dart::constraint::ContactConstraint Class Reference

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

#include <ContactConstraint.hpp>

Inheritance diagram for dart::constraint::ContactConstraint:

Public Member Functions
	ContactConstraint (collision::Contact &contact, double timeStep)
	Constructor. More...
	~ContactConstraint () override=default
	Destructor. More...
const std::string &	getType () const override
	Returns a string representing the constraint type. More...
void	setFrictionDirection (const Eigen::Vector3d &dir)
	Set first frictional direction. More...
const Eigen::Vector3d &	getFrictionDirection1 () const
	Get first frictional direction. More...
std::size_t	getDimension () const
	Return dimesion of this constranit. More...

Static Public Member Functions
static const std::string &	getStaticType ()
	Returns constraint type for this class. More...
static void	setErrorAllowance (double allowance)
	Set global error reduction parameter. More...
static double	getErrorAllowance ()
	Get global error reduction parameter. More...
static void	setErrorReductionParameter (double erp)
	Set global error reduction parameter. More...
static double	getErrorReductionParameter ()
	Get global error reduction parameter. More...
static void	setMaxErrorReductionVelocity (double erv)
	Set global error reduction parameter. More...
static double	getMaxErrorReductionVelocity ()
	Get global error reduction parameter. More...
static void	setConstraintForceMixing (double cfm)
	Set global constraint force mixing parameter. More...
static double	getConstraintForceMixing ()
	Get global constraint force mixing parameter. More...
static dynamics::SkeletonPtr	getRootSkeleton (dynamics::SkeletonPtr skeleton)
static dynamics::SkeletonPtr	compressPath (dynamics::SkeletonPtr skeleton)

Protected Member Functions
void	update () override
	Update constraint using updated Skeleton's states. More...
void	getInformation (ConstraintInfo *info) override
	Fill LCP variables. More...
void	applyUnitImpulse (std::size_t index) override
	Apply unit impulse to constraint space. More...
void	getVelocityChange (double *vel, bool withCfm) override
	Get velocity change due to the uint impulse. More...
void	excite () override
	Excite the constraint. More...
void	unexcite () override
	Unexcite the constraint. More...
void	applyImpulse (double *lambda) override
	Apply computed constraint impulse to constrained skeletons. More...
dynamics::SkeletonPtr	getRootSkeleton () const override
void	uniteSkeletons () override
bool	isActive () const override
	Return true if this constraint is active. More...

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)

Protected Attributes
std::size_t	mDim
	Dimension of constraint. More...

Private Types
using	TangentBasisMatrix = Eigen::Matrix< double, 3, 2 >

Private Member Functions
void	getRelVelocity (double *relVel)
	Get change in relative velocity at contact point due to external impulse. More...
void	updateFirstFrictionalDirection ()
TangentBasisMatrix	getTangentBasisMatrixODE (const Eigen::Vector3d &n)
double	getPrimarySlipCompliance () const
	Get primary slip compliance. More...
void	setPrimarySlipCompliance (double slip)
	Set primary slip compliance. More...
double	getSecondarySlipCompliance () const
	Get secondary slip compliance. More...
void	setSecondarySlipCompliance (double slip)
	Set secondary slip compliance. More...
const collision::Contact &	getContact () const
	Get contact object associated witht this constraint. More...

Private Attributes
double	mTimeStep
	Time step. More...
dynamics::BodyNode *	mBodyNodeA
	Fircst body node. More...
dynamics::BodyNode *	mBodyNodeB
	Second body node. More...
collision::Contact &	mContact
	Contact between mBodyNode1 and mBodyNode2. More...
Eigen::Vector3d	mFirstFrictionalDirection
	First frictional direction. More...
double	mPrimaryFrictionCoeff
	Primary Coefficient of Friction. More...
double	mSecondaryFrictionCoeff
	Primary Coefficient of Friction. More...
double	mPrimarySlipCompliance
	Primary Coefficient of Slip Compliance. More...
double	mSecondarySlipCompliance
	Secondary Coefficient of Slip Compliance. More...
double	mRestitutionCoeff
	Coefficient of restitution. More...
bool	mIsSelfCollision
	Whether this contact is self-collision. More...
Eigen::Matrix< double, 6, Eigen::Dynamic >	mSpatialNormalA
	Local body jacobians for mBodyNode1. More...
Eigen::Matrix< double, 6, Eigen::Dynamic >	mSpatialNormalB
	Local body jacobians for mBodyNode2. More...
bool	mIsFrictionOn
std::size_t	mAppliedImpulseIndex
	Index of applied impulse. More...
bool	mIsBounceOn
bool	mActive

