Set slip compliance

dartsim/src/ShapeFeatures.cc

@@ -328,6 +328,80 @@ AlignedBox3d ShapeFeatures::GetShapeAxisAlignedBoundingBox(
   return AlignedBox3d(box.getMin(), box.getMax());
 }
 
+/////////////////////////////////////////////////
+double ShapeFeatures::GetShapeFrictionPyramidPrimarySlipCompliance(
+    const Identity &_shapeID) const
+{
+  auto &node = this->ReferenceInterface<ShapeInfo>(_shapeID)->node;
+  auto aspect = node->getDynamicsAspect();
+  if (nullptr == aspect)
+  {
+    ignerr
+      << "Attempt to get FrictionPyramidPrimarySlipCompliance for a "
+      << "ShapeNode that doesn't have a DynamicAspect. "
+      << "Returning default value of 0.0."
+      << std::endl;
+    return 0.0;
+  }
+  return aspect->getSlipCompliance();
+}
+
+/////////////////////////////////////////////////
+double ShapeFeatures::GetShapeFrictionPyramidSecondarySlipCompliance(
+    const Identity &_shapeID) const
+{
+  auto &node = this->ReferenceInterface<ShapeInfo>(_shapeID)->node;
+  auto aspect = node->getDynamicsAspect();
+  if (nullptr == aspect)
+  {
+    ignerr
+      << "Attempt to get FrictionPyramidSecondarySlipCompliance for a "
+      << "ShapeNode that doesn't have a DynamicAspect. "
+      << "Returning default value of 0.0."
+      << std::endl;
+    return 0.0;
+  }
+  return aspect->getSecondarySlipCompliance();
+}
+
+/////////////////////////////////////////////////
+bool ShapeFeatures::SetShapeFrictionPyramidPrimarySlipCompliance(
+    const Identity &_shapeID, double _value)
+{
+  auto &node = this->ReferenceInterface<ShapeInfo>(_shapeID)->node;
+  auto aspect = node->getDynamicsAspect();
+  if (nullptr == aspect)
+  {
+    ignerr
+      << "Attempt to set FrictionPyramidPrimarySlipCompliance for a "
+      << "ShapeNode that doesn't have a DynamicAspect. "
+      << "The parameter has not been set."
+      << std::endl;
+    return false;
+  }
+  aspect->setSlipCompliance(_value);
+  return true;
+}
+
+/////////////////////////////////////////////////
+bool ShapeFeatures::SetShapeFrictionPyramidSecondarySlipCompliance(
+    const Identity &_shapeID, double _value)
+{
+  auto &node = this->ReferenceInterface<ShapeInfo>(_shapeID)->node;
+  auto aspect = node->getDynamicsAspect();
+  if (nullptr == aspect)
+  {
+    ignerr
+      << "Attempt to set FrictionPyramidSecondarySlipCompliance for a "
+      << "ShapeNode that doesn't have a DynamicAspect. "
+      << "The parameter has not been set."
+      << std::endl;
+    return false;
+  }
+  aspect->setSecondarySlipCompliance(_value);
+  return true;
+}
+
 }
 }
 }

dartsim/src/ShapeFeatures.hh

@@ -36,6 +36,8 @@ namespace dartsim {
 using ShapeFeatureList = FeatureList<
   GetShapeKinematicProperties,
   SetShapeKinematicProperties,
+  GetShapeFrictionPyramidSlipCompliance,
+  SetShapeFrictionPyramidSlipCompliance,
   GetShapeBoundingBox,
   GetBoxShapeProperties,
   // dartsim cannot yet update shape properties without reloading the model into
@@ -135,6 +137,19 @@ class ShapeFeatures :
   public: AlignedBox3d GetShapeAxisAlignedBoundingBox(
               const Identity &_shapeID) const override;
 
+  // ----- Friction Features -----
+  public: virtual double GetShapeFrictionPyramidPrimarySlipCompliance(
+            const Identity &_shapeID) const override;
+
+  public: virtual double GetShapeFrictionPyramidSecondarySlipCompliance(
+            const Identity &_shapeID) const override;
+
+  public: virtual bool SetShapeFrictionPyramidPrimarySlipCompliance(
+            const Identity &_shapeID, double _value) override;
+
+  public: virtual bool SetShapeFrictionPyramidSecondarySlipCompliance(
+            const Identity &_shapeID, double _value) override;
+
   // ----- Plane Features -----
   public: Identity CastToPlaneShape(
       const Identity &_shapeID) const override;
@@ -150,6 +165,19 @@ class ShapeFeatures :
       const std::string &_name,
       const LinearVector3d &_normal,
       const LinearVector3d &_point) override;
+
+  // ----- Friction Features -----
+  public: virtual double GetShapeFrictionPyramidPrimarySlipCompliance(
+            const Identity &_shapeID) const override;
+
+  public: virtual double GetShapeFrictionPyramidSecondarySlipCompliance(
+            const Identity &_shapeID) const override;
+
+  public: virtual bool SetShapeFrictionPyramidPrimarySlipCompliance(
+            const Identity &_shapeID, double _value) override;
+
+  public: virtual bool SetShapeFrictionPyramidSecondarySlipCompliance(
+            const Identity &_shapeID, double _value) override;
 };
 
