taoDynamics.h

/* Copyright (c) 2005 Arachi, Inc. and Stanford University. All rights reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject
 * to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included
 * in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
 * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
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 * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#ifndef _taoDynamics_h
#define _taoDynamics_h

#include "taoTypes.h"

class taoDNode;
class deVector3;
class deVector6;

class taoDynamics
{
public:
  static void initialize(taoDNode* root);
  static void reset(taoDNode* root);
  static void updateTransformation(taoDNode* root);

  static void integrate(taoDNode* root, deFloat dt);


  static void globalJacobian(taoDNode* root);


  static void invDynamics(taoDNode* root, const deVector3* gravity);

  static void fwdDynamics(taoDNode* root, const deVector3* gravity);



  static void computeA(taoDNode* root, const deInt dof, deFloat* A);
  static void computeAinv(taoDNode* root, const deInt dof, deFloat* Ainv);
  static void computeB(taoDNode* root, const deInt dof, deFloat* B);
  static void computeG(taoDNode* root, deVector3* gravity, const deInt dof, deFloat* G);


  static void computeOpSpaceInertiaMatrixInv(taoDNode* root, const deFloat* J, const deInt row, const deInt dof, const deFloat* Ainv, deFloat* Linv);

  static int computeDOF(taoDNode* obj);


  static void impulse(taoDNode* contactNode, const deVector3* contactPoint, const deVector3* impulseVector);
  static void impulseDist(taoDNode* contactNode, const deVector3* contactPoint, const deVector3* impulseVector);
  static void force(taoDNode* contactNode, const deVector3* contactPoint, const deVector3* forceVector);
  static void resetMass(taoDNode* node, const deFloat mass);

  static deFloat potentialEnergy(taoDNode* root, const deVector3* gravity);
  static deFloat kineticEnergy(taoDNode* root);

private:
  typedef enum {TAO_DDQ, TAO_DQ, TAO_TAU} flagType;
  static void _Read(taoDNode* root, deFloat* v, flagType type);
  static void _Write(taoDNode* root, deFloat* v, flagType type);
};

#endif // _taoDynamics_h