ShapeFrame.hpp

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#ifndef DART_DYNAMICS_SHAPEFRAME_HPP_
#define DART_DYNAMICS_SHAPEFRAME_HPP_
 
#include <Eigen/Dense>
 
#include "dart/common/AspectWithVersion.hpp"
#include "dart/common/Signal.hpp"
#include "dart/common/SpecializedForAspect.hpp"
#include "dart/dynamics/EllipsoidShape.hpp"
#include "dart/dynamics/FixedFrame.hpp"
#include "dart/dynamics/TemplatedJacobianNode.hpp"
#include "dart/dynamics/detail/ShapeFrameAspect.hpp"
 
namespace dart {
namespace dynamics {
 
//==============================================================================
class VisualAspect final : public common::AspectWithVersionedProperties<
                               VisualAspect,
                               detail::VisualAspectProperties,
                               ShapeFrame>
{
public:
  using Base = common::AspectWithVersionedProperties<
      VisualAspect,
      detail::VisualAspectProperties,
      ShapeFrame>;
 
  VisualAspect(const PropertiesData& properties = PropertiesData());
 
  VisualAspect(const VisualAspect&) = delete;
 
  void setRGBA(const Eigen::Vector4d& color);
 
  DART_COMMON_GET_ASPECT_PROPERTY(Eigen::Vector4d, RGBA)
  // const Eigen::Vector4d& getRGBA() const;
 
  DART_COMMON_SET_GET_ASPECT_PROPERTY(bool, Hidden)
  // void setHidden(const bool& value);
  // const bool& getHidden() const;
 
  DART_COMMON_SET_GET_ASPECT_PROPERTY(bool, Shadowed)
  // void setShadowed(const bool& value);
  // const bool& getShadowed() const;
 
  void setColor(const Eigen::Vector3d& color);
 
  void setColor(const Eigen::Vector4d& color);
 
  void setRGB(const Eigen::Vector3d& rgb);
 
  void setAlpha(const double alpha);
 
  Eigen::Vector3d getColor() const;
 
  Eigen::Vector3d getRGB() const;
 
  double getAlpha() const;
 
  void hide();
 
  void show();
 
  bool isHidden() const;
};
 
//==============================================================================
class CollisionAspect final : public common::AspectWithVersionedProperties<
                                  CollisionAspect,
                                  detail::CollisionAspectProperties,
                                  ShapeFrame>
{
public:
  CollisionAspect(const CollisionAspect&) = delete;
  CollisionAspect(const PropertiesData& properties = PropertiesData());
 
  DART_COMMON_SET_GET_ASPECT_PROPERTY(bool, Collidable)
  // void setCollidable(const bool& value);
  // const bool& getCollidable() const;
 
  
  bool isCollidable() const;
};
 
//==============================================================================
class DynamicsAspect final : public common::AspectWithVersionedProperties<
                                 DynamicsAspect,
                                 detail::DynamicsAspectProperties,
                                 ShapeFrame>
{
public:
  using Base = common::AspectWithVersionedProperties<
      DynamicsAspect,
      detail::DynamicsAspectProperties,
      ShapeFrame>;
 
  DynamicsAspect(const DynamicsAspect&) = delete;
 
  DynamicsAspect(const PropertiesData& properties = PropertiesData());
 
  void setFrictionCoeff(const double& value);
  double getFrictionCoeff() const;
 
  // DART_COMMON_SET_GET_ASPECT_PROPERTY(double, PrimaryFrictionCoeff)
  void setPrimaryFrictionCoeff(const double& value);
  const double& getPrimaryFrictionCoeff() const;
 
  DART_COMMON_SET_GET_ASPECT_PROPERTY(double, SecondaryFrictionCoeff)
  // void setSecondaryFrictionCoeff(const double& value);
  // const double& getSecondaryFrictionCoeff() const;
  DART_COMMON_SET_GET_ASPECT_PROPERTY(double, RestitutionCoeff)
  // void setRestitutionCoeff(const double& value);
  // const double& getRestitutionCoeff() const;
 
  DART_COMMON_SET_GET_ASPECT_PROPERTY(double, PrimarySlipCompliance)
  // void sePrimarytSlipCompliance(const double& value);
  // const double& getPrimarySlipCompliance() const;
  DART_COMMON_SET_GET_ASPECT_PROPERTY(double, SecondarySlipCompliance)
  // void setSecondarySlipCompliance(const double& value);
  // const double& getSecondarySlipCompliance() const;
 
  void setFirstFrictionDirectionFrame(const Frame* value);
 
  const Frame* getFirstFrictionDirectionFrame() const;
 
  DART_COMMON_SET_GET_ASPECT_PROPERTY(Eigen::Vector3d, FirstFrictionDirection)
  // void setFirstFrictionDirection(const Eigen::Vector3d& value);
  // const Eigen::Vector3d& getFirstFrictionDirection() const;
};
 
//==============================================================================
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
class ShapeFrame : public virtual common::VersionCounter,
                   public detail::ShapeFrameCompositeBase,
                   public virtual Frame
{
public:
  friend class BodyNode;
 
  using ShapeUpdatedSignal = common::Signal<void(
      const ShapeFrame* thisShapeFrame,
      const ShapePtr& oldShape,
      const ShapePtr& newShape)>;
 
  using RelativeTransformUpdatedSignal = common::Signal<void(
      const ShapeFrame* thisShapeFrame,
      const Eigen::Isometry3d& oldTransform,
      const Eigen::Isometry3d& newTransform)>;
 
  using UniqueProperties = AspectProperties;
  using Properties = UniqueProperties;
 
  virtual ~ShapeFrame() override;
 
  void setProperties(const UniqueProperties& properties);
 
  void setAspectProperties(const AspectProperties& properties);
 
  const AspectProperties& getAspectProperties() const;
 
  void setShape(const ShapePtr& shape);
 
  ShapePtr getShape();
 
  ConstShapePtr getShape() const;
 
  DART_BAKE_SPECIALIZED_ASPECT(VisualAspect)
 
  DART_BAKE_SPECIALIZED_ASPECT(CollisionAspect)
 
  DART_BAKE_SPECIALIZED_ASPECT(DynamicsAspect)
 
  // Documentation inherited
  ShapeFrame* asShapeFrame() override;
 
  // Documentation inherited
  const ShapeFrame* asShapeFrame() const override;
 
  bool isShapeNode() const;
 
  virtual ShapeNode* asShapeNode();
 
  virtual const ShapeNode* asShapeNode() const;
 
protected:
  ShapeFrame(Frame* parent, const Properties& properties);
 
  ShapeFrame(Frame* parent, const ShapePtr& shape = nullptr);
 
  ShapeFrame(const std::tuple<Frame*, Properties>& args);
 
  bool mAmShapeNode;
 
  ShapeUpdatedSignal mShapeUpdatedSignal;
 
  RelativeTransformUpdatedSignal mRelativeTransformUpdatedSignal;
 
  common::Connection mConnectionForShapeVersionChange;
 
public:
  common::SlotRegister<ShapeUpdatedSignal> onShapeUpdated;
 
  common::SlotRegister<RelativeTransformUpdatedSignal>
      onRelativeTransformUpdated;
};
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_SHAPEFRAME_HPP_