SimulationControl.h

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/*
Copyright 2007-2025. Algoryx Simulation AB.
 
All AGX source code, intellectual property, documentation, sample code,
tutorials, scene files and technical white papers, are copyrighted, proprietary
and confidential material of Algoryx Simulation AB. You may not download, read,
store, distribute, publish, copy or otherwise disseminate, use or expose this
material unless having a written signed agreement with Algoryx Simulation AB, or having been
advised so by Algoryx Simulation AB for a time limited evaluation, or having purchased a
valid commercial license from Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
 
#ifndef AGXSDK_SIMULATION_CONTROL_H
#define AGXSDK_SIMULATION_CONTROL_H
 
#include <agx/agx.h>
#include <agx/Singleton.h>
#include <agx/String.h>
#include <agxSDK/Simulation.h>
#include <agx/agxPhysics_export.h>
 
 
namespace agxMex {
  class Simulation;
}
 
 
namespace agxNet {
  class CoSimulationClient;
}
 
 
 
 
namespace agxSDK {
 
  AGX_DECLARE_POINTER_TYPES(SimulationControlArgument);
 
  class AGXPHYSICS_EXPORT SimulationControlArgument : public agx::Referenced {
  public:
    SimulationControlArgument(
      size_t numInputValues, size_t numOutputValues);
 
    size_t getNumInputValues() const;
 
    size_t getNumOutputValues() const;
 
    virtual bool applyInput(const agxSDK::Simulation* simulation, const agx::RealVector& input) const = 0;
    virtual bool obtainOutput(const agxSDK::Simulation* simulation, const agx::RealVector& output) const = 0;
 
  protected:
    size_t m_numInputValues;
    size_t m_numOutputValues;
  };
 
  class AGXPHYSICS_EXPORT SimulationControl : public agx::Singleton
  {
 
    public:
      friend class agxMex::Simulation;
      friend class agxNet::CoSimulationClient;
    AGX_DECLARE_POINTER_TYPES(Argument);
 
 
 
    typedef agx::Vector<SimulationControlArgumentRef> InputArgumentRefVector;
    typedef agx::Vector<SimulationControlArgumentRef> OutputArgumentRefVector;
 
 
    class InputArgumentCollection {
      public:
        InputArgumentCollection();
        void clear();
      public:
        InputArgumentRefVector arguments;
        agx::StringVector valueNames;
        size_t cachedTotalInputSize;
    };
 
    class OutputArgumentCollection {
      public:
        OutputArgumentCollection();
        void clear();
      public:
        OutputArgumentRefVector arguments;
        agx::StringVector valueNames;
        size_t cachedTotalOutputSize;
    };
 
    public:
      static SimulationControl* instance();
 
      void addInputArgument( const agx::String& portName, SimulationControlArgument* inputArgument );
 
      void addOutputArgument(const agx::String& portName, SimulationControlArgument* outputArgument);
 
      void addInitInputArgument(const agx::String& portName, SimulationControlArgument* inputArgument);
 
      void addInitOutputArgument(const agx::String& portName, SimulationControlArgument* outputArgument);
 
      bool step(const agx::RealVector& inputs, const agx::RealVector& outputs, agxSDK::Simulation* simulation);
 
 
      bool applyInitInputValues(agxSDK::Simulation* simulation, const agx::RealVector& initInputs) const;
 
      bool obtainInitOutputValues(agxSDK::Simulation* simulation, const agx::RealVector& initOutputs) const;
 
 
 
      size_t getTotalNumInputValues() const;
 
      size_t getTotalNumOutputValues() const;
 
      size_t getTotalNumInitInputValues() const;
 
      size_t getTotalNumInitOutputValues() const;
 
      const char* getInputValueName(size_t valueNr);
 
      const char* getOutputValueName(size_t valueNr);
 
      const char* getInitInputValueName(size_t valueNr);
 
      const char* getInitOutputValueName(size_t valueNr);
 
      void clear();
 
      agx::String getLastErrorMessage() const;
 
      SINGLETON_CLASSNAME_METHOD();
 
    protected:
      SimulationControl();
      void shutdown() override;
 
    private:
      static SimulationControl* s_instance;
      InputArgumentCollection m_inputArguments;
      OutputArgumentCollection m_outputArguments;
      InputArgumentCollection m_initInputArguments;
      OutputArgumentCollection m_initOutputArguments;
      mutable agx::String m_errorMessage;
  };
 
}
 
#endif // AGXSDK_SIMULATION_CONTROL_H