 }

include/ignition/physics/Shape.hh

@@ -212,6 +212,80 @@ namespace ignition
             Scalar _value) = 0;
       };
     };
+
+    /////////////////////////////////////////////////
+    class IGNITION_PHYSICS_VISIBLE GetShapeFrictionPyramidSlipCompliance
+        : public virtual Feature
+    {
+      public: template <typename PolicyT, typename FeaturesT>
+      class Shape : public virtual Feature::Shape<PolicyT, FeaturesT>
+      {
+        public: using Scalar = typename PolicyT::Scalar;
+
+        /// \brief Get the slip compliance for the first friction direction
+        /// of a friction pyramid model.
+        /// \return
+        ///   The value of the slip compliance.
+        public: Scalar GetPrimarySlipCompliance() const;
+
+        /// \brief Get the slip compliance for the second friction direction
+        /// of a friction pyramid model.
+        /// \return
+        ///   The value of the slip compliance.
+        public: Scalar GetSecondarySlipCompliance() const;
+      };
+
+      public: template <typename PolicyT>
+      class Implementation : public virtual Feature::Implementation<PolicyT>
+      {
+        public: using Scalar = typename PolicyT::Scalar;
+
+        public: virtual Scalar GetShapeFrictionPyramidPrimarySlipCompliance(
+            const Identity &_shapeID) const = 0;
+
+        public: virtual Scalar GetShapeFrictionPyramidSecondarySlipCompliance(
+            const Identity &_shapeID) const = 0;
+      };
+    };
+
+    /////////////////////////////////////////////////
+    class IGNITION_PHYSICS_VISIBLE SetShapeFrictionPyramidSlipCompliance
+        : public virtual Feature
+    {
+      public: template <typename PolicyT, typename FeaturesT>
+      class Shape : public virtual Feature::Shape<PolicyT, FeaturesT>
+      {
+        public: using Scalar = typename PolicyT::Scalar;
+
+        /// \brief Set the slip compliance for the first friction direction
+        /// of a friction pyramid model.
+        /// \param[in] _value
+        ///   The value to set the slip compliance to.
+        /// \return
+        ///   True if the parameter was set successfully, false otherwise.
+        public: bool SetPrimarySlipCompliance(Scalar _value);
+
+        /// \brief Set the slip compliance for the second friction direction
+        /// of a friction pyramid model.
+        /// \param[in] _value
+        ///   The value to set the slip compliance to.
+        /// \return
+        ///   True if the parameter was set successfully, false otherwise.
+        public: bool SetSecondarySlipCompliance(Scalar _value);
+      };
+
+      public: template <typename PolicyT>
+      class Implementation : public virtual Feature::Implementation<PolicyT>
+      {
+        public: using Scalar = typename PolicyT::Scalar;
+
+        public: virtual bool SetShapeFrictionPyramidPrimarySlipCompliance(
+            const Identity &_shapeID, Scalar _value) = 0;
+
+        public: virtual bool SetShapeFrictionPyramidSecondarySlipCompliance(
+            const Identity &_shapeID, Scalar _value) = 0;
+      };
+    };
   }
 }
 

include/ignition/physics/detail/Shape.hh

@@ -99,6 +99,46 @@ namespace ignition
       this->template Interface<SetShapeCollisionProperties>()
           ->SetShapeRestitutionCoefficient(this->identity, _other, _value);
     }
+
+    /////////////////////////////////////////////////
+    template <typename PolicyT, typename FeaturesT>
+    auto GetShapeFrictionPyramidSlipCompliance::Shape<PolicyT, FeaturesT>
+    ::GetPrimarySlipCompliance() const
+    -> Scalar
+    {
+      return this->template Interface<SetShapeFrictionPyramidSlipCompliance>()
+          ->GetShapeFrictionPyramidPrimarySlipCompliance(this->identity);
+    }
+
+    /////////////////////////////////////////////////
+    template <typename PolicyT, typename FeaturesT>
+    auto GetShapeFrictionPyramidSlipCompliance::Shape<PolicyT, FeaturesT>
+    ::GetSecondarySlipCompliance() const
+    -> Scalar
+    {
+      return this->template Interface<SetShapeFrictionPyramidSlipCompliance>()
+          ->GetShapeFrictionPyramidSecondarySlipCompliance(this->identity);
+    }
+
+    /////////////////////////////////////////////////
+    template <typename PolicyT, typename FeaturesT>
+    bool SetShapeFrictionPyramidSlipCompliance::Shape<PolicyT, FeaturesT>
+    ::SetPrimarySlipCompliance(Scalar _value)
+    {
+      return this->template Interface<SetShapeFrictionPyramidSlipCompliance>()
+          ->SetShapeFrictionPyramidPrimarySlipCompliance(
+              this->identity, _value);
+    }
+
+    /////////////////////////////////////////////////
+    template <typename PolicyT, typename FeaturesT>
+    bool SetShapeFrictionPyramidSlipCompliance::Shape<PolicyT, FeaturesT>
+    ::SetSecondarySlipCompliance(Scalar _value)
+    {
+      return this->template Interface<SetShapeFrictionPyramidSlipCompliance>()
+          ->SetShapeFrictionPyramidSecondarySlipCompliance(
+              this->identity, _value);
+    }
   }
 }