGeneralizedDamping;

private:
    bool doInitialize() override;

    void computeComplianceMatrix(double dt);

    void updateGlobalInertiaMatrices(const RigidState& state) override;
};

}; // Physics
}; // SurgSim

#endif // SURGSIM_PHYSICS_RIGIDREPRESENTATION_H