IGenericConstraint.h

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/*
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,
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valid commercial license from 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 <agx/Constraint.h>
 
namespace agx
{
  class GenericConstraintComplianceMatrix;
  class GenericConstraintImplementation;
 
  class AGXPHYSICS_EXPORT IGenericConstraint : public Constraint
  {
    public:
#ifndef SWIG
      static void onPreSolveCallback( const agxSDK::Simulation* simulation );
      static void onPostSolveCallback( const agxSDK::Simulation* simulation );
      static void onCleanup( const agxSDK::Simulation* simulation );
#endif
 
    public:
      void setSupportComplianceMatrix( Bool enable, Bool isStaticSize = false );
 
      GenericConstraintComplianceMatrix* getComplianceMatrix() const;
 
      Bool setRigidBodies( RigidBody* rb1, RigidBody* rb2 );
 
      Bool addChild( Constraint* constraint );
 
      Bool removeChild( Constraint* constraint );
 
      void removeAllChildren();
 
      Bool add( RigidBody* rb );
 
      Bool remove( RigidBody* rb );
 
      void removeAllBodies();
 
    public:
      virtual ~IGenericConstraint();
      virtual void addNotification() final override;
      virtual void removeNotification() final override;
 
      virtual void onAddNotification() = 0;
      virtual void onRemoveNotification() = 0;
 
      virtual bool onPreSolve() = 0;
      virtual void onPostSolve() = 0;
 
      virtual void updateComplianceMatrix( GenericConstraintComplianceMatrix* matrix ) = 0;
 
    public:
      int getNumDOF() const override;
      void render( class agxRender::RenderManager* manager, float scale ) const override;
 
    protected:
      IGenericConstraint( GenericConstraintImplementation* implementation );
 
    private:
      ConstraintRefVector m_children;
  };
}