FrictionController.h

/*
Copyright 2007-2025. Algoryx Simulation AB.
 
All AGX source code, intellectual property, documentation, sample code,
tutorials, scene files and technical white papers, are copyrighted, proprietary
and confidential material of Algoryx Simulation AB. You may not download, read,
store, distribute, publish, copy or otherwise disseminate, use or expose this
material without having a written signed agreement with Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
 
#pragma once
 
#include "momentum_export.h"
#include "momentum_namespace.h"
 
#include "macros.h"
#include "Vec3.h"
 
#include <memory>
 
#ifndef SWIG
namespace agx
{
  class FrictionController;
}
#endif
 
namespace MOMENTUM_NAMESPACE
{
  class MOMENTUM_EXPORT FrictionController
  {
  public:
#ifndef SWIG
 
    FrictionController(agx::FrictionController* frictionController);
 
    FrictionController();
#endif
 
#ifndef AGX_MOMENTUM_ANALYSIS_API
 
    void setFrictionCoefficient(double frictionCoefficient);
 
    void setEnableNonLinearDirectSolveUpdate(bool enable);
 
    void setMinimumStaticFrictionForceRange(double min, double max);
 
    void setMinimumStaticFrictionForceRange(std::pair<double, double> range);
#endif
 
    double getFrictionCoefficient() const;
 
    bool getEnableNonLinearDirectSolveUpdate() const;
 
    std::pair<double, double> getMinimumStaticFrictionForceRange() const;
 
    bool isActive() const;
 
  private:
#ifndef SWIG
    agx::FrictionController* m_frictionController;
#endif
  };
 
  V1_DECLARE_CONTAINER_TYPE(FrictionController);
} // namespace momentum