text: /*
   * Copyright (c) 2011-2021, The DART development contributors
   * All rights reserved.
   *
   * The list of contributors can be found at:
   *   https://github.com/dartsim/dart/blob/master/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.
   */
  
  #include <dart/dart.hpp>
  #include <pybind11/pybind11.h>
  
  namespace py = pybind11;
  
  namespace dart {
  namespace python {
  
  void JointCoulombFrictionConstraint(py::module& m)
  {
    ::py::class_<
        dart::constraint::JointCoulombFrictionConstraint,
        dart::constraint::ConstraintBase,
        std::shared_ptr<dart::constraint::JointCoulombFrictionConstraint>>(
        m, "JointCoulombFrictionConstraint")
        .def(::py::init<dart::dynamics::Joint*>(), ::py::arg("joint"))
        .def_static(
            "setConstraintForceMixing",
            +[](double _cfm) {
              dart::constraint::JointCoulombFrictionConstraint::
                  setConstraintForceMixing(_cfm);
            },
            ::py::arg("cfm"))
        .def_static("getConstraintForceMixing", +[]() -> double {
          return dart::constraint::JointCoulombFrictionConstraint::
              getConstraintForceMixing();
        });
  }
  
  } // namespace python
  } // namespace dart
  