GeneralContactSubsystem.h

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#ifndef SimTK_SIMBODY_GENERAL_CONTACT_SUBSYSTEM_H_
#define SimTK_SIMBODY_GENERAL_CONTACT_SUBSYSTEM_H_

/* -------------------------------------------------------------------------- *
 *                               Simbody(tm)                                  *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK 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/home/simbody.  *
 *                                                                            *
 * Portions copyright (c) 2008-12 Stanford University and the Authors.        *
 * Authors: Peter Eastman                                                     *
 * Contributors:                                                              *
 *                                                                            *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
 * not use this file except in compliance with the License. You may obtain a  *
 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
 *                                                                            *
 * Unless required by applicable law or agreed to in writing, software        *
 * distributed under the License is distributed on an "AS IS" BASIS,          *
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
 * See the License for the specific language governing permissions and        *
 * limitations under the License.                                             *
 * -------------------------------------------------------------------------- */

#include "SimTKmath.h"
#include "simbody/internal/common.h"

namespace SimTK {

class MultibodySystem;
class MobilizedBody;
class ContactGeometry;

class SimTK_SIMBODY_EXPORT GeneralContactSubsystem : public Subsystem {
public:
    GeneralContactSubsystem();
    explicit GeneralContactSubsystem(MultibodySystem&);
    ContactSetIndex createContactSet();
    int getNumContactSets() const;
    void addBody(ContactSetIndex index, const MobilizedBody& body, const ContactGeometry& geom, Transform transform);
    int getNumBodies(ContactSetIndex set) const;
    const MobilizedBody& getBody(ContactSetIndex set, ContactSurfaceIndex index) const;
    const ContactGeometry& getBodyGeometry(ContactSetIndex set, ContactSurfaceIndex index) const;
    ContactGeometry& updBodyGeometry(ContactSetIndex set, ContactSurfaceIndex index);
    const Transform& getBodyTransform(ContactSetIndex set, ContactSurfaceIndex index) const;
    Transform& updBodyTransform(ContactSetIndex set, ContactSurfaceIndex index);
    const Array_<Contact>& getContacts(const State& state, ContactSetIndex set) const;
    SimTK_PIMPL_DOWNCAST(GeneralContactSubsystem, Subsystem);
private:
    class GeneralContactSubsystemImpl& updImpl();
    const GeneralContactSubsystemImpl& getImpl() const;
};

} // namespace SimTK

#endif // SimTK_SIMBODY_GENERAL_CONTACT_SUBSYSTEM_H_