ConstraintSolver manages constraints and computes constraint impulses. More...

#include <ConstraintSolver.hpp>

Inheritance diagram for dart::dynamics::ConstraintSolver:

Collaboration diagram for dart::dynamics::ConstraintSolver:

Public Member Functions
	ConstraintSolver (double timeStep)
	Constructor. More...

	ConstraintSolver ()
	Default constructor.

	ConstraintSolver (const ConstraintSolver &other)=delete
	Copy constructor.

virtual	~ConstraintSolver ()=default
	Destructor.

void	addSkeleton (const dynamics::SkeletonPtr &skeleton)
	Add single skeleton.

void	addSkeletons (const std::vector< dynamics::SkeletonPtr > &skeletons)
	Add mutiple skeletons.

const std::vector< dynamics::SkeletonPtr > &	getSkeletons () const
	Returns all the skeletons added to this ConstraintSolver.

void	removeSkeleton (const dynamics::SkeletonPtr &skeleton)
	Remove single skeleton.

void	removeSkeletons (const std::vector< dynamics::SkeletonPtr > &skeletons)
	Remove multiple skeletons.

void	removeAllSkeletons ()
	Remove all skeletons in this constraint solver.

void	addConstraint (const ConstraintBasePtr &constraint)
	Add a constraint.

void	removeConstraint (const ConstraintBasePtr &constraint)
	Remove a constraint.

void	removeAllConstraints ()
	Remove all constraints.

std::size_t	getNumConstraints () const
	Returns the number of constraints that was manually added to this ConstraintSolver. More...

dynamics::ConstraintBasePtr	getConstraint (std::size_t index)
	Returns a constraint by index.

dynamics::ConstConstraintBasePtr	getConstraint (std::size_t index) const
	Returns a constraint by index.

std::vector< dynamics::ConstraintBasePtr >	getConstraints ()
	Returns all the constraints added to this ConstraintSolver.

std::vector< dynamics::ConstConstraintBasePtr >	getConstraints () const
	Returns all the constraints added to this ConstraintSolver.

void	clearLastCollisionResult ()
	Clears the last collision result.

virtual void	setTimeStep (double _timeStep)
	Set time step.

double	getTimeStep () const
	Get time step.

void	setCollisionDetector (collision::CollisionDetector *collisionDetector)
	Set collision detector. More...

void	setCollisionDetector (const std::shared_ptr< collision::CollisionDetector > &collisionDetector)
	Set collision detector.

collision::CollisionDetectorPtr	getCollisionDetector ()
	Get collision detector.

collision::ConstCollisionDetectorPtr	getCollisionDetector () const
	Get (const) collision detector.

collision::CollisionGroupPtr	getCollisionGroup ()
	Return collision group of collision objects that are added to this ConstraintSolver.

collision::ConstCollisionGroupPtr	getCollisionGroup () const
	Return (const) collision group of collision objects that are added to this ConstraintSolver.

collision::CollisionOption &	getCollisionOption ()
	Returns collision option that is used for collision checkings in this ConstraintSolver to generate contact constraints. More...

const collision::CollisionOption &	getCollisionOption () const
	Returns collision option that is used for collision checkings in this ConstraintSolver to generate contact constraints. More...

collision::CollisionResult &	getLastCollisionResult ()
	Return the last collision checking result.

const collision::CollisionResult &	getLastCollisionResult () const
	Return the last collision checking result.

void	setLCPSolver (std::unique_ptr< LCPSolver > lcpSolver)
	Set LCP solver.

LCPSolver *	getLCPSolver () const
	Get LCP solver.

void	solve ()
	Solve constraint impulses and apply them to the skeletons.

virtual void	setFromOtherConstraintSolver (const ConstraintSolver &other)
	Sets this constraint solver using other constraint solver. More...

