#include <ConstraintForceSolver.h>

Public Types
typedef boost::function< bool(Link link1, Link link2, const CollisionArray &collisions, const ContactAttribute &attribute)>	CollisionHandler

Public Member Functions
	ConstraintForceSolver (WorldBase &world)

	~ConstraintForceSolver ()

void	setCollisionDetector (CollisionDetectorPtr detector)

CollisionDetectorPtr	collisionDetector ()

void	setFriction (double staticFriction, double slipFliction)

double	staticFriction () const

double	slipFriction () 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 ()

CollisionLinkPairListPtr	getCollisions ()

void	setFriction (Link link1, Link link2, double staticFriction, double slipFriction)

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

void	unregisterCollisionHandler (int handlerId)

int	collisionHandlerId (const std::string &name) const

void	setCollisionHandler (Link link1, Link link2, int handlerId)

Member Typedef Documentation

◆ CollisionHandler

typedef boost::function<bool(Link* link1, Link* link2, const CollisionArray& collisions, const ContactAttribute& attribute)> cnoid::ConstraintForceSolver::CollisionHandler

Constructor & Destructor Documentation

◆ ConstraintForceSolver()

ConstraintForceSolver::ConstraintForceSolver ( WorldBase & world )

◆ ~ConstraintForceSolver()

ConstraintForceSolver::~ConstraintForceSolver ( )

Member Function Documentation

◆ clearExternalForces()

void ConstraintForceSolver::clearExternalForces ( )

◆ coefficientOfRestitution()

double ConstraintForceSolver::coefficientOfRestitution ( ) const

◆ collisionDetector()

CollisionDetectorPtr ConstraintForceSolver::collisionDetector ( )

◆ collisionHandlerId()

int ConstraintForceSolver::collisionHandlerId ( const std::string & name ) const

◆ 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()

CollisionLinkPairListPtr ConstraintForceSolver::getCollisions ( )

◆ initialize()

void ConstraintForceSolver::initialize ( void )

◆ registerCollisionHandler()

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

◆ set2Dmode()

void ConstraintForceSolver::set2Dmode ( bool on )

◆ setCoefficientOfRestitution()

void ConstraintForceSolver::setCoefficientOfRestitution ( double epsilon )

◆ setCollisionDetector()

void ConstraintForceSolver::setCollisionDetector ( CollisionDetectorPtr detector )

◆ setCollisionHandler()

void ConstraintForceSolver::setCollisionHandler	(	Link *	link1,
		Link *	link2,
		int	handlerId
	)

◆ setContactCullingDepth()

void ConstraintForceSolver::setContactCullingDepth ( double depth )

◆ setContactCullingDistance()

void ConstraintForceSolver::setContactCullingDistance ( double thresh )

◆ setContactDepthCorrection()

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

◆ setFriction() [1/2]

void ConstraintForceSolver::setFriction	(	double	staticFriction,
		double	slipFliction
	)

◆ setFriction() [2/2]

void ConstraintForceSolver::setFriction	(	Link *	link1,
		Link *	link2,
		double	staticFriction,
		double	slipFriction
	)

◆ setGaussSeidelErrorCriterion()

void ConstraintForceSolver::setGaussSeidelErrorCriterion ( double e )

◆ setGaussSeidelMaxNumIterations()

void ConstraintForceSolver::setGaussSeidelMaxNumIterations ( int n )

◆ slipFriction()

double ConstraintForceSolver::slipFriction ( ) const

◆ solve()

void ConstraintForceSolver::solve ( )

◆ staticFriction()

double ConstraintForceSolver::staticFriction ( ) const

◆ unregisterCollisionHandler()

void ConstraintForceSolver::unregisterCollisionHandler ( int handlerId )

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

Public Types

Public Member Functions