Contact.h

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#ifndef SimTK_SIMMATH_CONTACT_H_
#define SimTK_SIMMATH_CONTACT_H_

/* -------------------------------------------------------------------------- *
 *                        Simbody(tm): SimTKmath                              *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK biosimulation toolkit originating from           *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
 *                                                                            *
 * Portions copyright (c) 2008-12 Stanford University and the Authors.        *
 * Authors: Peter Eastman, Michael Sherman                                    *
 * Contributors:                                                              *
 *                                                                            *
 * 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.                                             *
 * -------------------------------------------------------------------------- */

#include "SimTKcommon.h"
#include "simmath/internal/common.h"

#include <set>

namespace SimTK {


SimTK_DEFINE_UNIQUE_INDEX_TYPE(ContactSurfaceIndex);

SimTK_DEFINE_UNIQUE_INDEX_TYPE(ContactId);

SimTK_DEFINE_UNIQUE_INDEX_TYPE(ContactTypeId);


class ContactImpl;
class UntrackedContactImpl;
class BrokenContactImpl;
class CircularPointContactImpl;
class EllipticalPointContactImpl;
class BrickHalfSpaceContactImpl;
class TriangleMeshContactImpl;

class PointContactImpl; // deprecated


//==============================================================================
//                                CONTACT
//==============================================================================
class SimTK_SIMMATH_EXPORT Contact {
public:
    enum Condition {
        Unknown,    
        Untracked,  
        Anticipated,
        NewContact, 
        Ongoing,    
        Broken      
    };
    static const char* nameOfCondition(Condition);

    Contact() : impl(0) {}
    Contact(const Contact& source);
    ~Contact() {clear();}
    Contact& operator=(const Contact& source);
    void clear();
    bool isEmpty() const {return impl==0;}

    ContactId getContactId() const;
    Condition getCondition() const;
    ContactSurfaceIndex getSurface1() const;
    ContactSurfaceIndex getSurface2() const;
    const Transform& getTransform() const;

    Contact& setContactId(ContactId id);
    Contact& setCondition(Condition condition);
    Contact& setSurfaces(ContactSurfaceIndex surf1, ContactSurfaceIndex surf2);
    Contact& setTransform(const Transform& X_S1S2);

    ContactTypeId getTypeId() const;

    static ContactId createNewContactId();

    const ContactImpl& getImpl() const {assert(impl); return *impl;}
    ContactImpl&       updImpl()       {assert(impl); return *impl;}
protected:
    explicit Contact(ContactImpl* impl);
private:
    ContactImpl* impl;
};

inline std::ostream& operator<<(std::ostream& o, const Contact& c) {
    o << "Contact id=" << c.getContactId() 
                       << " (typeId=" << c.getTypeId() << "):\n";
    o << "  surf1,surf2=" << c.getSurface1() << ","
                          << c.getSurface2() << "\n";
    o << "  condition=" << Contact::nameOfCondition(c.getCondition()) << "\n";
    return o;
}



//==============================================================================
//                            UNTRACKED CONTACT
//==============================================================================
class SimTK_SIMMATH_EXPORT UntrackedContact : public Contact {
public:
    UntrackedContact() {}
    UntrackedContact(ContactSurfaceIndex surf1, ContactSurfaceIndex surf2); 

    static bool isInstance(const Contact& contact);
    static ContactTypeId classTypeId();

private:
    const UntrackedContactImpl& getImpl() const 
    {   assert(isInstance(*this)); 
        return reinterpret_cast<const UntrackedContactImpl&>
                    (Contact::getImpl()); }
};



//==============================================================================
//                            BROKEN CONTACT
//==============================================================================
class SimTK_SIMMATH_EXPORT BrokenContact : public Contact {
public:
    BrokenContact(ContactSurfaceIndex surf1, ContactSurfaceIndex surf2,
                  const Transform& X_S1S2, Real separation); 

    Real getSeparation() const;

    static bool isInstance(const Contact& contact);
    static ContactTypeId classTypeId();

private:
    const BrokenContactImpl& getImpl() const 
    {   assert(isInstance(*this)); 
        return reinterpret_cast<const BrokenContactImpl&>(Contact::getImpl()); }
};



//==============================================================================
//                           CIRCULAR POINT CONTACT
//==============================================================================
class SimTK_SIMMATH_EXPORT CircularPointContact : public Contact {
public:
    CircularPointContact
       (ContactSurfaceIndex surf1, Real radius1, 
        ContactSurfaceIndex surf2, Real radius2, 
        const Transform& X_S1S2, Real radius, Real depth, 
        const Vec3& origin_S1, const UnitVec3& normal_S1);

