osaODEWorld.h

Go to the documentation of this file.

/*

  Author(s): Simon Leonard
  Created on: Nov 11 2009

  (C) Copyright 2008 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/

#ifndef _osaODEWorld_h
#define _osaODEWorld_h

#include <ode/ode.h>

#include <cisstVector/vctFixedSizeVector.h>
#include <cisstOSAbstraction/osaMutex.h>

#include <sawOpenSceneGraph/osaOSGWorld.h>

#include <sawOpenDynamicsEngine/osaODEBody.h>
#include <sawOpenDynamicsEngine/sawOpenDynamicsEngineExport.h>

struct CISST_EXPORT osaODEContact{
  
  osaODEBody* body1;
  osaODEBody* body2;
  vctFixedSizeVector<double,3> position;
  vctFixedSizeVector<double,3> normal;
  double depth;
  
  osaODEContact();

  osaODEContact( osaODEBody* b1, 
           osaODEBody* b2,
           const vctFixedSizeVector<double,3>& pos,
           const vctFixedSizeVector<double,3>& n,
           double d );
  /*
  friend std::ostream& operator<<( std::ostream& os, const osaODEContact& c ){
    os << "Body1:    " << c.body1->GetName() << std::endl
       << "Body2:    " << c.body2->GetName() << std::endl
       << "Position: " << c.position << std::endl
       << "Normal:   " << c.normal << std::endl
       << "Depth:    " << c.depth;
    return os;
  }
  */  
};

class CISST_EXPORT osaODEWorld : public osaOSGWorld {

 private:
  
  double timestep;
  
  std::list<osaODEContact> contacts;


  dWorldID worldid;
  

  dSpaceID spaceid;

  dGeomID floor;
  

  dJointGroupID contactsgid;


  dJointGroupID GetGroupID() const { return contactsgid; }


  static const size_t NUM_CONTACTS = 50;

 protected:
  
  static const vctFixedSizeVector<double,3> GRAVITY;

  double contacterp;
  double contactbounce;
  double mu;
  double surfacelayer;

 public:


  osaODEWorld( double period,
         const vctFixedSizeVector<double,3>& gravity = GRAVITY );
  
  ~osaODEWorld();

  dWorldID GetWorldID() const { return worldid; }

  dSpaceID GetSpaceID() const { return spaceid; }

  double GetTimeStep() const { return timestep; }

  void SetGravity( const vctFixedSizeVector<double,3>& g = GRAVITY )
  { dWorldSetGravity( GetWorldID(), g[0], g[1], g[2] ); }

  void SetERP( double erp )
  { dWorldSetERP( GetWorldID(), erp ); }

  void SetCFM( double cfm )
  { dWorldSetCFM( GetWorldID(), cfm ); }

  void SetContactMaxCorrectingVel( double cmcv )
  { dWorldSetContactMaxCorrectingVel( GetWorldID(), cmcv ); }


  void Collision( dGeomID o1, dGeomID o2 );
  
  void Step();
  
  std::list< osaODEContact > GetContacts();

  void SetContactERP( double erp ){ contacterp = erp; }
  void SetContactBouncing( double cb ){ contactbounce = cb; }
  void SetContactFriction( double mu ){ this->mu = mu; }
  void SetContactSurfaceLayer( double sl )
  { dWorldSetContactSurfaceLayer( GetWorldID(), sl ); }


};

#endif