SoftContactConstraint.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef DART_CONSTRAINT_SOFTCONTACTCONSTRAINT_HPP_
#define DART_CONSTRAINT_SOFTCONTACTCONSTRAINT_HPP_
 
#include "dart/constraint/ConstraintBase.hpp"
 
#include "dart/collision/CollisionDetector.hpp"
#include "dart/math/MathTypes.hpp"
 
namespace dart {
 
namespace collision {
class SoftCollisionInfo;
} // namespace collision
 
namespace dynamics {
class BodyNode;
class SoftBodyNode;
class PointMass;
class Skeleton;
} // namespace dynamics
 
namespace constraint {
 
class SoftContactConstraint : public ConstraintBase
{
public:
  SoftContactConstraint(collision::Contact& _contact, double _timeStep);
 
  virtual ~SoftContactConstraint();
 
  // Documentation inherited
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  //----------------------------------------------------------------------------
  // Property settings
  //----------------------------------------------------------------------------
 
  static void setErrorAllowance(double _allowance);
 
  static double getErrorAllowance();
 
  static void setErrorReductionParameter(double _erp);
 
  static double getErrorReductionParameter();
 
  static void setMaxErrorReductionVelocity(double _erv);
 
  static double getMaxErrorReductionVelocity();
 
  static void setConstraintForceMixing(double _cfm);
 
  static double getConstraintForceMixing();
 
  void setFrictionDirection(const Eigen::Vector3d& _dir);
 
  const Eigen::Vector3d& getFrictionDirection1() const;
 
  //----------------------------------------------------------------------------
  // Friendship
  //----------------------------------------------------------------------------
 
  friend class ConstraintSolver;
  friend class ConstrainedGroup;
 
protected:
  //----------------------------------------------------------------------------
  // Constraint virtual functions
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  void update() override;
 
  // Documentation inherited
  void getInformation(ConstraintInfo* _info) override;
 
  // Documentation inherited
  void applyUnitImpulse(std::size_t _idx) override;
 
  // Documentation inherited
  void getVelocityChange(double* _vel, bool _withCfm) override;
 
  // Documentation inherited
  void excite() override;
 
  // Documentation inherited
  void unexcite() override;
 
  // Documentation inherited
  void applyImpulse(double* _lambda) override;
 
  // Documentation inherited
  dynamics::SkeletonPtr getRootSkeleton() const override;
 
  // Documentation inherited
  void uniteSkeletons() override;
 
  // Documentation inherited
  bool isActive() const override;
 
  static double computeFrictionCoefficient(
      const dynamics::ShapeNode* shapeNode);
  static double computeRestitutionCoefficient(
      const dynamics::ShapeNode* shapeNode);
 
private:
  void getRelVelocity(double* _vel);
 
  void updateFirstFrictionalDirection();
 
  Eigen::MatrixXd getTangentBasisMatrixODE(const Eigen::Vector3d& _n);
 
  dynamics::PointMass* selectCollidingPointMass(
      dynamics::SoftBodyNode* _softBodyNode,
      const Eigen::Vector3d& _point,
      int _faceId) const;
 
  const dynamics::PointMass* selectCollidingPointMass(
      const dynamics::SoftBodyNode* _softBodyNode,
      const Eigen::Vector3d& _point,
      int _faceId) const;
 
private:
  double mTimeStep;
 
  dynamics::BodyNode* mBodyNode1;
 
  dynamics::BodyNode* mBodyNode2;
 
  dynamics::SoftBodyNode* mSoftBodyNode1;
 
  dynamics::SoftBodyNode* mSoftBodyNode2;
 
  dynamics::PointMass* mPointMass1;
 
  dynamics::PointMass* mPointMass2;
 
  // TODO(JS): For now, there is only one contact per contact constraint
  std::vector<collision::Contact*> mContacts;
 
  collision::SoftCollisionInfo* mSoftCollInfo;
 
  Eigen::Vector3d mFirstFrictionalDirection;
 
  double mFrictionCoeff;
 
  double mRestitutionCoeff;
 
  common::aligned_vector<Eigen::Vector6d> mJacobians1;
 
  common::aligned_vector<Eigen::Vector6d> mJacobians2;
 
  Eigen::Vector3d mBodyDirection1;
 
  Eigen::Vector3d mBodyDirection2;
 
  bool mIsFrictionOn;
 
  std::size_t mAppliedImpulseIndex;
 
  bool mIsBounceOn;
 
  bool mActive;
 
  static double mErrorAllowance;
 
  static double mErrorReductionParameter;
 
  static double mMaxErrorReductionVelocity;
 
  static double mConstraintForceMixing;
};
 
} // namespace constraint
} // namespace dart
 
#endif // DART_CONSTRAINT_SOFTCONTACTCONSTRAINT_HPP_