libkido-dev 0.1.0+dfsg-2build9 / usr / include / kido / constraint / SoftContactConstraint.hpp

/*
 * Copyright (c) 2014-2015, Georgia Tech Research Corporation
 * All rights reserved.
 *
 * Author(s): Jeongseok Lee <jslee02@gmail.com>
 *
 * Georgia Tech Graphics Lab and Humanoid Robotics Lab
 *
 * Directed by Prof. C. Karen Liu and Prof. Mike Stilman
 * <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
 *
 * This file is provided under the following "BSD-style" License:
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 *   without modification, are permitted provided that the following
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 *   * Redistributions of source code must retain the above copyright
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 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
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#ifndef KIDO_CONSTRAINT_SOFTCONTACTCONSTRAINT_HPP_
#define KIDO_CONSTRAINT_SOFTCONTACTCONSTRAINT_HPP_

#include "kido/constraint/ConstraintBase.hpp"

#include "kido/math/MathTypes.hpp"
#include "kido/collision/CollisionDetector.hpp"

namespace kido {

namespace collision{
class SoftCollisionInfo;
}  // namespace collision

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

namespace constraint {

/// SoftContactConstraint represents a contact constraint between two bodies
class SoftContactConstraint : public ConstraintBase
{
public:
  /// Constructor
  SoftContactConstraint(collision::Contact& _contact, double _timeStep);

  /// Destructor
  virtual ~SoftContactConstraint();

  //----------------------------------------------------------------------------
  // Property settings
  //----------------------------------------------------------------------------

  /// Set global error reduction parameter
  static void setErrorAllowance(double _allowance);

  /// Get global error reduction parameter
  static double getErrorAllowance();

  /// Set global error reduction parameter
  static void setErrorReductionParameter(double _erp);

  /// Get global error reduction parameter
  static double getErrorReductionParameter();

  /// Set global error reduction parameter
  static void setMaxErrorReductionVelocity(double _erv);

  /// Get global error reduction parameter
  static double getMaxErrorReductionVelocity();

  /// Set global constraint force mixing parameter
  static void setConstraintForceMixing(double _cfm);

  /// Get global constraint force mixing parameter
  static double getConstraintForceMixing();

  /// Set first frictional direction
  void setFrictionDirection(const Eigen::Vector3d& _dir);

  /// Get first frictional direction
  const Eigen::Vector3d& getFrictionDirection1() const;

  //----------------------------------------------------------------------------
  // Friendship
  //----------------------------------------------------------------------------

  friend class ConstraintSolver;
  friend class ConstrainedGroup;

protected:
  //----------------------------------------------------------------------------
  // Constraint virtual functions
  //----------------------------------------------------------------------------

  // Documentation inherited
  virtual void update();

  // Documentation inherited
  virtual void getInformation(ConstraintInfo* _info);

  // Documentation inherited
  virtual void applyUnitImpulse(size_t _idx);

  // Documentation inherited
  virtual void getVelocityChange(double* _vel, bool _withCfm);

  // Documentation inherited
  virtual void excite();

  // Documentation inherited
  virtual void unexcite();

  // Documentation inherited
  virtual void applyImpulse(double* _lambda);

  // Documentation inherited
  virtual dynamics::SkeletonPtr getRootSkeleton() const;

  // Documentation inherited
  virtual void uniteSkeletons();

  // Documentation inherited
  virtual bool isActive() const;

private:
  /// Get change in relative velocity at contact point due to external impulse
  /// \param[out] _vel Change in relative velocity at contact point of the two
  ///                  colliding bodies
  void getRelVelocity(double* _vel);

  ///
  void updateFirstFrictionalDirection();

  ///
  Eigen::MatrixXd getTangentBasisMatrixODE(const Eigen::Vector3d& _n);

  /// Find the nearest point mass from _point in a face, of which id is _faceId
  /// in _softBodyNode.
  dynamics::PointMass* selectCollidingPointMass(
      dynamics::SoftBodyNode* _softBodyNode,
      const Eigen::Vector3d& _point,
      int _faceId) const;

  /// Find the nearest point mass from _point in a face, of which id is _faceId
  /// in _softBodyNode. Returns a pointer to a const, and is usable with a const
  /// SoftBodyNode.
  const dynamics::PointMass* selectCollidingPointMass(
      const dynamics::SoftBodyNode* _softBodyNode,
      const Eigen::Vector3d& _point,
      int _faceId) const;

private:
  /// Time step
  double mTimeStep;

  /// Fircst body node
  dynamics::BodyNode* mBodyNode1;

  /// Second body node
  dynamics::BodyNode* mBodyNode2;

  /// First soft body node
  dynamics::SoftBodyNode* mSoftBodyNode1;

  /// Second soft body node
  dynamics::SoftBodyNode* mSoftBodyNode2;

  /// First point mass
  dynamics::PointMass* mPointMass1;

  /// Second point mass
  dynamics::PointMass* mPointMass2;

  // TODO(JS): For now, there is only one contact per contact constraint
  /// Contacts between mBodyNode1 and mBodyNode2
  std::vector<collision::Contact*> mContacts;

  /// Soft collision information
  collision::SoftCollisionInfo* mSoftCollInfo;

  /// First frictional direction
  Eigen::Vector3d mFirstFrictionalDirection;

  /// Coefficient of Friction
  double mFrictionCoeff;

  /// Coefficient of restitution
  double mRestitutionCoeff;

  /// Local body jacobians for mBodyNode1
  Eigen::aligned_vector<Eigen::Vector6d> mJacobians1;

  /// Local body jacobians for mBodyNode2
  Eigen::aligned_vector<Eigen::Vector6d> mJacobians2;

  /// Contact normal expressed in body frame of the first body node
  Eigen::Vector3d mBodyDirection1;

  /// Contact normal expressed in body frame of the second body node
  Eigen::Vector3d mBodyDirection2;

  ///
  bool mIsFrictionOn;

  /// Index of applied impulse
  size_t mAppliedImpulseIndex;

  ///
  bool mIsBounceOn;

  ///
  bool mActive;

  /// Global constraint error allowance
  static double mErrorAllowance;

  /// Global constraint error redection parameter in the range of [0, 1]. The
  /// default is 0.01.
  static double mErrorReductionParameter;

  /// Maximum error reduction velocity
  static double mMaxErrorReductionVelocity;

  /// Global constraint force mixing parameter in the range of [1e-9, 1]. The
  /// default is 1e-5
  /// \sa http://www.ode.org/ode-latest-userguide.html#sec_3_8_0
  static double mConstraintForceMixing;

public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

} // namespace constraint
} // namespace kido

#endif  // KIDO_CONSTRAINT_SOFTCONTACTCONSTRAINT_HPP_