boundary.hpp

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// Copyright (c) JSim contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the LGPLv3 license file in the root directory of this project.
 
#pragma once
 
#include <cstdint>
 
#include "frcsim/math/quaternion.hpp"
#include "frcsim/math/vector.hpp"
 
namespace frcsim {

enum class BoundaryType {
  kWall,
  kPlane,
  kBox,
  kCylinder,
};

enum class BoundaryBehavior {
  kRigidBody,
  kStaticConstraint,
};

struct EnvironmentalBoundary {
  BoundaryType type{BoundaryType::kWall};

  BoundaryBehavior behavior{BoundaryBehavior::kStaticConstraint};

  Vector3 position_m{};

  Quaternion orientation{};

  Vector3 half_extents_m{1.0, 1.0, 1.0};

  double radius_m{1.0};

  double restitution{0.5};

  double friction_coefficient{0.7};

  int user_id{0};

  std::int32_t material_id{0};

  std::uint32_t collision_layer_bits{0xFFFFFFFFu};

  std::uint32_t collision_mask_bits{0xFFFFFFFFu};

  bool is_active{true};

  const Vector3& normal() const {
    static const Vector3 default_normal(0.0, 0.0, 1.0);
    return default_normal;
  }
};
 
}  // namespace frcsim