SurfaceGroundSystem.h

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/*  Copyright (C) 2003-2021 Free Electron Organization
    Any use of this software requires a license.  If a valid license
    was not distributed with this file, visit freeelectron.org. */

/** @file */

#ifndef __tire_SurfaceGroundSystem_h__
#define __tire_SurfaceGroundSystem_h__

namespace fe
{
namespace ext
{

/// @brief AsTireLiveCollision to SurfaceI collision system
class SurfaceGroundTireSystem :
    virtual public Stepper,
    virtual public GroundI,
    public Initialize<SurfaceGroundTireSystem>
{
    public:
        class Tire
        {
            public:
                WeakRecord          m_r_tire;
        };
        SurfaceGroundTireSystem(void);
        void    initialize(void) {}
virtual void    compile(const t_note_id &a_note_id);
virtual void    step(t_moa_real a_dt);
virtual void    setSurface(sp<SurfaceI> a_spSurface);
virtual void    setTransform(const SpatialTransform &a_transform);
    private:
        sp<SurfaceI>        m_spSurface;
        SpatialTransform        m_transform;
        std::vector<Tire>       m_tires;
};


class SurfaceClosestPointSystem :
    virtual public Stepper,
    public Initialize<SurfaceClosestPointSystem>
{
    public:
        SurfaceClosestPointSystem(void);
        void    initialize(void) {}
virtual void    compile(const t_note_id &a_note_id);
virtual void    step(t_moa_real a_dt);
    private:
        sp<RecordGroup> rg_all;
        AsContactLive           m_asContact;
        AsLocator               m_asLocator;
        AsSurfaceLive           m_asSurface;
        AsSurfacePlane          m_asSurfacePlane;
        AsPoint     m_asPoint;
        std::vector<Record> m_xform_contacts;
        std::vector<Record> m_surfaces;
};

} /* namespace ext */
} /* namespace fe */

#endif /* __tire_SurfaceGroundSystem_h__ */