Added Friction and ODE classes

include/sdf/Surface.hh

@@ -58,6 +58,103 @@ namespace sdf
     IGN_UTILS_IMPL_PTR(dataPtr)
   };
 
+  /// \brief ODE information for a friction.
+  class SDFORMAT_VISIBLE ODE
+  {
+    /// \brief Default constructor
+    public: ODE();
+
+    /// \brief Load the contact based on a 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 Set the Mu
+    /// \returns ODE mu
+    public: double Mu() const;
+
+    /// \brief Set Mu
+    /// \param[in] _mu ODE mu
+    public: void SetMu(double _mu);
+
+    /// \brief Get the Mu2
+    /// \returns ODE mu2
+    public: double Mu2() const;
+
+    /// \brief Set Mu2
+    /// \param[in] _mu2 ODE mu2
+    public: void SetMu2(double _mu2);
+
+    /// \brief Get the fdir
+    /// \returns ODE fdir
+    public: const ignition::math::Vector3d Fdir1() const;
+
+    /// \brief Set fdir
+    /// \param[in] _mu2 ODE fdir
+    public: void SetFdir1(ignition::math::Vector3d _fdir);
+
+    /// \brief Get the Mu2
+    /// \returns ODE mu2
+    public: double Slip1() const;
+
+    /// \brief Set Slip1
+    /// \param[in] _mu2 ODE Slip1
+    public: void SetSlip1(double _slip1);
+
+    /// \brief Get the Slip2
+    /// \returns ODE Slip2
+    public: double Slip2() const;
+
+    /// \brief Set Slip2
+    /// \param[in] _mu2 ODE Slip2
+    public: void SetSlip2(double _slip2);
+
+    /// \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 Private data pointer.
+    IGN_UTILS_IMPL_PTR(dataPtr)
+  };
+
+  /// \brief Friction information for a surface.
+  class SDFORMAT_VISIBLE Friction
+  {
+    /// \brief Default constructor
+    public: Friction();
+
+    /// \brief Load the contact based on a 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 associated ode object
+    /// \returns Pointer to the associated ode object,
+    /// nullptr if the Surface doesn't contain a ode element.
+    public: const sdf::ODE *ODE() const;
+
+    /// \brief Set the associated ode object.
+    /// \param[in] _cont The ode object.
+    public: void SetODE(const sdf::ODE &_ode);
+
+    /// \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 Private data pointer.
+    IGN_UTILS_IMPL_PTR(dataPtr)
+  };
+
   /// \brief Surface information for a collision.
   class SDFORMAT_VISIBLE Surface
   {
@@ -87,6 +184,15 @@ namespace sdf
     /// \param[in] _cont The contact object.
     public: void SetContact(const sdf::Contact &_contact);
 
+    /// \brief Get the associated friction object
+    /// \returns Pointer to the associated friction object,
+    /// nullptr if the Surface doesn't contain a friction element.
+    public: const sdf::Friction *Friction() const;
+
+    /// \brief Set the associated friction object.
+    /// \param[in] _cont The friction object.
+    public: void SetFriction(const sdf::Friction &_friction);
+
     /// \brief Create and return an SDF element filled with data from this
     /// surface.
     /// Note that parameter passing functionality is not captured with this