ContactConstraint.hpp

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#ifndef DART_CONSTRAINT_CONTACTCONSTRAINT_HPP_
#define DART_CONSTRAINT_CONTACTCONSTRAINT_HPP_

#include "dart/dynamics/CollisionDetector.hpp"
#include "dart/dynamics/ConstraintBase.hpp"
#include "dart/math/MathTypes.hpp"

namespace dart {

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

namespace dynamics {

class ContactConstraint : public ConstraintBase
{
public:
  ContactConstraint(collision::Contact& contact, double timeStep);

  ~ContactConstraint() override = default;

  // Documentation inherited
  const std::string& getType() const override;

  static const std::string& getStaticType();

  //----------------------------------------------------------------------------
  // 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 index) 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;

  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);

private:
  using TangentBasisMatrix = Eigen::Matrix<double, 3, 2>;

  void getRelVelocity(double* relVel);

  void updateFirstFrictionalDirection();

  TangentBasisMatrix getTangentBasisMatrixODE(const Eigen::Vector3d& n);

  // The following functions for getting and setting slip compliance and
  // accessing the contact object are meant to be used by ConstraintSolver to
  // update the slip compliances based on the number of contacts between the
  // collision objects.
  //
  double getPrimarySlipCompliance() const;

  void setPrimarySlipCompliance(double slip);

  double getSecondarySlipCompliance() const;

  void setSecondarySlipCompliance(double slip);

  const collision::Contact& getContact() const;

private:
  double mTimeStep;

  dynamics::BodyNode* mBodyNodeA;

  dynamics::BodyNode* mBodyNodeB;

  collision::Contact& mContact;

  Eigen::Vector3d mFirstFrictionalDirection;

  double mPrimaryFrictionCoeff;

  double mSecondaryFrictionCoeff;

  double mPrimarySlipCompliance;

  double mSecondarySlipCompliance;

  double mRestitutionCoeff;

  bool mIsSelfCollision;

  Eigen::Matrix<double, 6, Eigen::Dynamic> mSpatialNormalA;

  Eigen::Matrix<double, 6, Eigen::Dynamic> mSpatialNormalB;

  bool mIsFrictionOn;

  std::size_t mAppliedImpulseIndex;

  bool mIsBounceOn;

  bool mActive;

  static double mErrorAllowance;

  static double mErrorReductionParameter;

  static double mMaxErrorReductionVelocity;

  static double mConstraintForceMixing;
};
// TODO(JS): Create SelfContactConstraint.

} // namespace dynamics
} // namespace dart

#endif // DART_CONSTRAINT_CONTACTCONSTRAINT_HPP_