dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/constraint/ContactSurface.hpp

@@ -0,0 +1,191 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   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
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_CONSTRAINT_CONTACTSURFACE_HPP_
+#define DART_CONSTRAINT_CONTACTSURFACE_HPP_
+
+#include <dart/constraint/SmartPointer.hpp>
+
+#include <dart/collision/Contact.hpp>
+
+#include <dart/dynamics/ShapeNode.hpp>
+
+#include <Eigen/Core>
+
+#define DART_RESTITUTION_COEFF_THRESHOLD 1e-3
+#define DART_FRICTION_COEFF_THRESHOLD 1e-3
+#define DART_BOUNCING_VELOCITY_THRESHOLD 1e-1
+#define DART_MAX_BOUNCING_VELOCITY 1e+2
+#define DART_CONTACT_CONSTRAINT_EPSILON_SQUARED 1e-12
+
+namespace dart {
+namespace constraint {
+
+constexpr double DART_DEFAULT_FRICTION_COEFF = 1.0;
+constexpr double DART_DEFAULT_RESTITUTION_COEFF = 0.0;
+// Slip compliance is combined through addition,
+// so set to half the global default value
+constexpr double DART_DEFAULT_SLIP_COMPLIANCE = 0.0;
+const Eigen::Vector3d DART_DEFAULT_FRICTION_DIR = Eigen::Vector3d::UnitZ();
+const Eigen::Vector3d DART_DEFAULT_CONTACT_SURFACE_MOTION_VELOCITY
+    = Eigen::Vector3d::Zero();
+
+/// Computed parameters of the contact surface
+struct ContactSurfaceParams
+{
+  /// Primary Coefficient of Friction
+  double mPrimaryFrictionCoeff{DART_DEFAULT_FRICTION_COEFF};
+
+  /// Secondary Coefficient of Friction
+  double mSecondaryFrictionCoeff{DART_DEFAULT_FRICTION_COEFF};
+
+  /// Coefficient of restitution
+  double mRestitutionCoeff{DART_DEFAULT_RESTITUTION_COEFF};
+
+  /// Primary Coefficient of Slip Compliance
+  double mPrimarySlipCompliance{DART_DEFAULT_SLIP_COMPLIANCE};
+
+  /// Secondary Coefficient of Slip Compliance
+  double mSecondarySlipCompliance{DART_DEFAULT_SLIP_COMPLIANCE};
+
+  /// First frictional direction (in world frame)
+  Eigen::Vector3d mFirstFrictionalDirection{DART_DEFAULT_FRICTION_DIR};
+
+  /// Velocity of the contact independent of friction
+  /// x = vel. in direction of contact normal
+  /// y = vel. in first friction direction
+  /// z = vel. in second friction direction
+  Eigen::Vector3d mContactSurfaceMotionVelocity{
+      DART_DEFAULT_CONTACT_SURFACE_MOTION_VELOCITY};
+
+private:
+  /// Used for future-compatibility. Add any newly added fields here so that
+  /// ABI doesn't change. The data should be accessed via non-virtual getters
+  /// and setters added to this struct. When this field starts to be used,
+  /// custom destructor, copy/move constructors and copy/move assignment
+  /// operators have to be defined that will take care of copying/destroying
+  /// the extra data.
+#if defined(__clang__)
+  #pragma clang diagnostic push
+  #pragma clang diagnostic ignored "-Wunused-private-field"
+#endif
+  void* mExtraData{nullptr};
+#if defined(__clang__)
+  #pragma clang diagnostic pop
+#endif
+};
+
+/// Class used to determine the properties of a contact constraint based on the
+/// two colliding bodies and information about their contact.
+class ContactSurfaceHandler
+{
+public:
+  /// Constructor
