ConstraintSolver manages constraints and computes constraint impulses. More...

#include <ConstraintSolver.hpp>

Inheritance diagram for dart::constraint::ConstraintSolver:

Public Member Functions
	ConstraintSolver (double timeStep)
	Constructor.

	ConstraintSolver ()
	Default constructor.

	ConstraintSolver (const ConstraintSolver &other)=delete
	Copy constructor.

virtual	~ConstraintSolver ()=default
	Destructor.

void	addSkeleton (const dynamics::SkeletonPtr &skeleton)
	Add single skeleton.

void	addSkeletons (const std::vector< dynamics::SkeletonPtr > &skeletons)
	Add mutiple skeletons.

const std::vector< dynamics::SkeletonPtr > &	getSkeletons () const
	Returns all the skeletons added to this ConstraintSolver.

void	removeSkeleton (const dynamics::SkeletonPtr &skeleton)
	Remove single skeleton.

void	removeSkeletons (const std::vector< dynamics::SkeletonPtr > &skeletons)
	Remove multiple skeletons.

void	removeAllSkeletons ()
	Remove all skeletons in this constraint solver.

void	addConstraint (const ConstraintBasePtr &constraint)
	Add a constraint.

void	removeConstraint (const ConstraintBasePtr &constraint)
	Remove a constraint.

void	removeAllConstraints ()
	Remove all constraints.

std::size_t	getNumConstraints () const
	Returns the number of constraints that was manually added to this ConstraintSolver.

constraint::ConstraintBasePtr	getConstraint (std::size_t index)
	Returns a constraint by index.

constraint::ConstConstraintBasePtr	getConstraint (std::size_t index) const
	Returns a constraint by index.

std::vector< constraint::ConstraintBasePtr >	getConstraints ()
	Returns all the constraints added to this ConstraintSolver.

std::vector< constraint::ConstConstraintBasePtr >	getConstraints () const
	Returns all the constraints added to this ConstraintSolver.

template<typename Func >
void	eachConstraint (Func func) const
	Iterates all the constraints and invokes the callback function.

template<typename Func >
void	eachConstraint (Func func)
	Iterates all the constraints and invokes the callback function.

void	clearLastCollisionResult ()
	Clears the last collision result.

virtual void	setTimeStep (double _timeStep)
	Set time step.

double	getTimeStep () const
	Get time step.

void	setCollisionDetector (collision::CollisionDetector *collisionDetector)
	Set collision detector.

void	setCollisionDetector (const std::shared_ptr< collision::CollisionDetector > &collisionDetector)
	Set collision detector.

collision::CollisionDetectorPtr	getCollisionDetector ()
	Get collision detector.

collision::ConstCollisionDetectorPtr	getCollisionDetector () const
	Get (const) collision detector.

collision::CollisionGroupPtr	getCollisionGroup ()
	Return collision group of collision objects that are added to this ConstraintSolver.

collision::ConstCollisionGroupPtr	getCollisionGroup () const
	Return (const) collision group of collision objects that are added to this ConstraintSolver.

collision::CollisionOption &	getCollisionOption ()
	Returns collision option that is used for collision checkings in this ConstraintSolver to generate contact constraints.

const collision::CollisionOption &	getCollisionOption () const
	Returns collision option that is used for collision checkings in this ConstraintSolver to generate contact constraints.

collision::CollisionResult &	getLastCollisionResult ()
	Return the last collision checking result.

const collision::CollisionResult &	getLastCollisionResult () const
	Return the last collision checking result.

void	setLCPSolver (std::unique_ptr< LCPSolver > lcpSolver)
	Set LCP solver.

LCPSolver *	getLCPSolver () const
	Get LCP solver.

void	solve ()
	Solve constraint impulses and apply them to the skeletons.

virtual void	setFromOtherConstraintSolver (const ConstraintSolver &other)
	Sets this constraint solver using other constraint solver.

ContactSurfaceHandlerPtr	getLastContactSurfaceHandler () const
	Get the handler used for computing contact surface parameters based on the contact properties of the two colliding bodies.

void	addContactSurfaceHandler (ContactSurfaceHandlerPtr handler)
	Set the handler used for computing contact surface parameters based on the contact properties of the two colliding bodies.

bool	removeContactSurfaceHandler (const ContactSurfaceHandlerPtr &handler)
	Remove the given contact surface handler.