Static Private Attributes
static double	mErrorAllowance = 0.0
	Global constraint error allowance. More...
static double	mErrorReductionParameter = 0.01
	Global constraint error redection parameter in the range of [0, 1]. More...
static double	mMaxErrorReductionVelocity = 1e-3
	Maximum error reduction velocity. More...
static double	mConstraintForceMixing = 1e-5
	Global constraint force mixing parameter in the range of [1e-9, 1]. More...

Friends
class	ConstraintSolver
class	ConstrainedGroup

Detailed Description

ContactConstraint represents a contact constraint between two bodies.

Member Typedef Documentation

TangentBasisMatrix

using dart::constraint::ContactConstraint::TangentBasisMatrix = Eigen::Matrix<double, 3, 2>

private

Constructor & Destructor Documentation

ContactConstraint()

dart::constraint::ContactConstraint::ContactConstraint	(	collision::Contact &	contact,
		double	timeStep
	)

Constructor.

~ContactConstraint()

dart::constraint::ContactConstraint::~ContactConstraint ( )

overridedefault

Destructor.

Member Function Documentation

applyImpulse()

void dart::constraint::ContactConstraint::applyImpulse ( double *  lambda )

overrideprotectedvirtual

Apply computed constraint impulse to constrained skeletons.

Implements dart::constraint::ConstraintBase.

applyUnitImpulse()

void dart::constraint::ContactConstraint::applyUnitImpulse ( std::size_t  index )

overrideprotectedvirtual

Apply unit impulse to constraint space.

Implements dart::constraint::ConstraintBase.

compressPath()

dynamics::SkeletonPtr dart::constraint::ConstraintBase::compressPath ( dynamics::SkeletonPtr  skeleton )

staticinherited

computeFrictionCoefficient()

double dart::constraint::ContactConstraint::computeFrictionCoefficient ( const dynamics::ShapeNode *  shapeNode )

staticprotected

computePrimaryFrictionCoefficient()

double dart::constraint::ContactConstraint::computePrimaryFrictionCoefficient ( const dynamics::ShapeNode *  shapeNode )

staticprotected

computePrimarySlipCompliance()

double dart::constraint::ContactConstraint::computePrimarySlipCompliance ( const dynamics::ShapeNode *  shapeNode )

staticprotected

computeRestitutionCoefficient()

double dart::constraint::ContactConstraint::computeRestitutionCoefficient ( const dynamics::ShapeNode *  shapeNode )

staticprotected

computeSecondaryFrictionCoefficient()

double dart::constraint::ContactConstraint::computeSecondaryFrictionCoefficient ( const dynamics::ShapeNode *  shapeNode )

staticprotected

computeSecondarySlipCompliance()

double dart::constraint::ContactConstraint::computeSecondarySlipCompliance ( const dynamics::ShapeNode *  shapeNode )

staticprotected

computeWorldFirstFrictionDir()

Eigen::Vector3d dart::constraint::ContactConstraint::computeWorldFirstFrictionDir ( const dynamics::ShapeNode *  shapenode )

staticprotected

excite()

void dart::constraint::ContactConstraint::excite ( )

overrideprotectedvirtual

Excite the constraint.

