/*
 * Copyright (c) 2011-2019, The DART development contributors
 * All rights reserved.
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 *   without modification, are permitted provided that the following
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#ifndef DART_CONSTRAINT_SERVOMOTORCONSTRAINT_HPP_
#define DART_CONSTRAINT_SERVOMOTORCONSTRAINT_HPP_

#include "dart/constraint/ConstraintBase.hpp"

namespace dart {

namespace dynamics {
class BodyNode;
class Joint;
} // namespace dynamics

namespace constraint {

/// Servo motor constraint
class ServoMotorConstraint : public ConstraintBase
{
public:
  /// Constructor
  explicit ServoMotorConstraint(dynamics::Joint* joint);

  /// Destructor
  virtual ~ServoMotorConstraint();

  //----------------------------------------------------------------------------
  // Property settings
  //----------------------------------------------------------------------------

  /// Set global constraint force mixing parameter
  static void setConstraintForceMixing(double cfm);

  /// Get global constraint force mixing parameter
  static double getConstraintForceMixing();

  //----------------------------------------------------------------------------
  // Friendship
  //----------------------------------------------------------------------------

  friend class ConstraintSolver;
  friend class ConstrainedGroup;

protected:
  //----------------------------------------------------------------------------
  // Constraint virtual functions
  //----------------------------------------------------------------------------

  // Documentation inherited
  void update() override;

  // Documentation inherited
  void getInformation(ConstraintInfo* lcp) override;

  // Documentation inherited
  void applyUnitImpulse(std::size_t index) override;

  // Documentation inherited
  void getVelocityChange(double* delVel, bool withCfm) override;

  // Documentation inherited
  void excite() override;

  // Documentation inherited
  void unexcite() override;

  // Documentation inherited
  void applyImpulse(double* lambda) override;

  // Documentation inherited
  dynamics::SkeletonPtr getRootSkeleton() const override;

  // Documentation inherited
  bool isActive() const override;

private:
  ///
  dynamics::Joint* mJoint;

  ///
  dynamics::BodyNode* mBodyNode;

  /// Index of applied impulse
  std::size_t mAppliedImpulseIndex;

  ///
  std::size_t mLifeTime[6];
  // TODO(JS): Lifetime should be considered only when we use iterative lcp
  // solver

  ///
  bool mActive[6];

  ///
  double mNegativeVelocityError[6];

  ///
  double mOldX[6];

  ///
  double mUpperBound[6];

  ///
  double mLowerBound[6];

  /// Global constraint force mixing parameter in the range of [1e-9, 1]. The
  /// default is 1e-5
  /// \sa http://www.ode.org/ode-latest-userguide.html#sec_3_8_0
  static double mConstraintForceMixing;
};

} // namespace constraint
} // namespace dart

#endif // DART_CONSTRAINT_SERVOMOTORCONSTRAINT_HPP_
