reactphysics3d/src/constraint/Constraint.h

/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
* Copyright (c) 2010 Daniel Chappuis                                            *
*********************************************************************************
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#ifndef CONSTRAINT_H
#define CONSTRAINT_H

// Libraries
#include "../body/Body.h"
#include "../mathematics/mathematics.h"

// ReactPhysics3D namespace
namespace reactphysics3d {

/*  -------------------------------------------------------------------
    Class Constraint :
        This abstract class represents a constraint in the physics engine.
        A constraint can be a collision contact or a joint for
        instance. Each constraint can be made of several "mathematical
        constraints" needed to represent the main constraint.
    -------------------------------------------------------------------
*/
class Constraint {
    protected :
        Body* const body1;          // Pointer to the first body of the constraint
        Body* const body2;          // Pointer to the second body of the constraint
        bool active;                // True if the constraint is active
        uint nbConstraints;         // Number mathematical constraints associated with this Constraint

    public :
        Constraint(Body* const body1, Body* const body2, uint nbConstraints, bool active);  // Constructor                                                                                                   // Constructor
        virtual ~Constraint();                                                              // Destructor
        Body* const getBody1() const;                                                       // Return the reference to the body 1
        Body* const getBody2() const;                                                       // Return the reference to the body 2                                                                        // Evaluate the constraint
        bool isActive() const;                                                              // Return true if the constraint is active                                                             // Return the jacobian matrix of body 2
        virtual void computeJacobian(int noConstraint, Matrix1x6**& J_sp) const=0;          // Compute the jacobian matrix for all mathematical constraints
        virtual void computeLowerBound(int noConstraint, Vector& lowerBounds) const=0;      // Compute the lowerbounds values for all the mathematical constraints
        virtual void computeUpperBound(int noConstraint, Vector& upperBounds) const=0;      // Compute the upperbounds values for all the mathematical constraints
        virtual void computeErrorValue(int noConstraint, Vector& errorValues) const=0;      // Compute the error values for all the mathematical constraints
        unsigned int getNbConstraints() const;                                              // Return the number of mathematical constraints                                                                                                         // Return the number of auxiliary constraints
};

// Return the reference to the body 1
inline Body* const Constraint::getBody1() const {
    return body1;
}

// Return the reference to the body 2
inline Body* const Constraint::getBody2() const {
    return body2;
}

// Return true if the constraint is active
inline bool Constraint::isActive() const {
    return active;
}

// Return the number auxiliary constraints
inline uint Constraint::getNbConstraints() const {
    return nbConstraints;
}

} // End of the ReactPhysics3D namespace

#endif