#include <ConstraintForceSolver.h>

Public Types
typedef std::function< bool(Link link1, Link link2, const CollisionArray &collisions, ContactMaterial *contactMaterial)>	CollisionHandler

Public Member Functions
	ConstraintForceSolver (DyWorldBase &world)

	~ConstraintForceSolver ()

void	setCollisionDetector (CollisionDetector *detector)

CollisionDetector *	collisionDetector ()

void	setBodyCollisionDetectionMode (int bodyIndex, bool isBodyToBodyCollisionEnabled, bool isSelfCollisionDetectionEnabled)

void	setMaterialTable (MaterialTable *table)

void	setFrictionCoefficientRange (double minFriction, double maxFriction)

double	minFrictionCoefficient () const

double	maxFrictionCoefficient () const

void	setContactCullingDistance (double thresh)

double	contactCullingDistance () const

void	setContactCullingDepth (double depth)

double	contactCullingDepth ()

void	setCoefficientOfRestitution (double epsilon)

double	coefficientOfRestitution () const

void	setGaussSeidelErrorCriterion (double e)

double	gaussSeidelErrorCriterion ()

void	setGaussSeidelMaxNumIterations (int n)

int	gaussSeidelMaxNumIterations ()

void	setContactDepthCorrection (double depth, double velocityRatio)

double	contactCorrectionDepth ()

double	contactCorrectionVelocityRatio ()

void	set2Dmode (bool on)

void	enableConstraintForceOutput (bool on)

void	initialize (void)

void	solve ()

void	clearExternalForces ()

std::shared_ptr< CollisionLinkPairList >	getCollisions ()

void	registerCollisionHandler (const std::string &name, CollisionHandler handler)

bool	unregisterCollisionHandler (const std::string &name)

Member Typedef Documentation

◆ CollisionHandler

typedef std::function<bool(Link* link1, Link* link2, const CollisionArray& collisions, ContactMaterial* contactMaterial)> cnoid::ConstraintForceSolver::CollisionHandler

Constructor & Destructor Documentation

◆ ConstraintForceSolver()

ConstraintForceSolver::ConstraintForceSolver ( DyWorldBase & world )

◆ ~ConstraintForceSolver()

ConstraintForceSolver::~ConstraintForceSolver ( )

Member Function Documentation

◆ clearExternalForces()

void ConstraintForceSolver::clearExternalForces ( )

◆ coefficientOfRestitution()

double ConstraintForceSolver::coefficientOfRestitution ( ) const

◆ collisionDetector()

CollisionDetector * ConstraintForceSolver::collisionDetector ( )

◆ contactCorrectionDepth()

double ConstraintForceSolver::contactCorrectionDepth ( )

◆ contactCorrectionVelocityRatio()

double ConstraintForceSolver::contactCorrectionVelocityRatio ( )

◆ contactCullingDepth()

double ConstraintForceSolver::contactCullingDepth ( )

◆ contactCullingDistance()

double ConstraintForceSolver::contactCullingDistance ( ) const

◆ enableConstraintForceOutput()

void ConstraintForceSolver::enableConstraintForceOutput ( bool on )

◆ gaussSeidelErrorCriterion()

double ConstraintForceSolver::gaussSeidelErrorCriterion ( )

◆ gaussSeidelMaxNumIterations()

int ConstraintForceSolver::gaussSeidelMaxNumIterations ( )

◆ getCollisions()

shared_ptr< CollisionLinkPairList > ConstraintForceSolver::getCollisions ( )

◆ initialize()

void ConstraintForceSolver::initialize ( void )

◆ maxFrictionCoefficient()

double ConstraintForceSolver::maxFrictionCoefficient ( ) const

◆ minFrictionCoefficient()

double ConstraintForceSolver::minFrictionCoefficient ( ) const

◆ registerCollisionHandler()

void ConstraintForceSolver::registerCollisionHandler	(	const std::string &	name,
		CollisionHandler	handler
	)

◆ set2Dmode()

void ConstraintForceSolver::set2Dmode ( bool on )

◆ setBodyCollisionDetectionMode()

void ConstraintForceSolver::setBodyCollisionDetectionMode	(	int	bodyIndex,
		bool	isBodyToBodyCollisionEnabled,
		bool	isSelfCollisionDetectionEnabled
	)

◆ setCoefficientOfRestitution()

void ConstraintForceSolver::setCoefficientOfRestitution ( double epsilon )

◆ setCollisionDetector()

void ConstraintForceSolver::setCollisionDetector ( CollisionDetector * detector )

◆ setContactCullingDepth()

void ConstraintForceSolver::setContactCullingDepth ( double depth )

◆ setContactCullingDistance()

void ConstraintForceSolver::setContactCullingDistance ( double thresh )

◆ setContactDepthCorrection()

void ConstraintForceSolver::setContactDepthCorrection	(	double	depth,
		double	velocityRatio
	)

◆ setFrictionCoefficientRange()

void ConstraintForceSolver::setFrictionCoefficientRange	(	double	minFriction,
		double	maxFriction
	)

◆ setGaussSeidelErrorCriterion()

void ConstraintForceSolver::setGaussSeidelErrorCriterion ( double e )

◆ setGaussSeidelMaxNumIterations()

void ConstraintForceSolver::setGaussSeidelMaxNumIterations ( int n )

◆ setMaterialTable()

void ConstraintForceSolver::setMaterialTable ( MaterialTable * table )

◆ solve()

void ConstraintForceSolver::solve ( )

◆ unregisterCollisionHandler()

bool ConstraintForceSolver::unregisterCollisionHandler ( const std::string & name )

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

Public Types

Public Member Functions