Joint.h

/****************************************************************************
 * Copyright 2005 Evan Drumwright
 * This library is distributed under the terms of the Apache V2.0 
 * License (obtainable from http://www.apache.org/licenses/LICENSE-2.0).
 ****************************************************************************/

#ifndef _MOBY_JOINT_H
#define _MOBY_JOINT_H

#include <boost/weak_ptr.hpp>
#include <boost/shared_ptr.hpp>
#include <Ravelin/Pose3d.h>
#include <Ravelin/MatrixNd.h>
#include <Ravelin/SAcceld.h>
#include <Ravelin/LinAlgd.h>
#include <Ravelin/Jointd.h>
#include <Moby/Base.h>
#include <Moby/ControlledBody.h>
#include <Moby/RigidBody.h>
#include <Moby/Visualizable.h>

namespace Moby {

class VisualizationData;


class Joint : public Visualizable, public virtual Ravelin::Jointd
{
  friend class ArticulatedBody;

  public:
    enum ConstraintType { eUnknown, eExplicit, eImplicit };
    enum DOFs { DOF_1=0, DOF_2=1, DOF_3=2, DOF_4=3, DOF_5=4, DOF_6=5 };

    Joint();
    Joint(boost::weak_ptr<RigidBody> inboard, boost::weak_ptr<RigidBody> outboard);
    virtual ~Joint() {}
    void set_location(const Point3d& p, RigidBodyPtr inboard, RigidBodyPtr outboard);
    Ravelin::VectorNd& get_scaled_force(Ravelin::VectorNd& f);
    virtual void save_to_xml(XMLTreePtr node, std::list<boost::shared_ptr<const Base> >& shared_objects) const;
    virtual void load_from_xml(boost::shared_ptr<const XMLTree> node, std::map<std::string, BasePtr>& id_map);
    virtual void set_inboard_link(RigidBodyPtr link, bool update_pose);
    virtual void set_outboard_link(RigidBodyPtr link, bool update_pose);
    void set_articulated_body(ArticulatedBodyPtr abody);
    ArticulatedBodyPtr get_articulated_body();

    RigidBodyPtr get_inboard_link() const { return (_inboard_link.expired()) ? RigidBodyPtr() : boost::dynamic_pointer_cast<RigidBody>(boost::shared_ptr<Ravelin::RigidBodyd>(_inboard_link)); }

    RigidBodyPtr get_outboard_link() const { return (_outboard_link.expired()) ? RigidBodyPtr() : boost::dynamic_pointer_cast<RigidBody>(boost::shared_ptr<Ravelin::RigidBodyd>(_outboard_link)); }

    Ravelin::VectorNd lolimit;

    Ravelin::VectorNd hilimit;

    double limit_restitution;

    double mu_fc;

    double mu_fv;

    double compliant_layer_depth;

  protected:
    void determine_q_dot();


//    virtual void calc_constraint_jacobian(RigidBodyPtr body, unsigned index, double Cq[]) = 0;
 

//    virtual void calc_constraint_jacobian_dot(RigidBodyPtr body, unsigned index, double Cq[]) = 0;


    virtual void init_data();

  private:
    boost::shared_ptr<Ravelin::Pose3d> _vtransform;
}; // end class
} // end namespace

#endif