    Real getRadius1() const;
    Real getRadius2() const;
    Real getEffectiveRadius() const;
    Real getDepth() const;
    const Vec3& getOrigin() const;
    const UnitVec3& getNormal() const;

    static bool isInstance(const Contact& contact);
    static const CircularPointContact& getAs(const Contact& contact)
    {   assert(isInstance(contact)); 
        return static_cast<const CircularPointContact&>(contact); }
    static CircularPointContact& updAs(Contact& contact)
    {   assert(isInstance(contact)); 
        return static_cast<CircularPointContact&>(contact); }

    static ContactTypeId classTypeId();

private:
    const CircularPointContactImpl& getImpl() const 
    {   assert(isInstance(*this)); 
        return reinterpret_cast<const CircularPointContactImpl&>
                    (Contact::getImpl()); }
};



//==============================================================================
//                           ELLIPTICAL POINT CONTACT
//==============================================================================
class SimTK_SIMMATH_EXPORT EllipticalPointContact : public Contact {
public:
    EllipticalPointContact
       (ContactSurfaceIndex surf1, ContactSurfaceIndex surf2,
        const Transform& X_S1S2, 
        const Transform& X_S1C, const Vec2& k, Real depth); 

    const Vec2& getCurvatures() const;
    const Transform& getContactFrame() const;
    Real getDepth() const;

    static bool isInstance(const Contact& contact);
    static const EllipticalPointContact& getAs(const Contact& contact)
    {   assert(isInstance(contact)); 
        return static_cast<const EllipticalPointContact&>(contact); }
    static EllipticalPointContact& updAs(Contact& contact)
    {   assert(isInstance(contact)); 
        return static_cast<EllipticalPointContact&>(contact); }

    static ContactTypeId classTypeId();

private:
    const EllipticalPointContactImpl& getImpl() const 
    {   assert(isInstance(*this)); 
        return reinterpret_cast<const EllipticalPointContactImpl&>
                    (Contact::getImpl()); }
};



//==============================================================================
//                           BRICK HALFSPACE CONTACT
//==============================================================================
class SimTK_SIMMATH_EXPORT BrickHalfSpaceContact : public Contact {
public:
    BrickHalfSpaceContact(ContactSurfaceIndex     halfSpace, 
                          ContactSurfaceIndex     brick,
                          const Transform&        X_HB,
                          int                     lowestVertex,
                          Real                    depth);

    int getLowestVertex() const;

    Real getDepth() const;

    static bool isInstance(const Contact& contact);
    
    static const BrickHalfSpaceContact& getAs(const Contact& contact)
    {   assert(isInstance(contact)); 
        return static_cast<const BrickHalfSpaceContact&>(contact); }
        
    static BrickHalfSpaceContact& updAs(Contact& contact)
    {   assert(isInstance(contact)); 
        return static_cast<BrickHalfSpaceContact&>(contact); }

    static ContactTypeId classTypeId();

private:
    const BrickHalfSpaceContactImpl& getImpl() const 
    {   assert(isInstance(*this)); 
        return reinterpret_cast<const BrickHalfSpaceContactImpl&>
                    (Contact::getImpl()); }
};



//==============================================================================
//                           TRIANGLE MESH CONTACT
//==============================================================================
class SimTK_SIMMATH_EXPORT TriangleMeshContact : public Contact {
public:
    TriangleMeshContact(ContactSurfaceIndex     surf1, 
                        ContactSurfaceIndex     surf2,
                        const Transform&        X_S1S2,
                        const std::set<int>&    faces1, 
                        const std::set<int>&    faces2);

    const std::set<int>& getSurface1Faces() const;
    const std::set<int>& getSurface2Faces() const;

    static bool isInstance(const Contact& contact);
    static const TriangleMeshContact& getAs(const Contact& contact)
    {   assert(isInstance(contact)); 
        return static_cast<const TriangleMeshContact&>(contact); }
    static TriangleMeshContact& updAs(Contact& contact)
    {   assert(isInstance(contact)); 
        return static_cast<TriangleMeshContact&>(contact); }

    static ContactTypeId classTypeId();

private:
    const TriangleMeshContactImpl& getImpl() const 
    {   assert(isInstance(*this)); 
        return reinterpret_cast<const TriangleMeshContactImpl&>
                    (Contact::getImpl()); }
};




//==============================================================================
//                               POINT CONTACT
//==============================================================================
class SimTK_SIMMATH_EXPORT PointContact : public Contact {
public:
    PointContact(ContactSurfaceIndex surf1, ContactSurfaceIndex surf2, 
                 Vec3& location, Vec3& normal, Real radius1, Real radius2, Real depth);
    PointContact(ContactSurfaceIndex surf1, ContactSurfaceIndex surf2,
                 Vec3& location, Vec3& normal, Real radius, Real depth);
    Vec3 getLocation() const;
    Vec3 getNormal() const;
    Real getRadiusOfCurvature1() const;
    Real getRadiusOfCurvature2() const;
    Real getEffectiveRadiusOfCurvature() const;
    Real getDepth() const;
    static bool isInstance(const Contact& contact);
    static ContactTypeId classTypeId();

private:
    const PointContactImpl& getImpl() const 
    {   assert(isInstance(*this)); 
        return reinterpret_cast<const PointContactImpl&>(Contact::getImpl()); }
};

} // namespace SimTK

#endif // SimTK_SIMMATH_CONTACT_H_