taoABDynamics.h

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/* Copyright (c) 2005 Arachi, Inc. and Stanford University.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
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 * "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.
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#ifndef _taoABDynamics_h
#define _taoABDynamics_h

#include "taoTypes.h"

class taoDNode;
class deMatrix3;
class deMatrix6;
class deVector3;
class deVector6;
class deFrame;
class taoABDynamicsData;
class taoABDynamicsData2;

//#ifndef DOXYGEN_SHOULD_SKIP_THIS

class taoABDynamics
{
public:
        static void updateLocalXTreeOut(taoDNode* root);
        static void resetInertiaTreeOut(taoDNode* root);
        static void resetFlagTreeOut(taoDNode* root);

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

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


        static void forwardDynamicsImpulse(taoDNode* contact, const deVector3* point, const deVector3* impulse, const deInt dist);

        static void globalJacobianOut(taoDNode* root);

        static void opSpaceInertiaMatrixOut(taoDNode* root, const deMatrix6* Oah = NULL);
        static void biasAccelerationOut(taoDNode* root, const deVector6* Hh = NULL);
        static void compute_Jg_Omega_H(taoDNode* root, const deMatrix6* Oah = NULL, const deVector6* Hh = NULL);
        static deFloat effectiveMassInv(taoDNode* node, const deVector3* point, const deVector3* dir);

        // ddXn is expressed in {n} for {n}  --> ddX = n ddX n
        static void opSpaceInvDynamics(taoDNode* opNode, deVector6* ddXn);
        // Fg is expressed in {o} for {n}
        static void add2Tau_JgT_F(taoDNode* node, const deVector6* Fg);


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

        static deFloat kineticEnergy(taoDNode* root, const deVector6* Vh = NULL);
        static void resetInertia(taoDNode* node);

private:
        static void _forwardDynamicsOutIn(taoDNode* root, taoABDynamicsData* datah, deVector6* Pah, const deVector6* Vh);
        static void _inverseDynamicsOutIn(taoDNode* root, taoABDynamicsData2* datah, deVector6* Fh, const deVector6* Vh, const deVector6* Ah);
        static void _accelerationTreeOut(taoDNode* root, const deVector6* Ah);
        static void _articulatedImpulsePathIn(taoDNode* contact, const deInt dist);
        static void _velocityDeltaTreeOut(taoDNode* root, const deVector6* dVh, const deVector6* Vh, const deInt dist);
        static void _plusEq_Jg_ddQ(taoDNode* node, deVector6* A);
};

//#endif // DOXYGEN_SHOULD_SKIP_THIS

#endif // _taoABDynamics_h

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