us.ihmc.simulationconstructionset.physics.CollisionShapeFactory Maven / Gradle / Ivy

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package us.ihmc.simulationconstructionset.physics;

import us.ihmc.euclid.shape.primitives.interfaces.Shape3DReadOnly;
import us.ihmc.euclid.transform.RigidBodyTransform;
import us.ihmc.robotics.robotDescription.CollisionMeshDescription;
import us.ihmc.simulationconstructionset.Link;

/**
 * Factory for creating collision shapes
 */
public interface CollisionShapeFactory
{
   /**
    * The default margin which should be used by all implementations.
    */
   static final double DEFAULT_MARGIN = 0.04;

   /**
    * Specifies the collision margin for the next shape which is to be added. For small objects this
    * needs to be set to a smaller value
    *
    * @param margin Collision margin
    */
   void setMargin(double margin);

   /**
    * Creates a box shape. The box will be centered around the origin (0,0,0) with vertexes spaced at
    * the specified distances from the origin.
    *
    * @param radiusX Radius of box along x-axis
    * @param radiusY Radius of box along y-axis
    * @param radiusZ Radius of box along z-axis
    * @return Description of the shape.
    */
   CollisionShapeDescription createSimpleCollisionShape(Shape3DReadOnly shape3D);

   CollisionShapeDescription createBox(double radiusX, double radiusY, double radiusZ);

   CollisionShapeDescription createCylinder(double radius, double height);

   CollisionShapeDescription createSphere(double radius);

   CollisionShapeDescription createCapsule(double radius, double objectHeight);

   /**
    * Adds a shape. Also which shapes a shape can collide against. By default a shape will collide with
    * all other shapes. A shape will collide with another shape if (shapeGroup & collisionMask) != 0.
    *
    * @param link           Link which this shape is attached to.
    * @param shapeToLink    Transform from the shape to the Link's local coordinate system. If null the
    *                       transform will be set to identity.
    * @param description    Description of the collision shape
    * @param collisionGroup Bit field specifying which collision groups the shape belongs to. Set to
    *                       0xFFFFFFFF to belong to all groups
    * @param collisionMask  Bit field specifying which groups it can collide against. Set to 0xFFFFFFFF
    *                       to collide against all groups
    * @return The resulting collision shape. Already attached to the provided link.
    */
   CollisionShape addShape(Link link, RigidBodyTransform shapeToLink, CollisionShapeDescription description, boolean isGround, int collisionGroup,
                           int collisionMask);

   CollisionShape addShape(CollisionShapeDescription description);

   void addCollisionMeshDescription(Link link, CollisionMeshDescription collisionMeshDescription);
}