+  /// \param[in] parent Optional parent handler. In ConstraintSolver, the parent
+  ///                   handler is automatically set to the previous handler
+  ///                   when adding a new one. It is suggested to keep this
+  ///                   paradigm if used elsewhere.
+  explicit ContactSurfaceHandler(ContactSurfaceHandlerPtr parent = nullptr);
+
+  virtual ~ContactSurfaceHandler() = default;
+
+  /// Create parameters of the contact constraint. This method should combine
+  /// the collision properties of the two colliding bodies and write the
+  /// combined result in the returned object. It is also passed the total number
+  /// of contact points reported on the same collision body - that is useful
+  /// e.g. for normalization of forces by the number of contact points.
+  virtual ContactSurfaceParams createParams(
+      const collision::Contact& contact,
+      size_t numContactsOnCollisionObject) const;
+
+  /// Create the constraint that represents contact between two collision
+  /// objects.
+  virtual ContactConstraintPtr createConstraint(
+      collision::Contact& contact,
+      size_t numContactsOnCollisionObject,
+      double timeStep) const;
+
+  /// Get the optional parent handler (nullptr if none is set)
+  ContactSurfaceHandlerPtr getParent();
+
+  /// Set the optional parent handler (ignored if parent.get() == this)
+  void setParent(ContactSurfaceHandlerPtr parent);
+
+  friend class ConstraintSolver;
+
+protected:
+  /// The optional parent handler
+  ContactSurfaceHandlerPtr mParent;
+};
+
+/// Default contact surface handler. It chooses friction direction of the body
+/// with lower friction coefficient. It also adjusts slip compliance by
+/// mutliplying it with the number of contact points.
+class DefaultContactSurfaceHandler : public ContactSurfaceHandler
+{
+public:
+  virtual ~DefaultContactSurfaceHandler() = default;
+
+  // Documentation inherited
+  ContactSurfaceParams createParams(
+      const collision::Contact& contact,
+      size_t numContactsOnCollisionObject) const override;
+
+  // Documentation inherited
+  ContactConstraintPtr createConstraint(
+      collision::Contact& contact,
+      size_t numContactsOnCollisionObject,
+      double timeStep) const override;
+
+protected:
+  static double computeFrictionCoefficient(
+      const dynamics::ShapeNode* shapeNode);
+  static double computePrimaryFrictionCoefficient(
+      const dynamics::ShapeNode* shapeNode);
+  static double computeSecondaryFrictionCoefficient(
+      const dynamics::ShapeNode* shapeNode);
+  static double computePrimarySlipCompliance(
+      const dynamics::ShapeNode* shapeNode);
+  static double computeSecondarySlipCompliance(
+      const dynamics::ShapeNode* shapeNode);
+  static Eigen::Vector3d computeWorldFirstFrictionDir(
+      const dynamics::ShapeNode* shapenode);
+  static double computeRestitutionCoefficient(
+      const dynamics::ShapeNode* shapeNode);
+
+  friend class ContactConstraint;
+};
+
+} // namespace constraint
+} // namespace dart
+
+#endif // DART_CONSTRAINT_CONTACTSURFACE_HPP_