Implements dart::constraint::ConstraintBase.

getConstraintForceMixing()

double dart::constraint::ContactConstraint::getConstraintForceMixing ( )

static

Get global constraint force mixing parameter.

getContact()

const collision::Contact & dart::constraint::ContactConstraint::getContact ( ) const

private

Get contact object associated witht this constraint.

getDimension()

std::size_t dart::constraint::ConstraintBase::getDimension ( ) const

inherited

Return dimesion of this constranit.

getErrorAllowance()

double dart::constraint::ContactConstraint::getErrorAllowance ( )

static

Get global error reduction parameter.

getErrorReductionParameter()

double dart::constraint::ContactConstraint::getErrorReductionParameter ( )

static

Get global error reduction parameter.

getFrictionDirection1()

const Eigen::Vector3d & dart::constraint::ContactConstraint::getFrictionDirection1

(

)

const

Get first frictional direction.

getInformation()

void dart::constraint::ContactConstraint::getInformation ( ConstraintInfo *  info )

overrideprotectedvirtual

Fill LCP variables.

Implements dart::constraint::ConstraintBase.

getMaxErrorReductionVelocity()

double dart::constraint::ContactConstraint::getMaxErrorReductionVelocity ( )

static

Get global error reduction parameter.

getPrimarySlipCompliance()

double dart::constraint::ContactConstraint::getPrimarySlipCompliance ( ) const

private

Get primary slip compliance.

getRelVelocity()

void dart::constraint::ContactConstraint::getRelVelocity ( double *  relVel )

private

Get change in relative velocity at contact point due to external impulse.

Parameters

[out]

relVel

Change in relative velocity at contact point of the two colliding bodies.

getRootSkeleton() [1/2]

dynamics::SkeletonPtr dart::constraint::ContactConstraint::getRootSkeleton ( ) const

overrideprotectedvirtual

Implements dart::constraint::ConstraintBase.

getRootSkeleton() [2/2]

dynamics::SkeletonPtr dart::constraint::ConstraintBase::getRootSkeleton ( dynamics::SkeletonPtr  skeleton )

staticinherited

getSecondarySlipCompliance()

double dart::constraint::ContactConstraint::getSecondarySlipCompliance ( ) const

private

Get secondary slip compliance.

getStaticType()

const std::string & dart::constraint::ContactConstraint::getStaticType ( )

static

Returns constraint type for this class.

getTangentBasisMatrixODE()

ContactConstraint::TangentBasisMatrix dart::constraint::ContactConstraint::getTangentBasisMatrixODE ( const Eigen::Vector3d &  n )

private

getType()

const std::string & dart::constraint::ContactConstraint::getType ( ) const

overridevirtual

Returns a string representing the constraint type.

Reimplemented from dart::constraint::ConstraintBase.

getVelocityChange()

void dart::constraint::ContactConstraint::getVelocityChange ( double *  vel, bool  withCfm  )

overrideprotectedvirtual

Get velocity change due to the uint impulse.

Implements dart::constraint::ConstraintBase.

isActive()

bool dart::constraint::ContactConstraint::isActive ( ) const

overrideprotectedvirtual

Return true if this constraint is active.

Implements dart::constraint::ConstraintBase.

setConstraintForceMixing()

void dart::constraint::ContactConstraint::setConstraintForceMixing ( double  cfm )

static

Set global constraint force mixing parameter.

setErrorAllowance()

void dart::constraint::ContactConstraint::setErrorAllowance ( double  allowance )

static

Set global error reduction parameter.

setErrorReductionParameter()

void dart::constraint::ContactConstraint::setErrorReductionParameter ( double  erp )

static

Set global error reduction parameter.

setFrictionDirection()

void dart::constraint::ContactConstraint::setFrictionDirection

(

const Eigen::Vector3d &

dir

)

Set first frictional direction.

setMaxErrorReductionVelocity()

void dart::constraint::ContactConstraint::setMaxErrorReductionVelocity ( double  erv )

static

Set global error reduction parameter.

setPrimarySlipCompliance()

void dart::constraint::ContactConstraint::setPrimarySlipCompliance ( double  slip )

private

Set primary slip compliance.

setSecondarySlipCompliance()

void dart::constraint::ContactConstraint::setSecondarySlipCompliance ( double  slip )

private

Set secondary slip compliance.

unexcite()

void dart::constraint::ContactConstraint::unexcite ( )

overrideprotectedvirtual

Unexcite the constraint.

