4018a12c56
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@312 92aac97c-a6ce-11dd-a772-7fcde58d38e6
149 lines
8.0 KiB
C++
149 lines
8.0 KiB
C++
/****************************************************************************
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* Copyright (C) 2009 Daniel Chappuis *
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****************************************************************************
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* This file is part of ReactPhysics3D. *
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* *
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* ReactPhysics3D is free software: you can redistribute it and/or modify *
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* it under the terms of the GNU Lesser General Public License as published *
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* by the Free Software Foundation, either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* ReactPhysics3D is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public License *
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* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
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***************************************************************************/
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#ifndef CONSTRAINT_H
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#define CONSTRAINT_H
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// Libraries
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#include "../body/Body.h"
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#include "../mathematics/mathematics.h"
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// ReactPhysics3D namespace
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namespace reactphysics3d {
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/* -------------------------------------------------------------------
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Class Constraint :
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This abstract class represents a constraint in the physics engine.
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A constraint can be a collision contact or a joint for
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instance. Each constraint have a jacobian matrix associated with
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the first body of the constraint and a jacobian matrix associated
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with the second body. Each constraint can also have some auxiliary
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constraints. Those auxiliary constraint are all represented in the
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auxiliary Jacobian matrix. Auxiliary constraints represents some
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constraints associated with a main constraint. For instance, a
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contact constraint between two bodies can have two associated
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auxiliary constraints to represent the frictions force constraints
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in two directions.
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-------------------------------------------------------------------
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*/
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class Constraint {
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protected :
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Body* const body1; // Pointer to the first body of the constraint
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Body* const body2; // Pointer to the second body of the constraint
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bool active; // True if the constraint is active
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Matrix body1Jacobian; // Jacobian matrix of the constraint for body1 (dimension 1x6)
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Matrix body2Jacobian; // Jacobian matrix of the constraint for body2 (dimension 1x6)
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Matrix auxJacobian; // Jacobian matrix for all the auxiliary constraints jacobian associated with this constraint
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// (dimension nx12 where n is the number of auxiliary constraints)
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uint nbAuxConstraints; // Number of auxiliary constraints associated with this constraint
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double lowerBound; // Lower bound of the constraint
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double upperBound; // Upper bound of the constraint
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Vector auxLowerBounds; // Vector that contains all the lower bounds of the auxiliary constraints
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Vector auxUpperBounds; // Vector that contains all the upper bounds of the auxiliary constraints
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double errorValue; // Error value (bias) of the constraint
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Vector auxErrorValues; // Error values for the auxiliary constraints
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public :
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Constraint(Body* const body1, Body* const body2, uint nbAuxConstraints, bool active); // Constructor // Constructor
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virtual ~Constraint(); // Destructor
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Body* const getBody1() const; // Return the reference to the body 1
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Body* const getBody2() const; // Return the reference to the body 2
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virtual void evaluate()=0; // Evaluate the constraint
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bool isActive() const; // Return true if the constraint is active
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const Matrix& getBody1Jacobian() const; // Return the jacobian matrix of body 1
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const Matrix& getBody2Jacobian() const; // Return the jacobian matrix of body 2
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unsigned int getNbAuxConstraints() const; // Return the number of auxiliary constraints
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const Matrix& getAuxJacobian() const; // Return the jacobian matrix of auxiliary constraints
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double getLowerBound() const; // Return the lower bound value of the constraint
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double getUpperBound() const; // Return the upper bound value of the constraint
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const Vector& getAuxLowerBounds() const; // Return the vector of lower bounds values
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const Vector& getAuxUpperBounds() const; // Return the vector of the upper bounds values
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double getErrorValue() const; // Return the error value (bias) of the constraint
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const Vector& getAuxErrorValues() const; // Return the auxiliary error values
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};
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// Return the reference to the body 1
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inline Body* const Constraint::getBody1() const {
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return body1;
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}
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// Return the reference to the body 2
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inline Body* const Constraint::getBody2() const {
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return body2;
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}
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// Return true if the constraint is active
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inline bool Constraint::isActive() const {
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return active;
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}
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// Return the jacobian matrix of body 1
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inline const Matrix& Constraint::getBody1Jacobian() const {
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return body1Jacobian;
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}
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// Return the jacobian matrix of body 2
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inline const Matrix& Constraint::getBody2Jacobian() const {
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return body2Jacobian;
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}
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// Return the number auxiliary constraints
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inline uint Constraint::getNbAuxConstraints() const {
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return nbAuxConstraints;
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}
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// Return the auxiliary jacobian matrix
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inline const Matrix& Constraint::getAuxJacobian() const {
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return auxJacobian;
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}
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// Return the lower bound value of the constraint
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inline double Constraint::getLowerBound() const {
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return lowerBound;
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}
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// Return the upper bound value of the constraint
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inline double Constraint::getUpperBound() const {
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return upperBound;
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}
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// Return the vector of lower bounds values
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inline const Vector& Constraint::getAuxLowerBounds() const {
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return auxLowerBounds;
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}
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// Return the vector of the upper bounds values
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inline const Vector& Constraint::getAuxUpperBounds() const {
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return auxUpperBounds;
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}
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// Return the error value (bias) of the constraint
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inline double Constraint::getErrorValue() const {
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return errorValue;
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}
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// Return the auxiliary error values
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inline const Vector& Constraint::getAuxErrorValues() const {
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return auxErrorValues;
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}
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} // End of the ReactPhysics3D namespace
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#endif
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