Protected Types
using	CollisionDetector = collision::CollisionDetector

Protected Member Functions
virtual void	solveConstrainedGroup (ConstrainedGroup &group)=0

bool	containSkeleton (const dynamics::ConstSkeletonPtr &skeleton) const
	Checks if the skeleton is contained in this solver.

bool	hasSkeleton (const dynamics::ConstSkeletonPtr &skeleton) const
	Checks if the skeleton is contained in this solver.

bool	checkAndAddSkeleton (const dynamics::SkeletonPtr &skeleton)
	Add skeleton if the constraint is not contained in this solver.

bool	containConstraint (const ConstConstraintBasePtr &constraint) const
	Check if the constraint is contained in this solver.

bool	checkAndAddConstraint (const ConstraintBasePtr &constraint)
	Add constraint if the constraint is not contained in this solver.

void	updateConstraints ()
	Update constraints.

void	buildConstrainedGroups ()
	Build constrained groupsContact.

void	solveConstrainedGroups ()
	Solve constrained groups.

bool	isSoftContact (const collision::Contact &contact) const
	Return true if at least one of colliding body is soft body.

Protected Attributes
collision::CollisionDetectorPtr	mCollisionDetector
	Collision detector.

collision::CollisionGroupPtr	mCollisionGroup
	Collision group.

collision::CollisionOption	mCollisionOption
	Collision detection option.

collision::CollisionResult	mCollisionResult
	Last collision checking result.

double	mTimeStep
	Time step.

std::vector< dynamics::SkeletonPtr >	mSkeletons
	Skeleton list.

std::vector< ContactConstraintPtr >	mContactConstraints
	Contact constraints those are automatically created.

std::vector< SoftContactConstraintPtr >	mSoftContactConstraints
	Soft contact constraints those are automatically created.

std::vector< JointConstraintPtr >	mJointConstraints
	Joint limit constraints those are automatically created.

std::vector< MimicMotorConstraintPtr >	mMimicMotorConstraints
	Mimic motor constraints those are automatically created.

std::vector< JointCoulombFrictionConstraintPtr >	mJointCoulombFrictionConstraints
	Joint Coulomb friction constraints those are automatically created.

std::vector< ConstraintBasePtr >	mManualConstraints
	Constraints that manually added.

std::vector< ConstraintBasePtr >	mActiveConstraints
	Active constraints.

std::vector< ConstrainedGroup >	mConstrainedGroups
	Constraint group list.

ContactSurfaceHandlerPtr	mContactSurfaceHandler
	Factory for ContactSurfaceParams for each contact.

Detailed Description

ConstraintSolver manages constraints and computes constraint impulses.

Member Typedef Documentation

◆ CollisionDetector

using dart::constraint::ConstraintSolver::CollisionDetector = collision::CollisionDetector

protected

Constructor & Destructor Documentation

◆ ConstraintSolver() [1/3]

dart::constraint::ConstraintSolver::ConstraintSolver ( double timeStep )

explicit

Constructor.

Deprecated:: Deprecated in DART 6.8. Please use other constructors that doesn't take timespte. Timestep should be set by the owner of this solver such as dart::simulation::World when the solver added.

◆ ConstraintSolver() [2/3]

dart::constraint::ConstraintSolver::ConstraintSolver ( )

Default constructor.

◆ ConstraintSolver() [3/3]

dart::constraint::ConstraintSolver::ConstraintSolver ( const ConstraintSolver & other )

delete

Copy constructor.

◆ ~ConstraintSolver()

virtual dart::constraint::ConstraintSolver::~ConstraintSolver ( )

virtualdefault

Destructor.

Member Function Documentation

◆ addConstraint()

void dart::constraint::ConstraintSolver::addConstraint ( const ConstraintBasePtr & constraint )

Add a constraint.

◆ addContactSurfaceHandler()

void dart::constraint::ConstraintSolver::addContactSurfaceHandler ( ContactSurfaceHandlerPtr handler )

Set the handler used for computing contact surface parameters based on the contact properties of the two colliding bodies.

This function automatically sets the previous handler as parent of the given handler.

◆ addSkeleton()

void dart::constraint::ConstraintSolver::addSkeleton ( const dynamics::SkeletonPtr & skeleton )

Add single skeleton.

◆ addSkeletons()

void dart::constraint::ConstraintSolver::addSkeletons ( const std::vector< dynamics::SkeletonPtr > & skeletons )

Add mutiple skeletons.

◆ buildConstrainedGroups()

void dart::constraint::ConstraintSolver::buildConstrainedGroups ( )

protected

Build constrained groupsContact.

◆ checkAndAddConstraint()

bool dart::constraint::ConstraintSolver::checkAndAddConstraint ( const ConstraintBasePtr & constraint )

protected

Add constraint if the constraint is not contained in this solver.

