PPDSphereRadius.cpp

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 Technical University of Darmstadt.
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#include "PPDSphereRadius.h"

#include <Rcs_macros.h>
#include <Rcs_typedef.h>

namespace Rcs
{

PPDSphereRadius::PPDSphereRadius(std::string prevBodyName, unsigned int shapeIdx, unsigned int shapeIdxPrevBody) :
    PPDSingleVar("radius", BodyParamInfo::MOD_SHAPE,
                 [](BodyParamInfo& bpi) -> double& { return bpi.body->shape[0]->extents[0]; }),
    prevBodyName(std::move(prevBodyName)), shapeIdx(shapeIdx), shapeIdxPrevBody(shapeIdxPrevBody) {}

PPDSphereRadius::~PPDSphereRadius() = default;

void PPDSphereRadius::setValues(PropertySource* inValues)
{
    // Adapt properties
    PPDSingleVar::setValues(inValues);
    
    // Check if the ball position variable is relative to another body
    RcsBody* prevBody = RcsGraph_getBodyByName(bodyParamInfo->graph, prevBodyName.c_str());
    double zOffset = 0.;
    if (prevBody != nullptr) {
        if (bodyParamInfo->body->parent == prevBody) {
            // Sphere rigid body coordinates are relative. Add relative transform of the previous body's shape.
            zOffset += prevBody->shape[shapeIdxPrevBody]->A_CB.org[2];
        }
        else {
            // The sphere's rigid body coordinates are absolute, shift them accordingly
            // Note: this assumes that the refBody is level, i.e. not tilted
            zOffset = prevBody->A_BI->org[2];
        }
        
        if (prevBody->shape[shapeIdxPrevBody]->type == RCSSHAPE_TYPE::RCSSHAPE_BOX) {
            zOffset += prevBody->shape[shapeIdxPrevBody]->extents[2]/2.;
        }
        else if (prevBody->shape[shapeIdxPrevBody]->type == RCSSHAPE_TYPE::RCSSHAPE_CYLINDER) {
            zOffset += prevBody->shape[shapeIdxPrevBody]->extents[2]/2.;
        }
        else if (prevBody->shape[shapeIdxPrevBody]->type == RCSSHAPE_TYPE::RCSSHAPE_SPHERE) {
            zOffset += prevBody->shape[shapeIdxPrevBody]->extents[0];
        }
        else {
            REXEC(4) {
                std::cout << "No default vertical offset found for previous body shape " <<
                          prevBody->shape[0]->type << std::endl;
            }
        }
    }
    else {
        REXEC(4) {
            std::cout << "No reference body found for adding an offset to the randomized sphere's position! " <<
                      "Received " << prevBodyName << std::endl;
        }
    }
    
    // Adapt the sphere's z-position
    double newRadius = bodyParamInfo->body->shape[shapeIdx]->extents[0];
    bodyParamInfo->graph->q->ele[bodyParamInfo->body->jnt->jointIndex + 2] = zOffset + newRadius;
    
    // Make sure the state is propagated
    RcsGraph_setState(bodyParamInfo->graph, nullptr, bodyParamInfo->graph->q_dot);
    
    RLOG(4, "New radius = %f; New z-position = %f", newRadius, zOffset + newRadius);
}

void PPDSphereRadius::init(BodyParamInfo* bodyParamInfo)
{
    // Check if the ball is valid
    PPDSingleVar::init(bodyParamInfo);
    RCHECK_MSG(bodyParamInfo->body->shape != nullptr, "Invalid ball body %s", bodyParamInfo->body->name);
    RCHECK_MSG(bodyParamInfo->body->shape[shapeIdx] != nullptr, "Invalid ball body %s", bodyParamInfo->body->name);
    RCHECK_MSG(bodyParamInfo->body->shape[shapeIdx]->type == RCSSHAPE_SPHERE, "Invalid ball body %s",
               bodyParamInfo->body->name);
    RCHECK_MSG((bodyParamInfo->body->shape[shapeIdx]->computeType & RCSSHAPE_COMPUTE_PHYSICS) != 0,
               "Invalid ball body %s", bodyParamInfo->body->name);
    RCHECK_MSG(bodyParamInfo->body->rigid_body_joints, "Invalid ball body %s", bodyParamInfo->body->name);
}

} /* namespace Rcs */