ImpulseContactSimulator.h

/****************************************************************************
 * Copyright 2007 Evan Drumwright
 * This library is distributed under the terms of the GNU General Public 
 * License (found in COPYING).
 ****************************************************************************/

#ifndef _IMPULSE_CONTACT_SIMULATOR_H
#define _IMPULSE_CONTACT_SIMULATOR_H

#include <map>
#include <Physsim/sorted_pair>
#include <Physsim/Simulator.h>
#include <Physsim/CollisionMethod.h>
#include <Physsim/ContactData.h>
#include <Physsim/RestingContactMethod.h>

namespace Physsim {

struct ICSMinimalStateStruct;
class Contact;
class CollisionDetection;
class CollisionGeometry;
class RigidBody;
class ArticulatedBody;


class ImpulseContactSimulator : public Simulator
{
        public:
                ImpulseContactSimulator();
                virtual ~ImpulseContactSimulator() {}
                virtual void determine_external_forces();
                CollisionGeometryPtr find_collision_geometry(const std::string& name) const;
                virtual void clone(BasePtr& cloned, bimap<BasePtr, BasePtr>* object_map = NULL) const;
                virtual bool is_struct_identical(BaseConstPtr object) const;
                virtual void load_state(BaseConstPtr object, bimap<BasePtr, BasePtr>* object_map = NULL);
                virtual void save_state(BasePtr object, bimap<BasePtr, BasePtr>* object_map = NULL) const;
                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 void output_object_state(std::ostream& out) const;

                const std::map<sorted_pair<BasePtr>, boost::shared_ptr<ContactData> >& get_contact_data() const { return _contact_data; }

                const std::list<ContactPtr>& get_contacts() const { return _contacts; }

                void clear_contact_data() { _contact_data.clear(); }

                void add_contact_data(boost::shared_ptr<ContactData> cd) { _contact_data[cd->objects] = cd ; }
                        
                boost::shared_ptr<CollisionDetection> get_collision_detection() { return _coll_det; }

                void set_collision_detection(boost::shared_ptr<CollisionDetection> colldet) { _coll_det = colldet; }


                virtual Real step(Real step_size);

                void set_callback_function(void (*fn)(ContactPtr)) { _callback_fn = fn; }
                        
                void (*get_callback_function())(ContactPtr) { return _callback_fn; }

                Real get_collision_tolerance() const { return _collision_tolerance; }
                
                void set_collision_tolerance(Real collision_tolerance) { assert(collision_tolerance >= 0); _collision_tolerance = collision_tolerance; }

        protected:
                void preprocess_contact(ContactPtr contact) const;
                boost::shared_ptr<ContactData> get_contact_data(CollisionGeometryPtr g1, boost::shared_ptr<CollisionGeometry> g2) const;
                bool impact_contact(boost::shared_ptr<ICSMinimalStateStruct> state_t0, boost::shared_ptr<ICSMinimalStateStruct> state_tf);
                void regress_to_first_TOI(boost::shared_ptr<ICSMinimalStateStruct> state_t0, boost::shared_ptr<ICSMinimalStateStruct> state_tf, Real tolerance);
                static void* find_contact(void* arg);
                boost::shared_ptr<ICSMinimalStateStruct> clone_minimal() const;
                void load_state_minimal(boost::shared_ptr<ICSMinimalStateStruct> mss);
                void update_contacts();

                std::list<ContactPtr> _contacts;
                Real _collision_tolerance;
                std::map<sorted_pair<BasePtr>, boost::shared_ptr<ContactData> > _contact_data;
                boost::shared_ptr<CollisionDetection> _coll_det;
                void (*_callback_fn)(ContactPtr);
};

} // end namespace Physsim

#endif

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