db5ff8ec4a
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@392 92aac97c-a6ce-11dd-a772-7fcde58d38e6
97 lines
6.3 KiB
C++
97 lines
6.3 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010 Daniel Chappuis *
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*********************************************************************************
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* *
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* Permission is hereby granted, free of charge, to any person obtaining a copy *
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* of this software and associated documentation files (the "Software"), to deal *
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* in the Software without restriction, including without limitation the rights *
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
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* copies of the Software, and to permit persons to whom the Software is *
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* furnished to do so, subject to the following conditions: *
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* *
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* The above copyright notice and this permission notice shall be included in *
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* all copies or substantial portions of the Software. *
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* *
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, *
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
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* THE SOFTWARE. *
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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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uint nbAuxConstraints; // Number of auxiliary constraints associated with this constraint
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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 // Evaluate the constraint
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bool isActive() const; // Return true if the constraint is active // Return the jacobian matrix of body 2
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virtual void computeJacobian(int noBody, Matrix& jacobian) const=0; // Compute a part of the jacobian for a given body
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virtual void computeAuxJacobian(int noBody, int noAuxConstraint, Matrix& auxJacobian) const=0; // Compute a part of the jacobian for an auxiliary constraint
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virtual double computeLowerBound() const=0; // Compute the lowerbound of the constraint
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virtual double computeUpperBound() const=0; // Compute the upperbound of the constraint
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virtual void computeAuxLowerBounds(int beginIndex, Vector& auxLowerBounds) const=0; // Compute lowerbounds for the auxiliary constraints
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virtual void computeAuxUpperBounds(int beginIndex, Vector& auxUpperBounds) const=0; // Compute upperbounds for the auxiliary constraints
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virtual double computeErrorValue() const=0; // Compute the error value for the constraint
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virtual void computeAuxErrorValues(int beginIndex, Vector& errorValues) const=0; // Compute the errors values of the auxiliary constraints
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unsigned int getNbAuxConstraints() const; // Return the number of auxiliary constraints // Return the number of auxiliary constraints
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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 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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} // End of the ReactPhysics3D namespace
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#endif
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