Constraint_LineOnLineContact.h

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#ifndef SimTK_SIMBODY_CONSTRAINT_LINE_ON_LINE_CONTACT_H_
#define SimTK_SIMBODY_CONSTRAINT_LINE_ON_LINE_CONTACT_H_

/* -------------------------------------------------------------------------- *
 *                               Simbody(tm)                                  *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK biosimulation toolkit originating from           *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
 *                                                                            *
 * Portions copyright (c) 2014 Stanford University and the Authors.           *
 * Authors: Michael Sherman                                                   *
 * Contributors:                                                              *
 *                                                                            *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
 * not use this file except in compliance with the License. You may obtain a  *
 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
 *                                                                            *
 * Unless required by applicable law or agreed to in writing, software        *
 * distributed under the License is distributed on an "AS IS" BASIS,          *
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
 * See the License for the specific language governing permissions and        *
 * limitations under the License.                                             *
 * -------------------------------------------------------------------------- */

#include "simbody/internal/Constraint.h"

namespace SimTK {

//==============================================================================
//                         LINE ON LINE CONTACT
//==============================================================================
class SimTK_SIMBODY_EXPORT Constraint::LineOnLineContact
:   public Constraint  {
public:
    // no default constructor

//------------------------------------------------------------------------------

LineOnLineContact(  MobilizedBody&      mobod_F, 
                    const Transform&    defaultEdgeFrameF, 
                    Real                defaultHalfLengthF, 
                    MobilizedBody&      mobod_B, 
                    const Transform&    defaultEdgeFrameB, 
                    Real                defaultHalfLengthB, 
                    bool                enforceRolling);
    
LineOnLineContact() {}

const MobilizedBody& getMobilizedBodyF() const;

const MobilizedBody& getMobilizedBodyB() const;

bool isEnforcingRolling() const;

LineOnLineContact& 
setDefaultEdgeFrameF(const Transform& defaultEdgeFrameF);
LineOnLineContact& 
setDefaultHalfLengthF(Real defaultHalfLengthF);
LineOnLineContact& 
setDefaultEdgeFrameB(const Transform& defaultEdgeFrameB);
LineOnLineContact& 
setDefaultHalfLengthB(Real defaultHalfLengthF);

const Transform& getDefaultEdgeFrameF() const;
Real getDefaultHalfLengthF() const;

const Transform& getDefaultEdgeFrameB() const;
Real getDefaultHalfLengthB() const;
//------------------------------------------------------------------------------
// no controls yet
//------------------------------------------------------------------------------

const LineOnLineContact& 
setEdgeFrameF(State& state, const Transform& edgeFrameF) const;

const LineOnLineContact& 
setHalfLengthF(State& state, Real halfLengthF) const;

const LineOnLineContact& 
setEdgeFrameB(State& state, const Transform& edgeFrameB) const;

const LineOnLineContact& 
setHalfLengthB(State& state, Real halfLengthB) const;

const Transform& getEdgeFrameF(const State& state) const;
Real getHalfLengthF(const State& state) const;

const Transform& getEdgeFrameB(const State& state) const;
Real getHalfLengthB(const State& state) const;
//------------------------------------------------------------------------------
Real getPositionError(const State& state) const;

Vec3 getVelocityErrors(const State& state) const;

Vec3 getAccelerationErrors(const State& state) const;

Vec3 getMultipliers(const State& state) const;

Vec3 findForceOnBodyBInG(const State& state) const;

Transform findContactFrameInG(const State& state) const;

void findClosestPointsInG(const State& state, Vec3& Qf, Vec3& Qb,
                          bool& linesAreParallel) const;

Real findSeparation(const State& state) const; // hide from Doxygen
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS
    (LineOnLineContact, LineOnLineContactImpl, Constraint);
};

} // namespace SimTK

#endif // SimTK_SIMBODY_CONSTRAINT_LINE_ON_LINE_CONTACT_H_