ContactConstraint.cpp File Reference

#include "dart/constraint/ContactConstraint.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/Skeleton.hpp"
#include "dart/math/Helpers.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-3
#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_SQUARED   1e-12

Variables
constexpr double	dart::constraint::DART_DEFAULT_FRICTION_COEFF = 1.0
constexpr double	dart::constraint::DART_DEFAULT_RESTITUTION_COEFF = 0.0
constexpr double	dart::constraint::DART_DEFAULT_SLIP_COMPLIANCE = 0.0
const Eigen::Vector3d	dart::constraint::DART_DEFAULT_FRICTION_DIR = Eigen::Vector3d::UnitZ()

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_SQUARED

#define DART_CONTACT_CONSTRAINT_EPSILON_SQUARED   1e-12

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-3

DART_RESTITUTION_COEFF_THRESHOLD

#define DART_RESTITUTION_COEFF_THRESHOLD   1e-3