Implements dart::constraint::ConstraintBase.

uniteSkeletons()

void dart::constraint::ContactConstraint::uniteSkeletons ( )

overrideprotectedvirtual

Reimplemented from dart::constraint::ConstraintBase.

update()

void dart::constraint::ContactConstraint::update ( )

overrideprotectedvirtual

Update constraint using updated Skeleton's states.

Implements dart::constraint::ConstraintBase.

updateFirstFrictionalDirection()

void dart::constraint::ContactConstraint::updateFirstFrictionalDirection ( )

private

Friends And Related Function Documentation

ConstrainedGroup

friend class ConstrainedGroup

friend

ConstraintSolver

friend class ConstraintSolver

friend

Member Data Documentation

mActive

bool dart::constraint::ContactConstraint::mActive

private

mAppliedImpulseIndex

std::size_t dart::constraint::ContactConstraint::mAppliedImpulseIndex

private

Index of applied impulse.

mBodyNodeA

dynamics::BodyNode* dart::constraint::ContactConstraint::mBodyNodeA

private

Fircst body node.

mBodyNodeB

dynamics::BodyNode* dart::constraint::ContactConstraint::mBodyNodeB

private

Second body node.

mConstraintForceMixing

double dart::constraint::ContactConstraint::mConstraintForceMixing = 1e-5

staticprivate

Global constraint force mixing parameter in the range of [1e-9, 1].

The default is 1e-5

See also

http://www.ode.org/ode-latest-userguide.html#sec_3_8_0

mContact

collision::Contact& dart::constraint::ContactConstraint::mContact

private

Contact between mBodyNode1 and mBodyNode2.

mDim

std::size_t dart::constraint::ConstraintBase::mDim

protectedinherited

Dimension of constraint.

mErrorAllowance

double dart::constraint::ContactConstraint::mErrorAllowance = 0.0

staticprivate

Global constraint error allowance.

mErrorReductionParameter

double dart::constraint::ContactConstraint::mErrorReductionParameter = 0.01

staticprivate

Global constraint error redection parameter in the range of [0, 1].

The default is 0.01.

mFirstFrictionalDirection

Eigen::Vector3d dart::constraint::ContactConstraint::mFirstFrictionalDirection

private

First frictional direction.

mIsBounceOn

bool dart::constraint::ContactConstraint::mIsBounceOn

private

mIsFrictionOn

bool dart::constraint::ContactConstraint::mIsFrictionOn

private

mIsSelfCollision

bool dart::constraint::ContactConstraint::mIsSelfCollision

private

Whether this contact is self-collision.

mMaxErrorReductionVelocity

double dart::constraint::ContactConstraint::mMaxErrorReductionVelocity = 1e-3

staticprivate

Maximum error reduction velocity.

mPrimaryFrictionCoeff

double dart::constraint::ContactConstraint::mPrimaryFrictionCoeff

private

Primary Coefficient of Friction.

mPrimarySlipCompliance

double dart::constraint::ContactConstraint::mPrimarySlipCompliance

private

Primary Coefficient of Slip Compliance.

mRestitutionCoeff

double dart::constraint::ContactConstraint::mRestitutionCoeff

private

Coefficient of restitution.

mSecondaryFrictionCoeff

double dart::constraint::ContactConstraint::mSecondaryFrictionCoeff

private

Primary Coefficient of Friction.

mSecondarySlipCompliance

double dart::constraint::ContactConstraint::mSecondarySlipCompliance

private

Secondary Coefficient of Slip Compliance.

mSpatialNormalA

Eigen::Matrix<double, 6, Eigen::Dynamic> dart::constraint::ContactConstraint::mSpatialNormalA

private

Local body jacobians for mBodyNode1.

mSpatialNormalB

Eigen::Matrix<double, 6, Eigen::Dynamic> dart::constraint::ContactConstraint::mSpatialNormalB

private

Local body jacobians for mBodyNode2.

mTimeStep

double dart::constraint::ContactConstraint::mTimeStep

private

Time step.