Constraint_Ball.h

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#ifndef SimTK_SIMBODY_CONSTRAINT_BALL_H_
#define SimTK_SIMBODY_CONSTRAINT_BALL_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) 2007-14 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 {

//==============================================================================
//                  CONSTRAINT::  BALL (COINCIDENT POINTS)
//==============================================================================

class SimTK_SIMBODY_EXPORT Constraint::Ball : public Constraint {
public:
Ball(MobilizedBody& body1, MobilizedBody& body2);
Ball(MobilizedBody& body1, const Vec3& defaultPoint1,
        MobilizedBody& body2, const Vec3& defaultPoint2);

Ball() {}

void setPointOnBody1(State& state, const Vec3& point_B1) const;
void setPointOnBody2(State& state, const Vec3& point_B2) const;

const Vec3& getPointOnBody1(const State& state) const;
const Vec3& getPointOnBody2(const State& state) const;

Ball& setDefaultPointOnBody1(const Vec3& defaultPoint_B1);
Ball& setDefaultPointOnBody2(const Vec3& defaultPoint_B2);

const Vec3& getDefaultPointOnBody1() const;
const Vec3& getDefaultPointOnBody2() const;


Ball& setDefaultRadius(Real r);
Real getDefaultRadius() const;

MobilizedBodyIndex getBody1MobilizedBodyIndex() const;
MobilizedBodyIndex getBody2MobilizedBodyIndex() const;


Vec3 getPositionErrors(const State& state) const;

Vec3 getVelocityErrors(const State& state) const;

Vec3 getAccelerationErrors(const State&) const;

Vec3 getBallReactionForceOnBody1(const State&) const;
Vec3 getBallReactionForceOnBody2(const State&) const;

Vec3 getMultipliers(const State& state) const;
 // hide from Doxygen
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(Ball, BallImpl, Constraint);
};


} // namespace SimTK

#endif // SimTK_SIMBODY_CONSTRAINT_BALL_H_