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

#include <SoftContactConstraint.hpp>

Inheritance diagram for dart::constraint::SoftContactConstraint:

Public Member Functions
	SoftContactConstraint (collision::Contact &_contact, double _timeStep)
	Constructor. More...

virtual	~SoftContactConstraint ()
	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 _idx) 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	computeRestitutionCoefficient (const dynamics::ShapeNode *shapeNode)

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

Private Member Functions
void	getRelVelocity (double *_vel)
	Get change in relative velocity at contact point due to external impulse. More...

void	updateFirstFrictionalDirection ()

Eigen::MatrixXd	getTangentBasisMatrixODE (const Eigen::Vector3d &_n)

dynamics::PointMass *	selectCollidingPointMass (dynamics::SoftBodyNode *_softBodyNode, const Eigen::Vector3d &_point, int _faceId) const
	Find the nearest point mass from _point in a face, of which id is _faceId in _softBodyNode. More...

const dynamics::PointMass *	selectCollidingPointMass (const dynamics::SoftBodyNode *_softBodyNode, const Eigen::Vector3d &_point, int _faceId) const
	Find the nearest point mass from _point in a face, of which id is _faceId in _softBodyNode. More...

Private Attributes
double	mTimeStep
	Time step. More...

dynamics::BodyNode *	mBodyNode1
	Fircst body node. More...

dynamics::BodyNode *	mBodyNode2
	Second body node. More...

dynamics::SoftBodyNode *	mSoftBodyNode1
	First soft body node. More...

dynamics::SoftBodyNode *	mSoftBodyNode2
	Second soft body node. More...

dynamics::PointMass *	mPointMass1
	First point mass. More...

dynamics::PointMass *	mPointMass2
	Second point mass. More...

std::vector< collision::Contact * >	mContacts
	Contacts between mBodyNode1 and mBodyNode2. More...

collision::SoftCollisionInfo *	mSoftCollInfo
	Soft collision information. More...

Eigen::Vector3d	mFirstFrictionalDirection
	First frictional direction. More...

double	mFrictionCoeff
	Coefficient of Friction. More...

double	mRestitutionCoeff
	Coefficient of restitution. More...

common::aligned_vector< Eigen::Vector6d >	mJacobians1
	Local body jacobians for mBodyNode1. More...

common::aligned_vector< Eigen::Vector6d >	mJacobians2
	Local body jacobians for mBodyNode2. More...

Eigen::Vector3d	mBodyDirection1
	Contact normal expressed in body frame of the first body node. More...

Eigen::Vector3d	mBodyDirection2
	Contact normal expressed in body frame of the second body node. 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+1
	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

SoftContactConstraint represents a contact constraint between two bodies.

Constructor & Destructor Documentation

◆ SoftContactConstraint()

dart::constraint::SoftContactConstraint::SoftContactConstraint	(	collision::Contact &	_contact,
		double	_timeStep
	)

Constructor.

◆ ~SoftContactConstraint()

dart::constraint::SoftContactConstraint::~SoftContactConstraint ( )

virtual

Destructor.

Member Function Documentation

◆ applyImpulse()

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

overrideprotectedvirtual

Apply computed constraint impulse to constrained skeletons.

Implements dart::constraint::ConstraintBase.

◆ applyUnitImpulse()

void dart::constraint::SoftContactConstraint::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::SoftContactConstraint::computeFrictionCoefficient ( const dynamics::ShapeNode * shapeNode )

staticprotected

◆ computeRestitutionCoefficient()

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

staticprotected

◆ excite()

void dart::constraint::SoftContactConstraint::excite ( )

overrideprotectedvirtual

Excite the constraint.

Implements dart::constraint::ConstraintBase.

◆ getConstraintForceMixing()

double dart::constraint::SoftContactConstraint::getConstraintForceMixing ( )

static

Get global constraint force mixing parameter.

◆ getDimension()

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

inherited

Return dimesion of this constranit.

◆ getErrorAllowance()

double dart::constraint::SoftContactConstraint::getErrorAllowance ( )

static

Get global error reduction parameter.

◆ getErrorReductionParameter()

double dart::constraint::SoftContactConstraint::getErrorReductionParameter ( )

static

Get global error reduction parameter.

◆ getFrictionDirection1()

const Eigen::Vector3d & dart::constraint::SoftContactConstraint::getFrictionDirection1 ( ) const

Get first frictional direction.

◆ getInformation()

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

overrideprotectedvirtual

Fill LCP variables.

Implements dart::constraint::ConstraintBase.

◆ getMaxErrorReductionVelocity()

double dart::constraint::SoftContactConstraint::getMaxErrorReductionVelocity ( )

static

Get global error reduction parameter.