Protected Types
using	CollisionDetector = collision::CollisionDetector

Protected Member Functions
virtual void	solveConstrainedGroup (ConstrainedGroup &group)=0

bool	containSkeleton (const dynamics::ConstSkeletonPtr &skeleton) const
	Check if the skeleton is contained in this solver.

bool	checkAndAddSkeleton (const dynamics::SkeletonPtr &skeleton)
	Add skeleton if the constraint is not contained in this solver.

bool	containConstraint (const ConstConstraintBasePtr &constraint) const
	Check if the constraint is contained in this solver.

bool	checkAndAddConstraint (const ConstraintBasePtr &constraint)
	Add constraint if the constraint is not contained in this solver.

void	updateConstraints ()
	Update constraints.

void	buildConstrainedGroups ()
	Build constrained groupsContact.

void	solveConstrainedGroups ()
	Solve constrained groups.

bool	isSoftContact (const collision::Contact &contact) const
	Return true if at least one of colliding body is soft body.

Protected Attributes
collision::CollisionDetectorPtr	mCollisionDetector
	Collision detector.

collision::CollisionGroupPtr	mCollisionGroup
	Collision group.

collision::CollisionOption	mCollisionOption
	Collision detection option.

collision::CollisionResult	mCollisionResult
	Last collision checking result.

double	mTimeStep
	Time step.

std::vector< dynamics::SkeletonPtr >	mSkeletons
	Skeleton list.

std::vector< ContactConstraintPtr >	mContactConstraints
	Contact constraints those are automatically created.

std::vector< SoftContactConstraintPtr >	mSoftContactConstraints
	Soft contact constraints those are automatically created.

std::vector< JointLimitConstraintPtr >	mJointLimitConstraints
	Joint limit constraints those are automatically created.

std::vector< ServoMotorConstraintPtr >	mServoMotorConstraints
	Servo motor constraints those are automatically created.

std::vector< MimicMotorConstraintPtr >	mMimicMotorConstraints
	Mimic motor constraints those are automatically created.

std::vector< JointCoulombFrictionConstraintPtr >	mJointCoulombFrictionConstraints
	Joint Coulomb friction constraints those are automatically created.

std::vector< ConstraintBasePtr >	mManualConstraints
	Constraints that manually added.

std::vector< ConstraintBasePtr >	mActiveConstraints
	Active constraints.

std::vector< ConstrainedGroup >	mConstrainedGroups
	Constraint group list.

Detailed Description

ConstraintSolver manages constraints and computes constraint impulses.

Constructor & Destructor Documentation

◆ ConstraintSolver()

dart::dynamics::ConstraintSolver::ConstraintSolver ( double timeStep )

explicit

Constructor.

Deprecated:: Deprecated in DART 6.8. Please use other constructors that doesn't take timespte. Timestep should be set by the owner of this solver such as dart::simulation::World when the solver added.

Member Function Documentation

◆ getCollisionOption() [1/2]

collision::CollisionOption & dart::dynamics::ConstraintSolver::getCollisionOption ( )

Returns collision option that is used for collision checkings in this ConstraintSolver to generate contact constraints.

◆ getCollisionOption() [2/2]

const collision::CollisionOption & dart::dynamics::ConstraintSolver::getCollisionOption ( ) const

Returns collision option that is used for collision checkings in this ConstraintSolver to generate contact constraints.

◆ getNumConstraints()

std::size_t dart::dynamics::ConstraintSolver::getNumConstraints ( ) const

Returns the number of constraints that was manually added to this ConstraintSolver.

◆ setCollisionDetector()

void dart::dynamics::ConstraintSolver::setCollisionDetector ( collision::CollisionDetector * collisionDetector )

Set collision detector.

This function acquires ownership of the CollisionDetector passed as an argument. This method is deprecated in favor of the overload that accepts a std::shared_ptr.

◆ setFromOtherConstraintSolver()

void dart::dynamics::ConstraintSolver::setFromOtherConstraintSolver ( const ConstraintSolver & other )

virtual

Sets this constraint solver using other constraint solver.

All the properties and registered skeletons and constraints will be copied over.

The documentation for this class was generated from the following files:

dart/dynamics/ConstraintSolver.hpp
dart/dynamics/ConstraintSolver.cpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes