rigid_assembly.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 <memory>
#include <vector>
 
#include "frcsim/joints/joint_base.hpp"
#include "frcsim/rigidbody/rigid_body.hpp"
 
namespace frcsim {
 
class RevoluteJoint;
class PrismaticJoint;
class FixedJoint;

class RigidAssembly {
 public:
  RigidAssembly() = default;

  RigidBody* addBody(double mass_kg);

  std::vector<RigidBody>& bodies() { return bodies_; }
  const std::vector<RigidBody>& bodies() const { return bodies_; }

  RevoluteJoint* addRevoluteJoint(size_t body_a_idx, size_t body_b_idx,
                                  const Vector3& axis_local);
  PrismaticJoint* addPrismaticJoint(size_t body_a_idx, size_t body_b_idx,
                                    const Vector3& axis_local);
  FixedJoint* addFixedJoint(size_t body_a_idx, size_t body_b_idx);

  std::vector<std::shared_ptr<JointBase>>& joints() { return joints_; }
  const std::vector<std::shared_ptr<JointBase>>& joints() const {
    return joints_;
  }

  void setRootBodyIndex(size_t idx);
  size_t rootBodyIndex() const { return root_body_idx_; }

  double totalMass() const;

  Vector3 centerOfMass() const;

  void enableConstraints(bool enable);
  void solveConstraints(double dt_s, int iterations);
 
 private:
  std::vector<RigidBody> bodies_;
  std::vector<std::shared_ptr<JointBase>> joints_;
  size_t root_body_idx_{0};
};
 
}  // namespace frcsim