ConstraintSolver.hpp

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#ifndef DART_CONSTRAINT_CONSTRAINTSOVER_HPP_
#define DART_CONSTRAINT_CONSTRAINTSOVER_HPP_

#include <vector>

#include <Eigen/Dense>

#include "dart/common/Deprecated.hpp"
#include "dart/dynamics/CollisionDetector.hpp"
#include "dart/dynamics/ConstrainedGroup.hpp"
#include "dart/dynamics/ConstraintBase.hpp"
#include "dart/dynamics/SmartPointer.hpp"

namespace dart {

namespace dynamics {
class Skeleton;
class ShapeNodeCollisionObject;
} // namespace dynamics

namespace dynamics {

class ConstraintSolver
{
public:
  DART_DEPRECATED(6.8)
  explicit ConstraintSolver(double timeStep);

  // TODO(JS): Remove timeStep. The timestep can be set by world when a
  // constraint solver is assigned to a world.
  // Deprecate

  ConstraintSolver();

  // TODO: implement copy constructor since this class contains a pointer to
  // allocated memory.
  ConstraintSolver(const ConstraintSolver& other) = delete;

  virtual ~ConstraintSolver() = default;

  void addSkeleton(const dynamics::SkeletonPtr& skeleton);

  void addSkeletons(const std::vector<dynamics::SkeletonPtr>& skeletons);

  const std::vector<dynamics::SkeletonPtr>& getSkeletons() const;

  void removeSkeleton(const dynamics::SkeletonPtr& skeleton);

  void removeSkeletons(const std::vector<dynamics::SkeletonPtr>& skeletons);

  void removeAllSkeletons();

  void addConstraint(const ConstraintBasePtr& constraint);

  void removeConstraint(const ConstraintBasePtr& constraint);

  void removeAllConstraints();

  std::size_t getNumConstraints() const;

  dynamics::ConstraintBasePtr getConstraint(std::size_t index);

  dynamics::ConstConstraintBasePtr getConstraint(std::size_t index) const;

  std::vector<dynamics::ConstraintBasePtr> getConstraints();

  std::vector<dynamics::ConstConstraintBasePtr> getConstraints() const;

  void clearLastCollisionResult();

  virtual void setTimeStep(double _timeStep);

  double getTimeStep() const;

  DART_DEPRECATED(6.0)
  void setCollisionDetector(collision::CollisionDetector* collisionDetector);

  void setCollisionDetector(
      const std::shared_ptr<collision::CollisionDetector>& collisionDetector);

  collision::CollisionDetectorPtr getCollisionDetector();

  collision::ConstCollisionDetectorPtr getCollisionDetector() const;

  collision::CollisionGroupPtr getCollisionGroup();

  collision::ConstCollisionGroupPtr getCollisionGroup() const;

  collision::CollisionOption& getCollisionOption();

  const collision::CollisionOption& getCollisionOption() const;

  collision::CollisionResult& getLastCollisionResult();

  const collision::CollisionResult& getLastCollisionResult() const;

  DART_DEPRECATED(6.7)
  void setLCPSolver(std::unique_ptr<LCPSolver> lcpSolver);

  DART_DEPRECATED(6.7)
  LCPSolver* getLCPSolver() const;

  void solve();

  virtual void setFromOtherConstraintSolver(const ConstraintSolver& other);

protected:
  // TODO(JS): Docstring
  virtual void solveConstrainedGroup(ConstrainedGroup& group) = 0;

  bool containSkeleton(const dynamics::ConstSkeletonPtr& skeleton) const;

  bool checkAndAddSkeleton(const dynamics::SkeletonPtr& skeleton);

  bool containConstraint(const ConstConstraintBasePtr& constraint) const;

  bool checkAndAddConstraint(const ConstraintBasePtr& constraint);

  void updateConstraints();

  void buildConstrainedGroups();

  void solveConstrainedGroups();

  bool isSoftContact(const collision::Contact& contact) const;

  using CollisionDetector = collision::CollisionDetector;

  collision::CollisionDetectorPtr mCollisionDetector;

  collision::CollisionGroupPtr mCollisionGroup;

  collision::CollisionOption mCollisionOption;

  collision::CollisionResult mCollisionResult;

  double mTimeStep;

  std::vector<dynamics::SkeletonPtr> mSkeletons;

  std::vector<ContactConstraintPtr> mContactConstraints;

  std::vector<SoftContactConstraintPtr> mSoftContactConstraints;

  std::vector<JointLimitConstraintPtr> mJointLimitConstraints;

  std::vector<ServoMotorConstraintPtr> mServoMotorConstraints;

  std::vector<MimicMotorConstraintPtr> mMimicMotorConstraints;

  std::vector<JointCoulombFrictionConstraintPtr>
      mJointCoulombFrictionConstraints;

  std::vector<ConstraintBasePtr> mManualConstraints;

  std::vector<ConstraintBasePtr> mActiveConstraints;

  std::vector<ConstrainedGroup> mConstrainedGroups;
};

} // namespace dynamics
} // namespace dart

#endif // DART_CONSTRAINT_CONSTRAINTSOVER_HPP_