world.h

/*
 *  ______                   __  __              __
 * /\  _  \           __    /\ \/\ \            /\ \__
 * \ \ \L\ \  __  __ /\_\   \_\ \ \ \____    ___\ \ ,_\   ____
 *  \ \  __ \/\ \/\ \\/\ \  /'_` \ \ '__`\  / __`\ \ \/  /',__\
 *   \ \ \/\ \ \ \_/ |\ \ \/\ \L\ \ \ \L\ \/\ \L\ \ \ \_/\__, `\
 *    \ \_\ \_\ \___/  \ \_\ \___,_\ \_,__/\ \____/\ \__\/\____/
 *     \/_/\/_/\/__/    \/_/\/__,_ /\/___/  \/___/  \/__/\/___/
 * @copyright Copyright 2017 Avidbots Corp.
 * @name   world.h
 * @brief  Definition for the simulation world
 * @author Joseph Duchesne
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2017, Avidbots Corp.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *      copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the Avidbots Corp. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */

#ifndef FLATLAND_SERVER_WORLD_H
#define FLATLAND_SERVER_WORLD_H

#include <Box2D/Box2D.h>
#include <flatland_server/collision_filter_registry.h>
#include <flatland_server/interactive_marker_manager.h>
#include <flatland_server/layer.h>
#include <flatland_server/model.h>
#include <flatland_server/plugin_manager.h>
#include <flatland_server/timekeeper.h>
#include <map>
#include <string>
#include <string>
#include <vector>

namespace flatland_server {

class World : public b2ContactListener {
 public:
  boost::filesystem::path world_yaml_dir_;  
  b2World *physics_world_;                  
  b2Vec2 gravity_;  
  std::map<std::vector<std::string>, Layer *>
      layers_name_map_;           
  std::vector<Layer *> layers_;   
  std::vector<Model *> models_;   
  CollisionFilterRegistry cfr_;   
  PluginManager plugin_manager_;  
  bool service_paused_;  
  InteractiveMarkerManager
      int_marker_manager_;  
  int physics_position_iterations_;  
  int physics_velocity_iterations_;  

  World();

  ~World();

  void Update(Timekeeper &timekeeper);

  void BeginContact(b2Contact *contact) override;

  void EndContact(b2Contact *contact) override;

  void PreSolve(b2Contact *contact, const b2Manifold *oldManifold);

  void PostSolve(b2Contact *contact, const b2ContactImpulse *impulse);

  /*
   * @brief Load world plugins
   * @param[in] world_plugin_reader, readin the info about the plugin
   * @param[in] world, the world where the plugin will be applied to
   * @param[in] world config, the yaml reader of world.yaml
  */
  void LoadWorldPlugins(YamlReader &world_plugin_reader, World *world,
                        YamlReader &world_config);
  void LoadLayers(YamlReader &layers_reader);

  void LoadModels(YamlReader &models_reader);

  void LoadModel(const std::string &model_yaml_path, const std::string &ns,
                 const std::string &name, const Pose &pose);

  void DeleteModel(const std::string &name);

  void MoveModel(const std::string &name, const Pose &pose);

  void Pause();

  void Resume();

  void TogglePaused();

  bool IsPaused();

  static World *MakeWorld(const std::string &yaml_path);

  void DebugVisualize(bool update_layers = true);
};
};      // namespace flatland_server
#endif  // FLATLAND_SERVER_WORLD_H