Body.h

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#ifndef SimTK_SIMBODY_BODY_H_
#define SimTK_SIMBODY_BODY_H_

/* -------------------------------------------------------------------------- *
 *                      SimTK Core: SimTK Simbody(tm)                         *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK Core biosimulation toolkit originating from      *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org.               *
 *                                                                            *
 * Portions copyright (c) 2007-10 Stanford University and the Authors.        *
 * Authors: Michael Sherman                                                   *
 * Contributors:                                                              *
 *                                                                            *
 * Permission is hereby granted, free of charge, to any person obtaining a    *
 * copy of this software and associated documentation files (the "Software"), *
 * to deal in the Software without restriction, including without limitation  *
 * the rights to use, copy, modify, merge, publish, distribute, sublicense,   *
 * and/or sell copies of the Software, and to permit persons to whom the      *
 * Software is furnished to do so, subject to the following conditions:       *
 *                                                                            *
 * The above copyright notice and this permission notice shall be included in *
 * all copies or substantial portions of the Software.                        *
 *                                                                            *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,   *
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL    *
 * THE AUTHORS, CONTRIBUTORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,    *
 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR      *
 * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE  *
 * USE OR OTHER DEALINGS IN THE SOFTWARE.                                     *
 * -------------------------------------------------------------------------- */

#include "SimTKcommon.h"
#include "simbody/internal/common.h"
#include "simbody/internal/ContactSurface.h"

#include <cassert>

namespace SimTK {

class DecorativeGeometry;

//==============================================================================
//                                    BODY
//==============================================================================
class SimTK_SIMBODY_EXPORT Body {
public:
Body() : rep(0) { }
~Body();
Body(const Body& source);
Body& operator=(const Body& source);

Body(const MassProperties& massProps);

Body& setDefaultRigidBodyMassProperties(const MassProperties&);
const MassProperties& getDefaultRigidBodyMassProperties() const;

Body& addDecoration(const Transform& X_BD, const DecorativeGeometry&);

int getNumDecorations() const;

const DecorativeGeometry& getDecoration(int n) const;

DecorativeGeometry& updDecoration(int n);

Body& addContactSurface(const Transform&          X_BS,
                        const ContactSurface&     shape); 

int getNumContactSurfaces() const;
const ContactSurface& getContactSurface(int n) const;
const Transform&      getContactSurfaceTransform(int n) const;
ContactSurface& updContactSurface(int n);
Transform& updContactSurfaceTransform(int n);

// These are the built-in Body types.
class Ground;     // infinitely massive
class Massless;   // just a reference frame
class Particle;   // point mass only; com=0; no inertia
class Linear;     // point masses along a line; scalar inertia
class Rigid;      // general rigid body
class Deformable; // base class for bodies with internal deformation coords

bool isOwnerHandle() const;
bool isEmptyHandle() const;

// Internal use only
class BodyRep; // local subclass
explicit Body(class BodyRep* r) : rep(r) { }
bool           hasRep() const {return rep!=0;}
const BodyRep& getRep() const {assert(rep); return *rep;}
BodyRep&       updRep() const {assert(rep); return *rep;}
void           setRep(BodyRep& r) {assert(!rep); rep = &r;}

protected:
class BodyRep* rep;
};



//==============================================================================
//                               BODY::RIGID
//==============================================================================
class SimTK_SIMBODY_EXPORT Body::Rigid : public Body {
public:
    Rigid(); 
    explicit Rigid(const MassProperties&);

    Rigid& addDecoration(const Transform& X_BD, const DecorativeGeometry& g) {
        (void)Body::addDecoration(X_BD,g);
        return *this;
    }
    Rigid& setDefaultRigidBodyMassProperties(const MassProperties& m) {
        (void)Body::setDefaultRigidBodyMassProperties(m);
        return *this;
    }

    class RigidRep; // local subclass
    SimTK_PIMPL_DOWNCAST(Rigid, Body);
private:
    RigidRep&       updRep();
    const RigidRep& getRep() const;
};




//==============================================================================
//                               BODY::LINEAR
//==============================================================================
class SimTK_SIMBODY_EXPORT Body::Linear : public Body {
public:
    Linear(); // default mass properties (1,Vec3(0),Inertia(1,1,0))
    explicit Linear(const MassProperties&);

    Linear& addDecoration(const Transform& X_BD, const DecorativeGeometry& g) {
        (void)Body::addDecoration(X_BD,g);
        return *this;
    }
    Linear& setDefaultRigidBodyMassProperties(const MassProperties& m) {
        (void)Body::setDefaultRigidBodyMassProperties(m);
        return *this;
    }

    class LinearRep; // local subclass
    SimTK_PIMPL_DOWNCAST(Linear, Body);
private:
    LinearRep&       updRep();
    const LinearRep& getRep() const;
};



//==============================================================================
//                              BODY::PARTICLE
//==============================================================================
class SimTK_SIMBODY_EXPORT Body::Particle : public Body {
public:
    Particle(); // default mass properties (1,Vec3(0),Inertia(0))
    explicit Particle(const Real& mass);

    Particle& addDecoration(const Transform& X_BD, const DecorativeGeometry& g) {
        (void)Body::addDecoration(X_BD,g);
        return *this;
    }
    Particle& setDefaultRigidBodyMassProperties(const MassProperties& m) {
        (void)Body::setDefaultRigidBodyMassProperties(m);
        return *this;
    }

    class ParticleRep; // local subclass
    SimTK_PIMPL_DOWNCAST(Particle, Body);
private:
    ParticleRep&       updRep();
    const ParticleRep& getRep() const;
};



//==============================================================================
//                              BODY::MASSLESS
//==============================================================================
class SimTK_SIMBODY_EXPORT Body::Massless : public Body {
public:
    Massless();

    Massless& addDecoration(const Transform& X_BD, const DecorativeGeometry& g) {
        (void)Body::addDecoration(X_BD,g);
        return *this;
    }

    class MasslessRep; // local subclass
    SimTK_PIMPL_DOWNCAST(Massless, Body);
private:
    MasslessRep&       updRep();
    const MasslessRep& getRep() const;
};



//==============================================================================
//                              BODY::GROUND
//==============================================================================
class SimTK_SIMBODY_EXPORT Body::Ground : public Body {
public:
    Ground();

    Ground& addDecoration(const Transform& X_BD, const DecorativeGeometry& g) {
        (void)Body::addDecoration(X_BD,g);
        return *this;
    }

    class GroundRep; // local subclass
    SimTK_PIMPL_DOWNCAST(Ground, Body);
private:
    GroundRep&       updRep();
    const GroundRep& getRep() const;
};

} // namespace SimTK

#endif // SimTK_SIMBODY_BODY_H_