SoftContactConstraint.cpp File Reference

#include "dart/constraint/SoftContactConstraint.hpp"
#include <iostream>
#include "dart/external/odelcpsolver/lcp.h"
#include "dart/collision/CollisionObject.hpp"
#include "dart/common/Console.hpp"
#include "dart/dynamics/BodyNode.hpp"
#include "dart/dynamics/PointMass.hpp"
#include "dart/dynamics/Shape.hpp"
#include "dart/dynamics/Skeleton.hpp"
#include "dart/dynamics/SoftBodyNode.hpp"
#include "dart/dynamics/SoftMeshShape.hpp"

Namespaces
namespace	dart
namespace	dart::constraint

Macros
#define	DART_EPSILON   1e-6
#define	DART_ERROR_ALLOWANCE   0.0
#define	DART_ERP   0.01
#define	DART_MAX_ERV   1e+1
#define	DART_CFM   1e-5
#define	DART_RESTITUTION_COEFF_THRESHOLD   1e-3
#define	DART_FRICTION_COEFF_THRESHOLD   1e-3
#define	DART_BOUNCING_VELOCITY_THRESHOLD   1e-1
#define	DART_MAX_BOUNCING_VELOCITY   1e+2
#define	DART_CONTACT_CONSTRAINT_EPSILON   1e-6

Functions
template<typename PointMassT , typename SoftBodyNodeT >
static PointMassT	dart::constraint::selectCollidingPointMassT (SoftBodyNodeT _softBodyNode, const Eigen::Vector3d &_point, int _faceId)

Macro Definition Documentation

DART_BOUNCING_VELOCITY_THRESHOLD

#define DART_BOUNCING_VELOCITY_THRESHOLD   1e-1

DART_CFM

#define DART_CFM   1e-5

DART_CONTACT_CONSTRAINT_EPSILON

#define DART_CONTACT_CONSTRAINT_EPSILON   1e-6

DART_EPSILON

#define DART_EPSILON   1e-6

DART_ERP

#define DART_ERP   0.01

DART_ERROR_ALLOWANCE

#define DART_ERROR_ALLOWANCE   0.0

DART_FRICTION_COEFF_THRESHOLD

#define DART_FRICTION_COEFF_THRESHOLD   1e-3

DART_MAX_BOUNCING_VELOCITY

#define DART_MAX_BOUNCING_VELOCITY   1e+2

DART_MAX_ERV

#define DART_MAX_ERV   1e+1

DART_RESTITUTION_COEFF_THRESHOLD

#define DART_RESTITUTION_COEFF_THRESHOLD   1e-3