field_wall.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 <algorithm>
#include <array>
 
#include "frcsim/field/obstacle.hpp"
 
namespace frcsim {

struct FieldWall {
  static std::array<FieldObstacle, 4> makeAxisAlignedPerimeter(
      const Vector3& min_corner_m, const Vector3& max_corner_m,
      double wall_height_m, double restitution = 0.25, double friction = 0.6) {
    const double mid_x = 0.5 * (min_corner_m.x + max_corner_m.x);
    const double mid_y = 0.5 * (min_corner_m.y + max_corner_m.y);
    const double half_x = 0.5 * (max_corner_m.x - min_corner_m.x);
    const double half_y = 0.5 * (max_corner_m.y - min_corner_m.y);
    const double half_h = std::max(0.05, 0.5 * wall_height_m);
 
    return {
        FieldObstacle::makeBox(Vector3(mid_x, min_corner_m.y, half_h),
                               Vector3(half_x, 0.05, half_h), Quaternion(),
                               restitution, friction),
        FieldObstacle::makeBox(Vector3(mid_x, max_corner_m.y, half_h),
                               Vector3(half_x, 0.05, half_h), Quaternion(),
                               restitution, friction),
        FieldObstacle::makeBox(Vector3(min_corner_m.x, mid_y, half_h),
                               Vector3(0.05, half_y, half_h), Quaternion(),
                               restitution, friction),
        FieldObstacle::makeBox(Vector3(max_corner_m.x, mid_y, half_h),
                               Vector3(0.05, half_y, half_h), Quaternion(),
                               restitution, friction),
    };
  }
};
 
}  // namespace frcsim