obstacle.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 <vector>
 
#include "frcsim/field/boundary.hpp"
 
namespace frcsim {

struct FieldObstacle {
  EnvironmentalBoundary boundary{};

  static FieldObstacle makePlane(const Vector3& point_m,
                                 const Quaternion& orientation,
                                 double restitution = 0.3,
                                 double friction = 0.6, int user_id = 0) {
    FieldObstacle obstacle{};
    obstacle.boundary.type = BoundaryType::kPlane;
    obstacle.boundary.position_m = point_m;
    obstacle.boundary.orientation = orientation;
    obstacle.boundary.restitution = restitution;
    obstacle.boundary.friction_coefficient = friction;
    obstacle.boundary.user_id = user_id;
    return obstacle;
  }

  static FieldObstacle makeBox(const Vector3& center_m,
                               const Vector3& half_extents_m,
                               const Quaternion& orientation = Quaternion(),
                               double restitution = 0.3, double friction = 0.6,
                               int user_id = 0) {
    FieldObstacle obstacle{};
    obstacle.boundary.type = BoundaryType::kBox;
    obstacle.boundary.position_m = center_m;
    obstacle.boundary.half_extents_m = half_extents_m;
    obstacle.boundary.orientation = orientation;
    obstacle.boundary.restitution = restitution;
    obstacle.boundary.friction_coefficient = friction;
    obstacle.boundary.user_id = user_id;
    return obstacle;
  }

  static FieldObstacle makeCylinder(
      const Vector3& center_m, double radius_m, double half_height_m,
      const Quaternion& orientation = Quaternion(), double restitution = 0.3,
      double friction = 0.6, int user_id = 0) {
    FieldObstacle obstacle{};
    obstacle.boundary.type = BoundaryType::kCylinder;
    obstacle.boundary.position_m = center_m;
    obstacle.boundary.radius_m = radius_m;
    obstacle.boundary.half_extents_m = Vector3(0.0, 0.0, half_height_m);
    obstacle.boundary.orientation = orientation;
    obstacle.boundary.restitution = restitution;
    obstacle.boundary.friction_coefficient = friction;
    obstacle.boundary.user_id = user_id;
    return obstacle;
  }
};

struct FieldObstacleMap {
  std::vector<FieldObstacle> obstacles{};

  void add(const FieldObstacle& obstacle) { obstacles.push_back(obstacle); }
};
 
}  // namespace frcsim