ContactConstraint represents a contact constraint between two bodies. More...

Inheritance diagram for dart::dynamics::ContactConstraint:

Collaboration diagram for dart::dynamics::ContactConstraint:

Public Member Functions
	ContactConstraint (collision::Contact &contact, double timeStep)
	Constructor.

	~ContactConstraint () override=default
	Destructor.

const std::string &	getType () const override
	Returns a string representing the constraint type.

void	setFrictionDirection (const Eigen::Vector3d &dir)
	Set first frictional direction.

const Eigen::Vector3d &	getFrictionDirection1 () const
	Get first frictional direction.

Public Member Functions inherited from dart::dynamics::ConstraintBase
std::size_t	getDimension () const
	Return dimesion of this constranit.

virtual	~ConstraintBase ()
	Destructor.

Static Public Member Functions
static const std::string &	getStaticType ()
	Returns constraint type for this class.

static void	setErrorAllowance (double allowance)
	Set global error reduction parameter.

static double	getErrorAllowance ()
	Get global error reduction parameter.

static void	setErrorReductionParameter (double erp)
	Set global error reduction parameter.

static double	getErrorReductionParameter ()
	Get global error reduction parameter.

static void	setMaxErrorReductionVelocity (double erv)
	Set global error reduction parameter.

static double	getMaxErrorReductionVelocity ()
	Get global error reduction parameter.

static void	setConstraintForceMixing (double cfm)
	Set global constraint force mixing parameter.

static double	getConstraintForceMixing ()
	Get global constraint force mixing parameter.

Static Public Member Functions inherited from dart::dynamics::ConstraintBase
static dynamics::SkeletonPtr	compressPath (dynamics::SkeletonPtr skeleton)

static dynamics::SkeletonPtr	getRootSkeleton (dynamics::SkeletonPtr skeleton)

Protected Member Functions
void	update () override
	Update constraint using updated Skeleton's states.

void	getInformation (ConstraintInfo *info) override
	Fill LCP variables.

void	applyUnitImpulse (std::size_t index) override
	Apply unit impulse to constraint space.

void	getVelocityChange (double *vel, bool withCfm) override
	Get velocity change due to the uint impulse.

void	excite () override
	Excite the constraint.

void	unexcite () override
	Unexcite the constraint.

void	applyImpulse (double *lambda) override
	Apply computed constraint impulse to constrained skeletons.

dynamics::SkeletonPtr	getRootSkeleton () const override

void	uniteSkeletons () override

bool	isActive () const override
	Return true if this constraint is active.

Protected Member Functions inherited from dart::dynamics::ConstraintBase
	ConstraintBase ()
	Default contructor.

Static Protected Member Functions
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)

Additional Inherited Members
Protected Attributes inherited from dart::dynamics::ConstraintBase
std::size_t	mDim
	Dimension of constraint.

Detailed Description

ContactConstraint represents a contact constraint between two bodies.

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

Public Member Functions