Constraint.h

/****************************************************************************
 * Copyright 2005 Evan Drumwright
 * This library is distributed under the terms of the GNU General Public 
 * License (found in COPYING).
 ****************************************************************************/

#ifndef _CONSTRAINT_H
#define _CONSTRAINT_H

#include <string>
#include <Physsim/Base.h>
#include <Physsim/Vector3.h>
#include <Physsim/MatrixN.h>
#include <Physsim/VectorN.h>

namespace Physsim {

class RigidBody;
        

class Constraint : public Base
{
        public:
                virtual ~Constraint() {}
                virtual void read(const char* filename) = 0;
                virtual void write(const char* filename) = 0;


                int getBodyIndex(const RigidBody* body) const;

                bool isEnabled() const { return _enabled; }

                void setEnabled(bool flag);

                virtual std::string getJointType() const = 0;

                RigidBody* getBodyFirst() const;

                RigidBody* getBodySecond() const;


                void setBodies(const RigidBody* body1, const RigidBody* body2);

                Vector3 getBodyFirstTorque() const { return _t1; }

                Vector3 getBodyFirstForce() const { return _f1; }

                Vector3 getBodySecondTorque() const { return _t2; }

                Vector3 getBodySecondForce() const { return _f2; }

                void setBodyFirstTorque(const Vector3& torque) { _t1 = torque; }

                void setBodyFirstForce(const Vector3& force) { _f1 = force; }

                void setBodySecondTorque(const Vector3& torque) { _t2 = torque; }

                void setBodySecondForce(const Vector3& force) { _f2 = force; }

                Real getMaxForce() const { return _maxforce; }

                Real getMaxTorque() const { return _maxtorque; }

                void setMaxForce(Real maxforce) { _maxforce = maxforce; }

                void setMaxTorque(Real maxtorque) { _maxtorque = maxtorque; }


                virtual Real getImplicit(const std::vector<RigidBody*> body_list) const = 0;
                

                virtual Real getImplicitD(const std::vector<RigidBody*> body_list) const = 0;


                virtual VectorN getJacobian(const std::vector<RigidBody*> body_list) const = 0;
                

                virtual VectorN getJacobianD(const std::vector<RigidBody*> body_list) const = 0;

                Real getKP() const { return _kp; }
                
                void setKP(Real kp) { _kp = kp; }
                
                Real getKD() const { return _kd; }
                
                void setKD(Real kd) { _kd = kd; }
                
        protected:
                RigidBody* _body1;
                
                RigidBody* _body2;
                
                Vector3 _f1;
                
                Vector3 _t1;
                
                Vector3 _f2;
                
                Vector3 _t2;

                Real _kp;

                Real _kd;

                Real _maxforce;

                Real _maxtorque;

        private:
                std::string _joint_type;
                bool _enabled;
};
}

#endif

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