/*
 * Copyright (c) 2011-2019, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
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 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
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 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 */

#ifndef DART_CONSTRAINT_JOINTCONSTRAINT_HPP_
#define DART_CONSTRAINT_JOINTCONSTRAINT_HPP_

#include "dart/constraint/ConstraintBase.hpp"

namespace dart {

namespace dynamics {
class BodyNode;
} // namespace dynamics

namespace constraint {

/// class JointConstraint
class JointConstraint : public ConstraintBase
{
public:
  /// Contructor
  explicit JointConstraint(dynamics::BodyNode* _body);

  /// Contructor
  JointConstraint(dynamics::BodyNode* _body1, dynamics::BodyNode* _body2);

  /// Destructor
  virtual ~JointConstraint();

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

  /// Set global error reduction parameter
  static void setErrorAllowance(double _allowance);

  /// Get global error reduction parameter
  static double getErrorAllowance();

  /// Set global error reduction parameter
  static void setErrorReductionParameter(double _erp);

  /// Get global error reduction parameter
  static double getErrorReductionParameter();

  /// Set global error reduction parameter
  static void setMaxErrorReductionVelocity(double _erv);

  /// Get global error reduction parameter
  static double getMaxErrorReductionVelocity();

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

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

  /// Get the first BodyNode that this constraint is associated with
  dynamics::BodyNode* getBodyNode1() const;

  /// Get the second BodyNode that this constraint is associated with
  dynamics::BodyNode* getBodyNode2() const;

protected:
  /// First body node
  dynamics::BodyNode* mBodyNode1;

  /// Second body node
  dynamics::BodyNode* mBodyNode2;

  /// Global constraint error allowance
  static double mErrorAllowance;

  /// Global constraint error redection parameter in the range of [0, 1]. The
  /// default is 0.01.
  static double mErrorReductionParameter;

  /// Maximum error reduction velocity
  static double mMaxErrorReductionVelocity;

  /// 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_CONSTRAINT_HPP_