◆ checkAndAddSkeleton()

bool dart::constraint::ConstraintSolver::checkAndAddSkeleton ( const dynamics::SkeletonPtr & skeleton )

protected

Add skeleton if the constraint is not contained in this solver.

◆ clearLastCollisionResult()

void dart::constraint::ConstraintSolver::clearLastCollisionResult ( )

Clears the last collision result.

◆ containConstraint()

bool dart::constraint::ConstraintSolver::containConstraint ( const ConstConstraintBasePtr & constraint ) const

protected

Check if the constraint is contained in this solver.

◆ containSkeleton()

bool dart::constraint::ConstraintSolver::containSkeleton ( const dynamics::ConstSkeletonPtr & skeleton ) const

protected

Checks if the skeleton is contained in this solver.

Deprecated:: Use hasSkeleton() instead.

◆ eachConstraint() [1/2]

template<typename Func >

void dart::constraint::ConstraintSolver::eachConstraint ( Func func )

Iterates all the constraints and invokes the callback function.

Template Parameters

Func	The callback function type. The function signature should be equivalent to `void(ConstraintBase)` or `bool(ConstraintBase)`. If you want to conditionally iterate, use `bool(ConstraintBase*)` and return false when to stop iterating.

Parameters

[in] func The callback function to be called for each ConstraintBase.

◆ eachConstraint() [2/2]

template<typename Func >

void dart::constraint::ConstraintSolver::eachConstraint ( Func func ) const

Iterates all the constraints and invokes the callback function.

Template Parameters

Func	The callback function type. The function signature should be equivalent to `void(const ConstraintBase)` or `bool(const ConstraintBase)`. If you want to conditionally iterate, use `bool(const ConstraintBase*)` and return false when to stop iterating.

Parameters

[in] func The callback function to be called for each ConstraintBase.

◆ getCollisionDetector() [1/2]

collision::CollisionDetectorPtr dart::constraint::ConstraintSolver::getCollisionDetector ( )

Get collision detector.

◆ getCollisionDetector() [2/2]

collision::ConstCollisionDetectorPtr dart::constraint::ConstraintSolver::getCollisionDetector ( ) const

Get (const) collision detector.

◆ getCollisionGroup() [1/2]

collision::CollisionGroupPtr dart::constraint::ConstraintSolver::getCollisionGroup ( )

Return collision group of collision objects that are added to this ConstraintSolver.

◆ getCollisionGroup() [2/2]

collision::ConstCollisionGroupPtr dart::constraint::ConstraintSolver::getCollisionGroup ( ) const

Return (const) collision group of collision objects that are added to this ConstraintSolver.

◆ getCollisionOption() [1/2]

collision::CollisionOption & dart::constraint::ConstraintSolver::getCollisionOption ( )

Returns collision option that is used for collision checkings in this ConstraintSolver to generate contact constraints.

◆ getCollisionOption() [2/2]

const collision::CollisionOption & dart::constraint::ConstraintSolver::getCollisionOption ( ) const

Returns collision option that is used for collision checkings in this ConstraintSolver to generate contact constraints.

◆ getConstraint() [1/2]

ConstraintBasePtr dart::constraint::ConstraintSolver::getConstraint ( std::size_t index )

Returns a constraint by index.

◆ getConstraint() [2/2]

ConstConstraintBasePtr dart::constraint::ConstraintSolver::getConstraint ( std::size_t index ) const

Returns a constraint by index.

◆ getConstraints() [1/2]

std::vector< ConstraintBasePtr > dart::constraint::ConstraintSolver::getConstraints ( )

Returns all the constraints added to this ConstraintSolver.

Deprecated:: Use eachConstraint() instead

◆ getConstraints() [2/2]

std::vector< ConstConstraintBasePtr > dart::constraint::ConstraintSolver::getConstraints ( ) const

Returns all the constraints added to this ConstraintSolver.

Deprecated:: Use eachConstraint() instead

◆ getLastCollisionResult() [1/2]

collision::CollisionResult & dart::constraint::ConstraintSolver::getLastCollisionResult ( )

Return the last collision checking result.

◆ getLastCollisionResult() [2/2]

const collision::CollisionResult & dart::constraint::ConstraintSolver::getLastCollisionResult ( ) const

Return the last collision checking result.

◆ getLastContactSurfaceHandler()

ContactSurfaceHandlerPtr dart::constraint::ConstraintSolver::getLastContactSurfaceHandler ( ) const

Get the handler used for computing contact surface parameters based on the contact properties of the two colliding bodies.

