ContactConstraint.hpp

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#ifndef DART_CONSTRAINT_CONTACTCONSTRAINT_HPP_
#define DART_CONSTRAINT_CONTACTCONSTRAINT_HPP_
 
#include "dart/constraint/ConstraintBase.hpp"
 
#include "dart/math/MathTypes.hpp"
#include "dart/collision/CollisionDetector.hpp"
 
namespace dart {
 
namespace dynamics {
class BodyNode;
class Skeleton;
}  // namespace dynamics
 
namespace constraint {
 
class ContactConstraint : public ConstraintBase
{
public:
  ContactConstraint(collision::Contact& _contact, double _timeStep);
 
  virtual ~ContactConstraint();
 
  //----------------------------------------------------------------------------
  // 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;
 
private:
  using TangentBasisMatrix = Eigen::Matrix<double, 3, 2>;
 
  void getRelVelocity(double* _relVel);
 
  void updateFirstFrictionalDirection();
 
  TangentBasisMatrix getTangentBasisMatrixODE(const Eigen::Vector3d& _n);
 
private:
  double mTimeStep;
 
  dynamics::BodyNode* mBodyNode1;
 
  dynamics::BodyNode* mBodyNode2;
 
  std::vector<collision::Contact*> mContacts;
 
  Eigen::Vector3d mFirstFrictionalDirection;
 
  double mFrictionCoeff;
 
  double mRestitutionCoeff;
 
  common::aligned_vector<Eigen::Vector6d> mJacobians1;
 
  common::aligned_vector<Eigen::Vector6d> mJacobians2;
 
  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_CONTACTCONSTRAINT_HPP_