ConstraintSet.h

#pragma once
#include "ConstraintSolver.h"
 
namespace CoRiBoDynamics{
 
class ConstraintSet
{
public:
    explicit ConstraintSet(ConstraintSolver* solver);
    virtual ~ConstraintSet(){}
 
    virtual void ComputeConstraints(const double T, const double * const X) = 0;
 
protected:
    const std::vector<RigidElement*>& ElementVector();
    
    void addConstraintResultantForce(int element,const vec6& Force);
 
    const vec3 Acceleration(int element);
 
    const vec3 AngularAcceleration(int element);
 
    const vec6 SecondDerivatives(int element);
 
    void addMatrix(int i, int j, const mat6& M);
 
 
private:
    ConstraintSolver* m_solver; 
};
 
double structuralAverage(double a, double b);
 
}