◆ getLCPSolver()

LCPSolver * dart::constraint::ConstraintSolver::getLCPSolver ( ) const

Get LCP solver.

◆ getNumConstraints()

std::size_t dart::constraint::ConstraintSolver::getNumConstraints ( ) const

Returns the number of constraints that was manually added to this ConstraintSolver.

◆ getSkeletons()

const std::vector< SkeletonPtr > & dart::constraint::ConstraintSolver::getSkeletons ( ) const

Returns all the skeletons added to this ConstraintSolver.

◆ getTimeStep()

double dart::constraint::ConstraintSolver::getTimeStep ( ) const

Get time step.

◆ hasSkeleton()

bool dart::constraint::ConstraintSolver::hasSkeleton ( const dynamics::ConstSkeletonPtr & skeleton ) const

protected

Checks if the skeleton is contained in this solver.

◆ isSoftContact()

bool dart::constraint::ConstraintSolver::isSoftContact ( const collision::Contact & contact ) const

protected

Return true if at least one of colliding body is soft body.

◆ removeAllConstraints()

void dart::constraint::ConstraintSolver::removeAllConstraints ( )

Remove all constraints.

◆ removeAllSkeletons()

void dart::constraint::ConstraintSolver::removeAllSkeletons ( )

Remove all skeletons in this constraint solver.

◆ removeConstraint()

void dart::constraint::ConstraintSolver::removeConstraint ( const ConstraintBasePtr & constraint )

Remove a constraint.

◆ removeContactSurfaceHandler()

bool dart::constraint::ConstraintSolver::removeContactSurfaceHandler ( const ContactSurfaceHandlerPtr & handler )

Remove the given contact surface handler.

If it is not the last in the chain of handlers, the neighbor handlers are automatically connected when the given handler is removed. This function returns true when the given handler was found. It returns false when the handler is not found. The search procedure utilizes pointer equality (i.e. the shared pointers have to point to the same address to be treated equal). Take special care to make sure at least one handler is always available.

◆ removeSkeleton()

void dart::constraint::ConstraintSolver::removeSkeleton ( const dynamics::SkeletonPtr & skeleton )

Remove single skeleton.

◆ removeSkeletons()

void dart::constraint::ConstraintSolver::removeSkeletons ( const std::vector< dynamics::SkeletonPtr > & skeletons )

Remove multiple skeletons.

◆ setCollisionDetector() [1/2]

void dart::constraint::ConstraintSolver::setCollisionDetector ( collision::CollisionDetector * collisionDetector )

Set collision detector.

This function acquires ownership of the CollisionDetector passed as an argument. This method is deprecated in favor of the overload that accepts a std::shared_ptr.

◆ setCollisionDetector() [2/2]

void dart::constraint::ConstraintSolver::setCollisionDetector ( const std::shared_ptr< collision::CollisionDetector > & collisionDetector )

Set collision detector.

◆ setFromOtherConstraintSolver()

void dart::constraint::ConstraintSolver::setFromOtherConstraintSolver ( const ConstraintSolver & other )

virtual

Sets this constraint solver using other constraint solver.

All the properties and registered skeletons and constraints will be copied over.

◆ setLCPSolver()

void dart::constraint::ConstraintSolver::setLCPSolver ( std::unique_ptr< LCPSolver > lcpSolver )

Set LCP solver.

◆ setTimeStep()

void dart::constraint::ConstraintSolver::setTimeStep ( double _timeStep )

virtual

Set time step.

◆ solve()

void dart::constraint::ConstraintSolver::solve ( )

Solve constraint impulses and apply them to the skeletons.

◆ solveConstrainedGroup()

virtual void dart::constraint::ConstraintSolver::solveConstrainedGroup ( ConstrainedGroup & group )

protectedpure virtual

Implemented in dart::constraint::BoxedLcpConstraintSolver.

◆ solveConstrainedGroups()

void dart::constraint::ConstraintSolver::solveConstrainedGroups ( )

protected

Solve constrained groups.

◆ updateConstraints()

void dart::constraint::ConstraintSolver::updateConstraints ( )

protected

Update constraints.

Member Data Documentation

◆ mActiveConstraints

std::vector<ConstraintBasePtr> dart::constraint::ConstraintSolver::mActiveConstraints

protected

Active constraints.

◆ mCollisionDetector

collision::CollisionDetectorPtr dart::constraint::ConstraintSolver::mCollisionDetector

protected

Collision detector.

