ContactData.h

/****************************************************************************
 * Copyright 2006 Evan Drumwright
 * This library is distributed under the terms of the GNU General Public 
 * License (found in COPYING).
 ****************************************************************************/

#ifndef _CONTACT_DATA_H
#define _CONTACT_DATA_H

#include <Physsim/sorted_pair>
#include <Physsim/Base.h>

namespace Physsim {

class RestingContactMethod;
class CollisionMethod;


class ContactData : public Base
{
        public:
                ContactData();
                ContactData(BasePtr o1, BasePtr o2);
                virtual void load_from_xml(XMLTreeConstPtr node, std::map<std::string, BasePtr>& id_map);
                virtual void save_to_xml(XMLTreePtr node, std::list<BaseConstPtr>& shared_objects) const;
                virtual bool is_struct_identical(BaseConstPtr object) const;
                virtual void clone(BasePtr& cloned, bimap<BasePtr, BasePtr>* obj_map = NULL) const;
                virtual void load_state(BaseConstPtr object, bimap<BasePtr, BasePtr>* correspondence = NULL);
                virtual void save_state(BasePtr object, bimap<BasePtr, BasePtr>* correspondence = NULL) const;

                void set_penalty_gains(Real kp, Real kv, Real ki) { assert(kp >= 0.0 && kv >= 0.0 && ki >= 0.0); _kp = kp; _kv = kv; _ki = ki; }

                void set_static_friction_gains(Real kp_static, Real kv_static) { assert(kp_static >= 0.0 && kv_static >= 0.0); _kp_static = kp_static; _kv_static = kv_static; }

                void set_restitution(Real restitution) { assert(restitution >= 0.0 && restitution <= 1.0); _restitution = restitution; }
                
                void set_mu_coulomb(Real mu) { assert(mu >= 0.0); _mu_coulomb = mu; }
                
                void set_mu_viscous(Real mu) { assert(mu >= 0.0); _mu_viscous = mu; }
        

                void set_num_samples(unsigned num_samples) { _num_samples = num_samples; }


                void set_static_friction_velocity_thresh(Real thresh) { assert(thresh >= 0.0); _fs_velocity_thresh = thresh; }
                
                void set_resting_contact_method(boost::shared_ptr<RestingContactMethod> rcm) { _rcm = rcm; }

                void set_collision_method(boost::shared_ptr<CollisionMethod> cm) { _cm = cm; }
        
                Real get_kp() const { return _kp; }

                Real get_kv() const { return _kv; }
                
                Real get_ki() const { return _ki; }
 
                Real get_kp_static() const { return _kp_static; } 

                Real get_kv_static() const { return _kv_static; } 


                Real get_static_friction_velocity_thresh() const { return _fs_velocity_thresh; }
        
                Real get_restitution() const { return _restitution; }
                
                Real get_mu_coulomb() const { return _mu_coulomb; }

                Real get_mu_viscous() const { return _mu_viscous; }


                unsigned get_num_samples() const { return _num_samples; }
                
                boost::shared_ptr<RestingContactMethod> get_resting_contact_method() const { return _rcm; }

                boost::shared_ptr<CollisionMethod> get_collision_method() const { return _cm; }

                sorted_pair<BasePtr> objects;


                bool operator==(const ContactData& cd) const { return objects == cd.objects; }


                bool operator<(const ContactData& cd) const { return objects < cd.objects; }
                
        private:
                Real _fs_velocity_thresh;

                unsigned _num_samples;

                Real _kp;
        
                Real _kv;
        
                Real _ki;

                Real _kp_static;

                Real _kv_static;                

                Real _restitution;
                
                Real _mu_coulomb;
                
                Real _mu_viscous;

                boost::shared_ptr<RestingContactMethod> _rcm;

                boost::shared_ptr<CollisionMethod> _cm;
}; // end class

} // end namespace Physsim

#endif

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