◆ getRelVelocity()

void dart::constraint::SoftContactConstraint::getRelVelocity ( double * _vel )

private

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

Parameters

[out] _vel Change in relative velocity at contact point of the two colliding bodies

◆ getRootSkeleton() [1/2]

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

overrideprotectedvirtual

Implements dart::constraint::ConstraintBase.

◆ getRootSkeleton() [2/2]

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

staticinherited

◆ getStaticType()

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

static

Returns constraint type for this class.

◆ getTangentBasisMatrixODE()

Eigen::MatrixXd dart::constraint::SoftContactConstraint::getTangentBasisMatrixODE ( const Eigen::Vector3d & _n )

private

◆ getType()

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

overridevirtual

Returns a string representing the constraint type.

Reimplemented from dart::constraint::ConstraintBase.

◆ getVelocityChange()

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

overrideprotectedvirtual

Get velocity change due to the uint impulse.

Implements dart::constraint::ConstraintBase.

◆ isActive()

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

overrideprotectedvirtual

Return true if this constraint is active.

Implements dart::constraint::ConstraintBase.

◆ selectCollidingPointMass() [1/2]

const dynamics::PointMass * dart::constraint::SoftContactConstraint::selectCollidingPointMass	(	const dynamics::SoftBodyNode *	_softBodyNode,
		const Eigen::Vector3d &	_point,
		int	_faceId
	)		const

private

Find the nearest point mass from _point in a face, of which id is _faceId in _softBodyNode.

Returns a pointer to a const, and is usable with a const SoftBodyNode.

◆ selectCollidingPointMass() [2/2]

dynamics::PointMass * dart::constraint::SoftContactConstraint::selectCollidingPointMass	(	dynamics::SoftBodyNode *	_softBodyNode,
		const Eigen::Vector3d &	_point,
		int	_faceId
	)		const

private

Find the nearest point mass from _point in a face, of which id is _faceId in _softBodyNode.

◆ setConstraintForceMixing()

void dart::constraint::SoftContactConstraint::setConstraintForceMixing ( double _cfm )

static

Set global constraint force mixing parameter.

◆ setErrorAllowance()

void dart::constraint::SoftContactConstraint::setErrorAllowance ( double _allowance )

static

Set global error reduction parameter.

◆ setErrorReductionParameter()

void dart::constraint::SoftContactConstraint::setErrorReductionParameter ( double _erp )

static

Set global error reduction parameter.

◆ setFrictionDirection()

void dart::constraint::SoftContactConstraint::setFrictionDirection ( const Eigen::Vector3d & _dir )

Set first frictional direction.

◆ setMaxErrorReductionVelocity()

void dart::constraint::SoftContactConstraint::setMaxErrorReductionVelocity ( double _erv )

static

Set global error reduction parameter.

◆ unexcite()

void dart::constraint::SoftContactConstraint::unexcite ( )

overrideprotectedvirtual

Unexcite the constraint.

Implements dart::constraint::ConstraintBase.

◆ uniteSkeletons()

void dart::constraint::SoftContactConstraint::uniteSkeletons ( )

overrideprotectedvirtual

Reimplemented from dart::constraint::ConstraintBase.

◆ update()

void dart::constraint::SoftContactConstraint::update ( )

overrideprotectedvirtual

Update constraint using updated Skeleton's states.

Implements dart::constraint::ConstraintBase.

◆ updateFirstFrictionalDirection()

void dart::constraint::SoftContactConstraint::updateFirstFrictionalDirection ( )

private

Friends And Related Function Documentation

◆ ConstrainedGroup

friend class ConstrainedGroup

friend

◆ ConstraintSolver

friend class ConstraintSolver

friend

Member Data Documentation

◆ mActive

bool dart::constraint::SoftContactConstraint::mActive

private

◆ mAppliedImpulseIndex

std::size_t dart::constraint::SoftContactConstraint::mAppliedImpulseIndex

private

Index of applied impulse.

◆ mBodyDirection1

Eigen::Vector3d dart::constraint::SoftContactConstraint::mBodyDirection1

private

Contact normal expressed in body frame of the first body node.

◆ mBodyDirection2

Eigen::Vector3d dart::constraint::SoftContactConstraint::mBodyDirection2

private

Contact normal expressed in body frame of the second body node.

◆ mBodyNode1

dynamics::BodyNode* dart::constraint::SoftContactConstraint::mBodyNode1

private

Fircst body node.

◆ mBodyNode2

dynamics::BodyNode* dart::constraint::SoftContactConstraint::mBodyNode2

private

Second body node.

