33 #ifndef DART_CONSTRAINT_JOINTCOULOMBFRICTIONCONSTRAINT_HPP_
34 #define DART_CONSTRAINT_JOINTCOULOMBFRICTIONCONSTRAINT_HPP_
45 namespace constraint {
58 const std::string&
getType()
const override;
ConstrainedGroup is a group of skeletons that interact each other with constraints.
Definition: ConstrainedGroup.hpp:58
Constraint is a base class of concrete constraints classes.
Definition: ConstraintBase.hpp:75
ConstraintSolver manages constraints and computes constraint impulses.
Definition: ConstraintSolver.hpp:57
Joint Coulomb friction constraint.
Definition: JointCoulombFrictionConstraint.hpp:49
static void setConstraintForceMixing(double _cfm)
Set global constraint force mixing parameter.
Definition: JointCoulombFrictionConstraint.cpp:94
double mUpperBound[6]
Definition: JointCoulombFrictionConstraint.hpp:135
void excite() override
Excite the constraint.
Definition: JointCoulombFrictionConstraint.cpp:248
const std::string & getType() const override
Returns a string representing the constraint type.
Definition: JointCoulombFrictionConstraint.cpp:81
std::size_t mAppliedImpulseIndex
Index of applied impulse.
Definition: JointCoulombFrictionConstraint.hpp:120
void applyUnitImpulse(std::size_t _index) override
Apply unit impulse to constraint space.
Definition: JointCoulombFrictionConstraint.cpp:187
JointCoulombFrictionConstraint(dynamics::Joint *_joint)
Constructor.
Definition: JointCoulombFrictionConstraint.cpp:50
void applyImpulse(double *_lambda) override
Apply computed constraint impulse to constrained skeletons.
Definition: JointCoulombFrictionConstraint.cpp:260
bool isActive() const override
Return true if this constraint is active.
Definition: JointCoulombFrictionConstraint.cpp:285
double mOldX[6]
Definition: JointCoulombFrictionConstraint.hpp:132
virtual ~JointCoulombFrictionConstraint()
Destructor.
Definition: JointCoulombFrictionConstraint.cpp:76
static double mConstraintForceMixing
Global constraint force mixing parameter in the range of [1e-9, 1].
Definition: JointCoulombFrictionConstraint.hpp:143
dynamics::SkeletonPtr getRootSkeleton() const override
Definition: JointCoulombFrictionConstraint.cpp:279
double mNegativeVel[6]
Definition: JointCoulombFrictionConstraint.hpp:129
void unexcite() override
Unexcite the constraint.
Definition: JointCoulombFrictionConstraint.cpp:254
bool mActive[6]
Definition: JointCoulombFrictionConstraint.hpp:126
static const std::string & getStaticType()
Returns constraint type for this class.
Definition: JointCoulombFrictionConstraint.cpp:87
static double getConstraintForceMixing()
Get global constraint force mixing parameter.
Definition: JointCoulombFrictionConstraint.cpp:109
void getVelocityChange(double *_delVel, bool _withCfm) override
Get velocity change due to the uint impulse.
Definition: JointCoulombFrictionConstraint.cpp:216
std::size_t mLifeTime[6]
Definition: JointCoulombFrictionConstraint.hpp:123
void update() override
Update constraint using updated Skeleton's states.
Definition: JointCoulombFrictionConstraint.cpp:115
dynamics::Joint * mJoint
Definition: JointCoulombFrictionConstraint.hpp:114
double mLowerBound[6]
Definition: JointCoulombFrictionConstraint.hpp:138
void getInformation(ConstraintInfo *_lcp) override
Fill LCP variables.
Definition: JointCoulombFrictionConstraint.cpp:160
dynamics::BodyNode * mBodyNode
Definition: JointCoulombFrictionConstraint.hpp:117
BodyNode class represents a single node of the skeleton.
Definition: BodyNode.hpp:79
class Joint
Definition: Joint.hpp:60
std::shared_ptr< Skeleton > SkeletonPtr
Definition: SmartPointer.hpp:60
Definition: BulletCollisionDetector.cpp:65
ConstraintInfo.
Definition: ConstraintBase.hpp:50