ShapeFrameAspect.hpp

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#ifndef DART_DYNAMICS_DETAIL_SHAPEFRAMEASPECT_HPP_
#define DART_DYNAMICS_DETAIL_SHAPEFRAMEASPECT_HPP_
 
#include <Eigen/Core>
 
#include "dart/common/EmbeddedAspect.hpp"
#include "dart/dynamics/SmartPointer.hpp"
 
namespace dart {
namespace dynamics {
 
class VisualAspect;
class CollisionAspect;
class DynamicsAspect;
class ShapeFrame;
 
namespace detail {
 
struct VisualAspectProperties
{
  Eigen::Vector4d mRGBA;
 
  bool mUseDefaultColor;
 
  bool mHidden;
 
  bool mShadowed;
 
  VisualAspectProperties(
      const Eigen::Vector4d& color = Eigen::Vector4d(0.5, 0.5, 1.0, 1.0),
      const bool hidden = false,
      const bool shadowed = true);
 
  virtual ~VisualAspectProperties() = default;
 
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
struct CollisionAspectProperties
{
  bool mCollidable;
 
  CollisionAspectProperties(const bool collidable = true);
 
  virtual ~CollisionAspectProperties() = default;
};
 
struct DynamicsAspectProperties
{
  double mFrictionCoeff;
 
  double mRestitutionCoeff;
 
  double mSecondaryFrictionCoeff;
 
  double mPrimarySlipCompliance;
 
  double mSecondarySlipCompliance;
 
  Eigen::Vector3d mFirstFrictionDirection;
 
  const Frame* mFirstFrictionDirectionFrame;
 
  DynamicsAspectProperties(
      const double frictionCoeff = 1.0, const double restitutionCoeff = 0.0);
 
  DynamicsAspectProperties(
      const double primaryFrictionCoeff,
      const double secondaryFrictionCoeff,
      const double restitutionCoeff,
      const double primarySlipCompliance = -1.0,
      const double secondarySlipCompliance = -1.0,
      const Eigen::Vector3d& firstFrictionDirection = Eigen::Vector3d::Zero(),
      const Frame* firstFrictionDirectionFrame = nullptr);
 
  virtual ~DynamicsAspectProperties() = default;
};
 
struct ShapeFrameProperties
{
  ShapePtr mShape;
 
  ShapeFrameProperties(const ShapePtr& shape = nullptr);
 
  virtual ~ShapeFrameProperties() = default;
};
 
using ShapeFrameCompositeBase = common::EmbedPropertiesOnTopOf<
    ShapeFrame,
    ShapeFrameProperties,
    common::
        SpecializedForAspect<VisualAspect, CollisionAspect, DynamicsAspect> >;
 
} // namespace detail
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_DETAIL_SHAPEFRAMEASPECT_HPP_