◆ mConstraintForceMixing

double dart::constraint::SoftContactConstraint::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

◆ mContacts

std::vector<collision::Contact*> dart::constraint::SoftContactConstraint::mContacts

private

Contacts between mBodyNode1 and mBodyNode2.

◆ mDim

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

protectedinherited

Dimension of constraint.

◆ mErrorAllowance

double dart::constraint::SoftContactConstraint::mErrorAllowance = 0.0

staticprivate

Global constraint error allowance.

◆ mErrorReductionParameter

double dart::constraint::SoftContactConstraint::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::SoftContactConstraint::mFirstFrictionalDirection

private

First frictional direction.

◆ mFrictionCoeff

double dart::constraint::SoftContactConstraint::mFrictionCoeff

private

Coefficient of Friction.

◆ mIsBounceOn

bool dart::constraint::SoftContactConstraint::mIsBounceOn

private

◆ mIsFrictionOn

bool dart::constraint::SoftContactConstraint::mIsFrictionOn

private

◆ mJacobians1

common::aligned_vector<Eigen::Vector6d> dart::constraint::SoftContactConstraint::mJacobians1

private

Local body jacobians for mBodyNode1.

◆ mJacobians2

common::aligned_vector<Eigen::Vector6d> dart::constraint::SoftContactConstraint::mJacobians2

private

Local body jacobians for mBodyNode2.

◆ mMaxErrorReductionVelocity

double dart::constraint::SoftContactConstraint::mMaxErrorReductionVelocity = 1e+1

staticprivate

Maximum error reduction velocity.

◆ mPointMass1

dynamics::PointMass* dart::constraint::SoftContactConstraint::mPointMass1

private

First point mass.

◆ mPointMass2

dynamics::PointMass* dart::constraint::SoftContactConstraint::mPointMass2

private

Second point mass.

◆ mRestitutionCoeff

double dart::constraint::SoftContactConstraint::mRestitutionCoeff

private

Coefficient of restitution.

◆ mSoftBodyNode1

dynamics::SoftBodyNode* dart::constraint::SoftContactConstraint::mSoftBodyNode1

private

First soft body node.

◆ mSoftBodyNode2

dynamics::SoftBodyNode* dart::constraint::SoftContactConstraint::mSoftBodyNode2

private

Second soft body node.

◆ mSoftCollInfo

collision::SoftCollisionInfo* dart::constraint::SoftContactConstraint::mSoftCollInfo

private

Soft collision information.

◆ mTimeStep

double dart::constraint::SoftContactConstraint::mTimeStep

private

Time step.

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ SoftContactConstraint()

◆ ~SoftContactConstraint()

Member Function Documentation

◆ applyImpulse()

◆ applyUnitImpulse()

◆ compressPath()

◆ computeFrictionCoefficient()

◆ computeRestitutionCoefficient()

◆ excite()

◆ getConstraintForceMixing()

◆ getDimension()

◆ getErrorAllowance()

◆ getErrorReductionParameter()

◆ getFrictionDirection1()

◆ getInformation()

◆ getMaxErrorReductionVelocity()

◆ getRelVelocity()

◆ getRootSkeleton() [1/2]

◆ getRootSkeleton() [2/2]

◆ getStaticType()

◆ getTangentBasisMatrixODE()

◆ getType()

◆ getVelocityChange()

◆ isActive()

◆ selectCollidingPointMass() [1/2]

◆ selectCollidingPointMass() [2/2]

◆ setConstraintForceMixing()

◆ setErrorAllowance()

◆ setErrorReductionParameter()

◆ setFrictionDirection()

◆ setMaxErrorReductionVelocity()

◆ unexcite()

◆ uniteSkeletons()

◆ update()

◆ updateFirstFrictionalDirection()

Friends And Related Function Documentation

◆ ConstrainedGroup

◆ ConstraintSolver

Member Data Documentation

◆ mActive

◆ mAppliedImpulseIndex

◆ mBodyDirection1

◆ mBodyDirection2

◆ mBodyNode1

◆ mBodyNode2

◆ mConstraintForceMixing

◆ mContacts

◆ mDim

◆ mErrorAllowance

◆ mErrorReductionParameter

◆ mFirstFrictionalDirection

◆ mFrictionCoeff

◆ mIsBounceOn

◆ mIsFrictionOn

◆ mJacobians1

◆ mJacobians2

◆ mMaxErrorReductionVelocity

◆ mPointMass1

◆ mPointMass2

◆ mRestitutionCoeff

◆ mSoftBodyNode1

◆ mSoftBodyNode2

◆ mSoftCollInfo

◆ mTimeStep