Constraint.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef SURGSIM_PHYSICS_CONSTRAINT_H
#define SURGSIM_PHYSICS_CONSTRAINT_H

#include "SurgSim/DataStructures/Location.h"
#include "SurgSim/Physics/ConstraintData.h"
#include "SurgSim/Physics/ConstraintImplementation.h"
#include "SurgSim/Physics/MlcpPhysicsProblem.h"

#include <array>
#include <memory>

namespace SurgSim
{

namespace Physics
{

class Constraint
{
public:
    Constraint(
        ConstraintType constraintType,
        std::shared_ptr<ConstraintData> data,
        std::shared_ptr<Representation> representation0,
        const SurgSim::DataStructures::Location& location0,
        std::shared_ptr<Representation> representation1,
        const SurgSim::DataStructures::Location& location1);

    virtual ~Constraint();

    void setInformation(
        ConstraintType constraintType,
        std::shared_ptr<ConstraintData> data,
        std::shared_ptr<Representation> representation0,
        const SurgSim::DataStructures::Location& location0,
        std::shared_ptr<Representation> representation1,
        const SurgSim::DataStructures::Location& location1);

    const std::pair<std::shared_ptr<ConstraintImplementation>, std::shared_ptr<ConstraintImplementation>>&
        getImplementations() const;

    const std::pair<std::shared_ptr<Localization>, std::shared_ptr<Localization>>&
        getLocalizations() const;

    std::shared_ptr<ConstraintData> getData() const;

    size_t getNumDof() const;

    ConstraintType getType();

    void build(double dt,
        MlcpPhysicsProblem* mlcpPhysicsProblem,
        size_t indexOfRepresentation0,
        size_t indexOfRepresentation1,
        size_t indexOfConstraint);

    bool isActive();

    void setActive(bool flag);

protected:
    std::array<Math::MlcpConstraintType, NUM_CONSTRAINT_TYPES> m_mlcpMap;

    std::shared_ptr<ConstraintData> m_data;

    std::pair<std::shared_ptr<ConstraintImplementation>, std::shared_ptr<ConstraintImplementation>> m_implementations;
    std::pair<std::shared_ptr<Localization>, std::shared_ptr<Localization>> m_localizations;

    size_t m_numDof;

    ConstraintType m_constraintType;

    virtual void doBuild(double dt,
        const ConstraintData& data,
        MlcpPhysicsProblem* mlcpPhysicsProblem,
        size_t indexOfRepresentation0,
        size_t indexOfRepresentation1,
        size_t indexOfConstraint);

    bool m_active;
};

};  // namespace Physics

};  // namespace SurgSim

#endif  // SURGSIM_PHYSICS_CONSTRAINT_H