World.hpp

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/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
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 *   https://github.com/dartsim/dart/blob/master/LICENSE
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 *   without modification, are permitted provided that the following
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 *   * This code incorporates portions of Open Dynamics Engine
 *     (Copyright (c) 2001-2004, Russell L. Smith. All rights
 *     reserved.) and portions of FCL (Copyright (c) 2011, Willow
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#ifndef DART_SIMULATION_WORLD_HPP_
#define DART_SIMULATION_WORLD_HPP_
 
#include <set>
#include <string>
#include <vector>
 
#include <Eigen/Dense>
 
#include "dart/collision/CollisionOption.hpp"
#include "dart/common/NameManager.hpp"
#include "dart/common/SmartPointer.hpp"
#include "dart/common/Subject.hpp"
#include "dart/common/Timer.hpp"
#include "dart/constraint/SmartPointer.hpp"
#include "dart/dynamics/SimpleFrame.hpp"
#include "dart/dynamics/Skeleton.hpp"
#include "dart/simulation/Recording.hpp"
#include "dart/simulation/SmartPointer.hpp"
 
namespace dart {
 
namespace integration {
class Integrator;
} // namespace integration
 
namespace dynamics {
class Skeleton;
} // namespace dynamics
 
namespace constraint {
class ConstraintSolver;
} // namespace constraint
 
namespace collision {
class CollisionResult;
} // namespace collision
 
namespace simulation {
 
DART_COMMON_DECLARE_SHARED_WEAK(World)
 
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
class World : public virtual common::Subject
{
public:
  using NameChangedSignal = common::Signal<void(
      const std::string& _oldName, const std::string& _newName)>;
 
  template <typename... Args>
  static WorldPtr create(Args&&... args);
 
  //--------------------------------------------------------------------------
  // Constructor and Destructor
  //--------------------------------------------------------------------------
 
  static std::shared_ptr<World> create(const std::string& name = "world");
 
  World(const std::string& _name = "world");
 
  virtual ~World();
 
  std::shared_ptr<World> clone() const;
 
  //--------------------------------------------------------------------------
  // Properties
  //--------------------------------------------------------------------------
 
  const std::string& setName(const std::string& _newName);
 
  const std::string& getName() const;
 
  void setGravity(const Eigen::Vector3d& _gravity);
 
  const Eigen::Vector3d& getGravity() const;
 
  void setTimeStep(double _timeStep);
 
  double getTimeStep() const;
 
  //--------------------------------------------------------------------------
  // Structural Properties
  //--------------------------------------------------------------------------
 
  dynamics::SkeletonPtr getSkeleton(std::size_t _index) const;
 
  dynamics::SkeletonPtr getSkeleton(const std::string& _name) const;
 
  std::size_t getNumSkeletons() const;
 
  std::string addSkeleton(const dynamics::SkeletonPtr& _skeleton);
 
  void removeSkeleton(const dynamics::SkeletonPtr& _skeleton);
 
  std::set<dynamics::SkeletonPtr> removeAllSkeletons();
 
  bool hasSkeleton(const dynamics::ConstSkeletonPtr& skeleton) const;
 
  bool hasSkeleton(const std::string& skeletonName) const;
 
  int getIndex(int _index) const;
 
  dynamics::SimpleFramePtr getSimpleFrame(std::size_t _index) const;
 
  dynamics::SimpleFramePtr getSimpleFrame(const std::string& _name) const;
 
  std::size_t getNumSimpleFrames() const;
 
  std::string addSimpleFrame(const dynamics::SimpleFramePtr& _frame);
 
  void removeSimpleFrame(const dynamics::SimpleFramePtr& _frame);
 
  std::set<dynamics::SimpleFramePtr> removeAllSimpleFrames();
 
  //--------------------------------------------------------------------------
  // Collision checking
  //--------------------------------------------------------------------------
 
  DART_DEPRECATED(6.0)
  bool checkCollision(bool checkAllCollisions);
 
  bool checkCollision(
      const collision::CollisionOption& option
      = collision::CollisionOption(false, 1u, nullptr),
      collision::CollisionResult* result = nullptr);
 
  const collision::CollisionResult& getLastCollisionResult() const;
 
  //--------------------------------------------------------------------------
  // Simulation
  //--------------------------------------------------------------------------
 
  void reset();
 
  void step(bool _resetCommand = true);
 
  void setTime(double _time);
 
  double getTime() const;
 
  int getSimFrames() const;
 
  //--------------------------------------------------------------------------
  // Constraint
  //--------------------------------------------------------------------------
 
  void setConstraintSolver(constraint::UniqueConstraintSolverPtr solver);
 
  constraint::ConstraintSolver* getConstraintSolver();
 
  const constraint::ConstraintSolver* getConstraintSolver() const;
 
  void bake();
 
  Recording* getRecording();
 
protected:
  void handleSkeletonNameChange(
      const dynamics::ConstMetaSkeletonPtr& _skeleton);
 
  void handleSimpleFrameNameChange(const dynamics::Entity* _entity);
 
  std::string mName;
 
  std::vector<dynamics::SkeletonPtr> mSkeletons;
 
  std::map<dynamics::ConstMetaSkeletonPtr, dynamics::SkeletonPtr>
      mMapForSkeletons;
 
  std::vector<common::Connection> mNameConnectionsForSkeletons;
 
  dart::common::NameManager<dynamics::SkeletonPtr> mNameMgrForSkeletons;
 
  std::vector<dynamics::SimpleFramePtr> mSimpleFrames;
 
  std::vector<common::Connection> mNameConnectionsForSimpleFrames;
 
  std::map<const dynamics::SimpleFrame*, dynamics::SimpleFramePtr>
      mSimpleFrameToShared;
 
  dart::common::NameManager<dynamics::SimpleFramePtr> mNameMgrForSimpleFrames;
 
  std::vector<int> mIndices;
 
  Eigen::Vector3d mGravity;
 
  double mTimeStep;
 
  double mTime;
 
  int mFrame;
 
  std::unique_ptr<constraint::ConstraintSolver> mConstraintSolver;
 
  Recording* mRecording;
 
  //--------------------------------------------------------------------------
  // Signals
  //--------------------------------------------------------------------------
  NameChangedSignal mNameChangedSignal;
 
public:
  //--------------------------------------------------------------------------
  // Slot registers
  //--------------------------------------------------------------------------
  common::SlotRegister<NameChangedSignal> onNameChanged;
};
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
} // namespace simulation
} // namespace dart
 
#include "dart/simulation/detail/World-impl.hpp"
 
#endif // DART_SIMULATION_WORLD_HPP_