text: /*
   * Copyright 2018 Open Source Robotics Foundation
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *     http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   *
   */
  #ifndef SDF_PHYSICS_HH_
  #define SDF_PHYSICS_HH_
  
  #include <string>
  #include <ignition/utils/ImplPtr.hh>
  
  #include "sdf/Element.hh"
  #include "sdf/Types.hh"
  #include "sdf/sdf_config.h"
  #include "sdf/system_util.hh"
  
  namespace sdf
  {
    // Inline bracket to help doxygen filtering.
    inline namespace SDF_VERSION_NAMESPACE {
    //
  
    /// \brief The physics element specifies the type and properties of a
    /// dynamics engine.
    class SDFORMAT_VISIBLE Physics
    {
      /// \brief Default constructor
      public: Physics();
  
      /// \brief Load the physics based on an element pointer. This is *not* the
      /// usual entry point. Typical usage of the SDF DOM is through the Root
      /// object.
      /// \param[in] _sdf The SDF Element pointer
      /// \return Errors, which is a vector of Error objects. Each Error includes
      /// an error code and message. An empty vector indicates no error.
      public: Errors Load(ElementPtr _sdf);
  
      /// \brief Get the name of this set of physics parameters.
      /// \return Name of the physics profile.
      public: std::string Name() const;
  
      /// \brief Set the name of this set of physics parameters.
      /// \param[in] _name Name of the physics profile.
      public: void SetName(const std::string &_name);
  
      /// \brief Get a pointer to the SDF element that was used during
      /// load.
      /// \return SDF element pointer. The value will be nullptr if Load has
      /// not been called.
      public: sdf::ElementPtr Element() const;
  
      /// \brief Get whether this physics profile is marked as default.
      /// If true, this physics profile is set as the default physics profile
      /// for the World. If multiple default physics elements exist, the first
      /// physics profile marked as default is chosen. If no default physics
      /// element exists, the first physics element is chosen.
      /// \return True if this profile is the default.
      public: bool IsDefault() const;
  
      /// \brief Set whether this physics profile is the default.
      /// \param[in] _default True to make this profile default.
      public: void SetDefault(const bool _default);
  
      /// \brief Get the physics profile dynamics engine type.
      /// Current options are ode, bullet, simbody and dart. Defaults to ode if
      /// left unspecified.
      /// \return The type of dynamics engine.
      public: std::string EngineType() const;
  
      /// \brief Set the physics profile dynamics engine type.
      /// \param[in] _type The type of dynamics engine.
      public: void SetEngineType(const std::string &_type);
  
      /// \brief Get the max step size in seconds.
      /// The Maximum time step size at which every system in simulation can
      /// interact with the states of the world.
      /// \return The max step size in seconds.
      public: double MaxStepSize() const;
  
      /// \brief Set the max step size in seconds.
      /// \param[in] _step The max step size in seconds.
      public: void SetMaxStepSize(const double _step);
  
      /// \brief Get the target real time factor.
      /// Target simulation speedup factor, defined by ratio of simulation time
      /// to real-time.
      /// \return The target real time factor.
      public: double RealTimeFactor() const;
  
      /// \brief Set the target realtime factor.
      /// \param[in] _factor The target real time factor.
      public: void SetRealTimeFactor(const double _factor);
  
      /// \brief Get the maximum number of contacts allowed between two
      /// entities. This value can be overridden by a max_contacts element in a
      /// collision element.
      /// \return Maximum number of contacts.
      public: int MaxContacts() const;
  
      /// \brief Set the maximum number of contacts allowed between two
      /// entities. This value can be overridden by a max_contacts element in a
      /// collision element.
      /// \param[in] _maxContacts Maximum number of contacts.
      public: void SetMaxContacts(int _maxContacts);
  
      /// \brief Create and return an SDF element filled with data from this
      /// physics.
      /// Note that parameter passing functionality is not captured with this
      /// function.
      /// \return SDF element pointer with updated physics values.
      public: sdf::ElementPtr ToElement() const;
  
      /// \brief Private data pointer.
      IGN_UTILS_IMPL_PTR(dataPtr)
    };
    }
  }
  #endif
  