include/dart/constraint/DantzigBoxedLcpSolver.hpp

@@ -0,0 +1,71 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   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
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_CONSTRAINT_DANTZIGBOXEDLCPSOLVER_HPP_
+#define DART_CONSTRAINT_DANTZIGBOXEDLCPSOLVER_HPP_
+
+#include <dart/constraint/BoxedLcpSolver.hpp>
+
+namespace dart {
+namespace constraint {
+
+class DantzigBoxedLcpSolver : public BoxedLcpSolver
+{
+public:
+  // Documentation inherited.
+  const std::string& getType() const override;
+
+  /// Returns type for this class
+  static const std::string& getStaticType();
+
+  // Documentation inherited.
+  bool solve(
+      int n,
+      double* A,
+      double* x,
+      double* b,
+      int nub,
+      double* lo,
+      double* hi,
+      int* findex,
+      bool earlyTermination) override;
+
+#if DART_BUILD_MODE_DEBUG
+  // Documentation inherited.
+  bool canSolve(int n, const double* A) override;
+#endif
+};
+
+} // namespace constraint
+} // namespace dart
+
+#endif // DART_CONSTRAINT_DANTZIGBOXEDLCPSOLVER_HPP_

include/dart/constraint/DantzigLCPSolver.hpp

@@ -0,0 +1,87 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   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
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_CONSTRAINT_DANTZIGLCPSOLVER_HPP_
+#define DART_CONSTRAINT_DANTZIGLCPSOLVER_HPP_
+
+#include <dart/config.hpp>
+
+#include <dart/constraint/LCPSolver.hpp>
+
+#include <cstddef>
+
+namespace dart {
+namespace constraint {
+
+/// \deprecated This header has been deprecated in DART 6.7. Please include
+/// DantzigBoxedLcpSolver.hpp instead.
+///
+/// DantzigLCPSolver is a LCP solver that uses ODE's implementation of Dantzig
+/// algorithm
+class DantzigLCPSolver : public LCPSolver
+{
+public:
+  /// Constructor
+  explicit DantzigLCPSolver(double _timestep);
+
+  /// Constructor
+  virtual ~DantzigLCPSolver();
+
+  // Documentation inherited
+  void solve(ConstrainedGroup* _group) override;
+
+#if DART_BUILD_MODE_DEBUG
+private:
+  /// Return true if the matrix is symmetric
+  bool isSymmetric(std::size_t _n, double* _A);
+
+  /// Return true if the diagonal block of matrix is symmetric
+  bool isSymmetric(
+      std::size_t _n, double* _A, std::size_t _begin, std::size_t _end);
+
+  /// Print debug information
+  void print(
+      std::size_t _n,
+      double* _A,
+      double* _x,
+      double* _lo,
+      double* _hi,
+      double* _b,
+      double* w,
+      int* _findex);
+#endif
+};
+
+} // namespace constraint
+} // namespace dart
+
+#endif // DART_CONSTRAINT_DANTZIGLCPSOLVER_HPP_

include/dart/constraint/DynamicJointConstraint.hpp

@@ -0,0 +1,120 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   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
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_CONSTRAINT_DYNAMICJOINTCONSTRAINT_HPP_
+#define DART_CONSTRAINT_DYNAMICJOINTCONSTRAINT_HPP_
+
+#include <dart/constraint/ConstraintBase.hpp>
+
+namespace dart {
+
+namespace dynamics {
+class BodyNode;
+} // namespace dynamics
+
+namespace constraint {
+
+/// Base class for joint constraints that are being created or destructed during
+/// simulation.
+class DynamicJointConstraint : public ConstraintBase
+{
+public:
+  /// Contructor
+  explicit DynamicJointConstraint(dynamics::BodyNode* body);
+
+  /// Contructor
+  DynamicJointConstraint(dynamics::BodyNode* body1, dynamics::BodyNode* body2);
+
+  /// Destructor
+  ~DynamicJointConstraint() override;
+
+  //----------------------------------------------------------------------------
+  // 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_DYNAMICJOINTCONSTRAINT_HPP_

include/dart/constraint/JointConstraint.hpp

@@ -0,0 +1,182 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   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
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_CONSTRAINT_JOINTCONSTRAINT_HPP_
+#define DART_CONSTRAINT_JOINTCONSTRAINT_HPP_
+
+#include <dart/constraint/ConstraintBase.hpp>
+
+#include <Eigen/Dense>
+
+namespace dart {
+
+namespace dynamics {
+class BodyNode;
+class Joint;
+} // namespace dynamics
+
+namespace constraint {
+
+// TODO(JS): Merge JointCoulombFrictionConstraint into this class
+
+/// JointConstraint handles multiple constraints that are defined in the joint
+/// space, such as joint position/velocity limits and servo motor.
+class JointConstraint : public ConstraintBase
+{
+public:
+  /// Constructor
+  explicit JointConstraint(dynamics::Joint* joint);
+
+  /// Destructor
+  ~JointConstraint() override = default;
+
+  // Documentation inherited
+  const std::string& getType() const override;
+
+  /// Returns constraint type for this class.
+  static const std::string& getStaticType();
+
+  //----------------------------------------------------------------------------
+  // 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();
+
+  //----------------------------------------------------------------------------
+  // 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:
+  /// The Joint that this constraint is associated with.
+  dynamics::Joint* mJoint;
+
+  /// The child BodyNode of the Joint that this constraint is associated with.
+  dynamics::BodyNode* mBodyNode;
+
+  /// Index of applied impulse
+  std::size_t mAppliedImpulseIndex;
+
+  /// Life time of constraint of each DOF.
+  Eigen::Matrix<std::size_t, 6, 1> mLifeTime;
+
+  /// Whether any of the joint contraint is active of each joint.
+  Eigen::Matrix<bool, 6, 1> mActive;
+
+  /// The desired delta velocity to satisfy the joint limit constraint.
+  Eigen::Matrix<double, 6, 1> mDesiredVelocityChange;
+
+  /// Constraint impulse of the previous step.
+  Eigen::Matrix<double, 6, 1> mOldX;
+
+  /// Upper limit of the constraint impulse.
+  Eigen::Matrix<double, 6, 1> mImpulseUpperBound;
+
+  /// Lower limit of the constraint impulse.
+  Eigen::Matrix<double, 6, 1> mImpulseLowerBound;
+
+  /// 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_JOINTCONSTRAINT_HPP_