ContactSurface.hpp

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#ifndef DART_CONSTRAINT_CONTACTSURFACE_HPP_
#define DART_CONSTRAINT_CONTACTSURFACE_HPP_
 
#include <Eigen/Core>
 
#include "dart/collision/Contact.hpp"
#include "dart/constraint/SmartPointer.hpp"
#include "dart/dynamics/ShapeNode.hpp"
 
#define DART_RESTITUTION_COEFF_THRESHOLD 1e-3
#define DART_FRICTION_COEFF_THRESHOLD 1e-3
#define DART_BOUNCING_VELOCITY_THRESHOLD 1e-1
#define DART_MAX_BOUNCING_VELOCITY 1e+2
#define DART_CONTACT_CONSTRAINT_EPSILON_SQUARED 1e-12
 
namespace dart {
namespace constraint {
 
constexpr double DART_DEFAULT_FRICTION_COEFF = 1.0;
constexpr double DART_DEFAULT_RESTITUTION_COEFF = 0.0;
// Slip compliance is combined through addition,
// so set to half the global default value
constexpr double DART_DEFAULT_SLIP_COMPLIANCE = 0.0;
const Eigen::Vector3d DART_DEFAULT_FRICTION_DIR = Eigen::Vector3d::UnitZ();
const Eigen::Vector3d DART_DEFAULT_CONTACT_SURFACE_MOTION_VELOCITY
    = Eigen::Vector3d::Zero();
 
struct ContactSurfaceParams
{
  double mPrimaryFrictionCoeff{DART_DEFAULT_FRICTION_COEFF};
 
  double mSecondaryFrictionCoeff{DART_DEFAULT_FRICTION_COEFF};
 
  double mRestitutionCoeff{DART_DEFAULT_RESTITUTION_COEFF};
 
  double mPrimarySlipCompliance{DART_DEFAULT_SLIP_COMPLIANCE};
 
  double mSecondarySlipCompliance{DART_DEFAULT_SLIP_COMPLIANCE};
 
  Eigen::Vector3d mFirstFrictionalDirection{DART_DEFAULT_FRICTION_DIR};
 
  Eigen::Vector3d mContactSurfaceMotionVelocity{
      DART_DEFAULT_CONTACT_SURFACE_MOTION_VELOCITY};
 
private:
#if defined(__clang__)
  #pragma clang diagnostic push
  #pragma clang diagnostic ignored "-Wunused-private-field"
#endif
  void* mExtraData{nullptr};
#if defined(__clang__)
  #pragma clang diagnostic pop
#endif
};
 
class ContactSurfaceHandler
{
public:
  explicit ContactSurfaceHandler(ContactSurfaceHandlerPtr parent = nullptr);
 
  virtual ~ContactSurfaceHandler() = default;
 
  virtual ContactSurfaceParams createParams(
      const collision::Contact& contact,
      size_t numContactsOnCollisionObject) const;
 
  virtual ContactConstraintPtr createConstraint(
      collision::Contact& contact,
      size_t numContactsOnCollisionObject,
      double timeStep) const;
 
  ContactSurfaceHandlerPtr getParent();
 
  void setParent(ContactSurfaceHandlerPtr parent);
 
  friend class ConstraintSolver;
 
protected:
  ContactSurfaceHandlerPtr mParent;
};
 
class DefaultContactSurfaceHandler : public ContactSurfaceHandler
{
public:
  virtual ~DefaultContactSurfaceHandler() = default;
 
  // Documentation inherited
  ContactSurfaceParams createParams(
      const collision::Contact& contact,
      size_t numContactsOnCollisionObject) const override;
 
  // Documentation inherited
  ContactConstraintPtr createConstraint(
      collision::Contact& contact,
      size_t numContactsOnCollisionObject,
      double timeStep) const override;
 
protected:
  static double computeFrictionCoefficient(
      const dynamics::ShapeNode* shapeNode);
  static double computePrimaryFrictionCoefficient(
      const dynamics::ShapeNode* shapeNode);
  static double computeSecondaryFrictionCoefficient(
      const dynamics::ShapeNode* shapeNode);
  static double computePrimarySlipCompliance(
      const dynamics::ShapeNode* shapeNode);
  static double computeSecondarySlipCompliance(
      const dynamics::ShapeNode* shapeNode);
  static Eigen::Vector3d computeWorldFirstFrictionDir(
      const dynamics::ShapeNode* shapenode);
  static double computeRestitutionCoefficient(
      const dynamics::ShapeNode* shapeNode);
 
  friend class ContactConstraint;
};
 
} // namespace constraint
} // namespace dart
 
#endif // DART_CONSTRAINT_CONTACTSURFACE_HPP_