◆ mCollisionGroup

collision::CollisionGroupPtr dart::constraint::ConstraintSolver::mCollisionGroup

protected

Collision group.

◆ mCollisionOption

collision::CollisionOption dart::constraint::ConstraintSolver::mCollisionOption

protected

Collision detection option.

◆ mCollisionResult

collision::CollisionResult dart::constraint::ConstraintSolver::mCollisionResult

protected

Last collision checking result.

◆ mConstrainedGroups

std::vector<ConstrainedGroup> dart::constraint::ConstraintSolver::mConstrainedGroups

protected

Constraint group list.

◆ mContactConstraints

std::vector<ContactConstraintPtr> dart::constraint::ConstraintSolver::mContactConstraints

protected

Contact constraints those are automatically created.

◆ mContactSurfaceHandler

ContactSurfaceHandlerPtr dart::constraint::ConstraintSolver::mContactSurfaceHandler

protected

Factory for ContactSurfaceParams for each contact.

◆ mJointConstraints

std::vector<JointConstraintPtr> dart::constraint::ConstraintSolver::mJointConstraints

protected

Joint limit constraints those are automatically created.

◆ mJointCoulombFrictionConstraints

std::vector<JointCoulombFrictionConstraintPtr> dart::constraint::ConstraintSolver::mJointCoulombFrictionConstraints

protected

Joint Coulomb friction constraints those are automatically created.

◆ mManualConstraints

std::vector<ConstraintBasePtr> dart::constraint::ConstraintSolver::mManualConstraints

protected

Constraints that manually added.

◆ mMimicMotorConstraints

std::vector<MimicMotorConstraintPtr> dart::constraint::ConstraintSolver::mMimicMotorConstraints

protected

Mimic motor constraints those are automatically created.

◆ mSkeletons

std::vector<dynamics::SkeletonPtr> dart::constraint::ConstraintSolver::mSkeletons

protected

Skeleton list.

◆ mSoftContactConstraints

std::vector<SoftContactConstraintPtr> dart::constraint::ConstraintSolver::mSoftContactConstraints

protected

Soft contact constraints those are automatically created.

◆ mTimeStep

double dart::constraint::ConstraintSolver::mTimeStep

protected

Time step.

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ CollisionDetector

Constructor & Destructor Documentation

◆ ConstraintSolver() [1/3]

◆ ConstraintSolver() [2/3]

◆ ConstraintSolver() [3/3]

◆ ~ConstraintSolver()

Member Function Documentation

◆ addConstraint()

◆ addContactSurfaceHandler()

◆ addSkeleton()

◆ addSkeletons()

◆ buildConstrainedGroups()

◆ checkAndAddConstraint()

◆ checkAndAddSkeleton()

◆ clearLastCollisionResult()

◆ containConstraint()

◆ containSkeleton()

◆ eachConstraint() [1/2]

◆ eachConstraint() [2/2]

◆ getCollisionDetector() [1/2]

◆ getCollisionDetector() [2/2]

◆ getCollisionGroup() [1/2]

◆ getCollisionGroup() [2/2]

◆ getCollisionOption() [1/2]

◆ getCollisionOption() [2/2]

◆ getConstraint() [1/2]

◆ getConstraint() [2/2]

◆ getConstraints() [1/2]

◆ getConstraints() [2/2]

◆ getLastCollisionResult() [1/2]

◆ getLastCollisionResult() [2/2]

◆ getLastContactSurfaceHandler()

◆ getLCPSolver()

◆ getNumConstraints()

◆ getSkeletons()

◆ getTimeStep()

◆ hasSkeleton()

◆ isSoftContact()

◆ removeAllConstraints()

◆ removeAllSkeletons()

◆ removeConstraint()

◆ removeContactSurfaceHandler()

◆ removeSkeleton()

◆ removeSkeletons()

◆ setCollisionDetector() [1/2]

◆ setCollisionDetector() [2/2]

◆ setFromOtherConstraintSolver()

◆ setLCPSolver()

◆ setTimeStep()

◆ solve()

◆ solveConstrainedGroup()

◆ solveConstrainedGroups()

◆ updateConstraints()

Member Data Documentation

◆ mActiveConstraints

◆ mCollisionDetector

◆ mCollisionGroup

◆ mCollisionOption

◆ mCollisionResult

◆ mConstrainedGroups

◆ mContactConstraints

◆ mContactSurfaceHandler

◆ mJointConstraints

◆ mJointCoulombFrictionConstraints

◆ mManualConstraints

◆ mMimicMotorConstraints

◆ mSkeletons

◆ mSoftContactConstraints

◆ mTimeStep