SimulationContactPair.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#ifndef _H_SIMULATIONCONTACTPAIR_H_
#define _H_SIMULATIONCONTACTPAIR_H_
 
#include <mc_control/api.h>
#include <mc_rbdyn/Robot.h>
#include <mc_rbdyn/SCHAddon.h>
#include <mc_rbdyn/surface_hull.h>
 
#include <memory>
 
namespace mc_control
{
 
struct MC_CONTROL_DLLAPI SimulationContactPair
{
public:
  SimulationContactPair(const std::shared_ptr<mc_rbdyn::Surface> & robotSurface,
                        const std::shared_ptr<mc_rbdyn::Surface> & envSurface);
 
  double update(const mc_rbdyn::Robot & robot, const mc_rbdyn::Robot & env);
 
public:
  std::shared_ptr<mc_rbdyn::Surface> robotSurface;
  std::shared_ptr<mc_rbdyn::Surface> envSurface;
  std::shared_ptr<sch::S_Object> robotSch;
  std::shared_ptr<sch::S_Object> envSch;
  sch::CD_Pair pair;
 
private:
  void updateSCH(sch::S_Object * obj,
                 const mc_rbdyn::Robot & robot,
                 const std::shared_ptr<mc_rbdyn::Surface> & robotSurface);
};
 
} // namespace mc_control
 
#endif