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/*
* Copyright 2020 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef SDF_SURFACE_HH_
#define SDF_SURFACE_HH_
#include "sdf/Element.hh"
#include "sdf/Types.hh"
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"
namespace sdf
{
// Inline bracket to help doxygen filtering.
inline namespace SDF_VERSION_NAMESPACE {
//
// Forward declaration.
class ContactPrivate;
class SurfacePrivate;
/// \brief Contact information for a surface.
class SDFORMAT_VISIBLE Contact
{
/// \brief Default constructor
public: Contact();
/// \brief Copy constructor
/// \param[in] _contact Contact to copy.
public: Contact(const Contact &_contact);
/// \brief Move constructor
/// \param[in] _contact Contact to move.
public: Contact(Contact &&_contact) noexcept;
/// \brief Move assignment operator.
/// \param[in] _contact Contact to move.
/// \return Reference to this.
public: Contact &operator=(Contact &&_contact);
/// \brief Copy assignment operator.
/// \param[in] _contact Contact to copy.
/// \return Reference to this.
public: Contact &operator=(const Contact &_contact);
/// \brief Destructor
public: ~Contact();
/// \brief Load the contact based on a element pointer. This is *not* the
/// usual entry point. Typical usage of the SDF DOM is through the Root
/// object.
/// \param[in] _sdf The SDF Element pointer
/// \return Errors, which is a vector of Error objects. Each Error includes
/// an error code and message. An empty vector indicates no error.
public: Errors Load(ElementPtr _sdf);
/// \brief Get a pointer to the SDF element that was used during
/// load.
/// \return SDF element pointer. The value will be nullptr if Load has
/// not been called.
public: sdf::ElementPtr Element() const;
/// \brief Get the collide bitmask parameter.
/// \return The collide bitmask parameter.
public: uint16_t CollideBitmask() const;
/// \brief Set the collide bitmask parameter.
public: void SetCollideBitmask(const uint16_t _bitmask);
/// \brief Private data pointer.
private: ContactPrivate *dataPtr;
};
/// \brief Surface information for a collision.
class SDFORMAT_VISIBLE Surface
{
/// \brief Default constructor
public: Surface();
/// \brief Copy constructor
/// \param[in] _surface Surface to copy.
public: Surface(const Surface &_surface);
/// \brief Move constructor
/// \param[in] _surface Surface to move.
public: Surface(Surface &&_surface) noexcept;
/// \brief Move assignment operator.
/// \param[in] _surface Surface to move.
/// \return Reference to this.
public: Surface &operator=(Surface &&_surface);
/// \brief Copy assignment operator.
/// \param[in] _surface Surface to copy.
/// \return Reference to this.
public: Surface &operator=(const Surface &_surface);
/// \brief Destructor
public: ~Surface();
/// \brief Load the surface based on a element pointer. This is *not* the
/// usual entry point. Typical usage of the SDF DOM is through the Root
/// object.
/// \param[in] _sdf The SDF Element pointer
/// \return Errors, which is a vector of Error objects. Each Error includes
/// an error code and message. An empty vector indicates no error.
public: Errors Load(ElementPtr _sdf);
/// \brief Get a pointer to the SDF element that was used during
/// load.
/// \return SDF element pointer. The value will be nullptr if Load has
/// not been called.
public: sdf::ElementPtr Element() const;
/// \brief Get the associated contact object
/// \returns Pointer to the associated Contact object,
/// nullptr if the Surface doesn't contain a Contact element.
public: sdf::Contact *Contact() const;
/// \brief Set the associated contact object.
/// \param[in] _cont The contact object.
public: void SetContact(const sdf::Contact &_contact);
/// \brief Private data pointer.
private: SurfacePrivate *dataPtr;
};
}
}
#endif
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