DART  6.7.3
ConstraintBase.hpp
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32 
33 #ifndef DART_CONSTRAINT_CONSTRAINTBASE_HPP_
34 #define DART_CONSTRAINT_CONSTRAINTBASE_HPP_
35 
36 #include <cstddef>
37 
39 
40 namespace dart {
41 
42 namespace dynamics {
43 class Skeleton;
44 } // namespace dynamics
45 
46 namespace constraint {
47 
50 {
52  double* x;
53 
55  double* lo;
56 
58  double* hi;
59 
61  double* b;
62 
64  double* w;
65 
67  int* findex;
68 
70  double invTimeStep;
71 };
72 
75 {
76 public:
78  std::size_t getDimension() const;
79 
81  virtual void update() = 0;
82 
84  virtual void getInformation(ConstraintInfo* info) = 0;
85 
87  virtual void applyUnitImpulse(std::size_t index) = 0;
88 
90  virtual void getVelocityChange(double* vel, bool withCfm) = 0;
91 
93  virtual void excite() = 0;
94 
96  virtual void unexcite() = 0;
97 
99  virtual void applyImpulse(double* lambda) = 0;
100 
102  virtual bool isActive() const = 0;
103 
106 
108  virtual void uniteSkeletons();
109 
112 
115 
116  //----------------------------------------------------------------------------
117  // Friendship
118  //----------------------------------------------------------------------------
119 
120  friend class ConstraintSolver;
121  friend class ConstrainedGroup;
122 
123 protected:
125  ConstraintBase();
126 
128  virtual ~ConstraintBase();
129 
130 protected:
132  std::size_t mDim;
133 };
134 
135 } // namespace constraint
136 } // namespace dart
137 
138 #endif // DART_CONSTRAINT_CONSTRAINTBASE_HPP_
139 
std::size_t index
Definition: SkelParser.cpp:1617
ConstrainedGroup is a group of skeletons that interact each other with constraints.
Definition: ConstrainedGroup.hpp:58
Constraint is a base class of concrete constraints classes.
Definition: ConstraintBase.hpp:75
std::size_t getDimension() const
Return dimesion of this constranit.
Definition: ConstraintBase.cpp:57
std::size_t mDim
Dimension of constraint.
Definition: ConstraintBase.hpp:132
virtual ~ConstraintBase()
Destructor.
Definition: ConstraintBase.cpp:52
virtual void applyImpulse(double *lambda)=0
Apply computed constraint impulse to constrained skeletons.
virtual void getInformation(ConstraintInfo *info)=0
Fill LCP variables.
virtual dynamics::SkeletonPtr getRootSkeleton() const =0
virtual void getVelocityChange(double *vel, bool withCfm)=0
Get velocity change due to the uint impulse.
virtual void uniteSkeletons()
Definition: ConstraintBase.cpp:63
ConstraintBase()
Default contructor.
Definition: ConstraintBase.cpp:46
virtual bool isActive() const =0
Return true if this constraint is active.
virtual void applyUnitImpulse(std::size_t index)=0
Apply unit impulse to constraint space.
static dynamics::SkeletonPtr compressPath(dynamics::SkeletonPtr skeleton)
Definition: ConstraintBase.cpp:69
virtual void unexcite()=0
Unexcite the constraint.
virtual void update()=0
Update constraint using updated Skeleton's states.
virtual void excite()=0
Excite the constraint.
ConstraintSolver manages constraints and computes constraint impulses.
Definition: ConstraintSolver.hpp:56
std::shared_ptr< Skeleton > SkeletonPtr
Definition: SmartPointer.hpp:60
Definition: BulletCollisionDetector.cpp:63
ConstraintInfo.
Definition: ConstraintBase.hpp:50
double * w
Slack variable.
Definition: ConstraintBase.hpp:64
int * findex
Friction index.
Definition: ConstraintBase.hpp:67
double invTimeStep
Inverse of time step.
Definition: ConstraintBase.hpp:70
double * hi
Upper bound of x.
Definition: ConstraintBase.hpp:58
double * b
Bias term.
Definition: ConstraintBase.hpp:61
double * x
Impulse.
Definition: ConstraintBase.hpp:52
double * lo
Lower bound of x.
Definition: ConstraintBase.hpp:55