ConstraintForceSolver.h

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/*
 * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
 * All rights reserved. This program is made available under the terms of the
 * Eclipse Public License v1.0 which accompanies this distribution, and is
 * available at http://www.eclipse.org/legal/epl-v10.html
 * Contributors:
 * National Institute of Advanced Industrial Science and Technology (AIST)
 */
#ifndef OPENHRP_CONSTRAINT_FORCE_SOLVER_H_INCLUDED
#define OPENHRP_CONSTRAINT_FORCE_SOLVER_H_INCLUDED

#include "Config.h"

namespace OpenHRP {
        class CollisionSequence;
}

namespace hrp
{
        class Link;
        class CFSImpl;
        class WorldBase;
        
    class HRPMODEL_API ConstraintForceSolver
    {
                CFSImpl* impl;
                
    public:
        ConstraintForceSolver(WorldBase& world);
        ~ConstraintForceSolver();
                
        bool addCollisionCheckLinkPair
                (int bodyIndex1, Link* link1, int bodyIndex2, Link* link2, double muStatic, double muDynamic, double culling_thresh, double restitution, double epsilon);
                bool addExtraJoint(int bodyIndex1, Link* link1, int bodyIndex2, Link* link2, const double* link1LocalPos, const double* link2LocalPos, const short jointType, const double* jointAxis );
                void clearCollisionCheckLinkPairs();

                void setGaussSeidelParameters(int maxNumIteration, int numInitialIteration, double maxRelError);
                void enableConstraintForceOutput(bool on);
                void useBuiltinCollisionDetector(bool on);
                void setNegativeVelocityRatioForPenetration(double ratio);

                void initialize(void);
        void solve(OpenHRP::CollisionSequence& corbaCollisionSequence);
                void clearExternalForces();
        void setAllowedPenetrationDepth(double dVal);
        double getAllowedPenetrationDepth() const;
        };
};


#endif