#include "dart/constraint/ContactConstraint.hpp"
#include <iostream>
#include "dart/collision/CollisionObject.hpp"
#include "dart/common/Console.hpp"
#include "dart/dynamics/BodyNode.hpp"
#include "dart/dynamics/Skeleton.hpp"
#include "dart/external/odelcpsolver/lcp.h"
#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

Macro Definition Documentation

◆ DART_CFM

#define DART_CFM 1e-5

◆ DART_EPSILON

#define DART_EPSILON 1e-6

◆ DART_ERP

#define DART_ERP 0.01

◆ DART_ERROR_ALLOWANCE

#define DART_ERROR_ALLOWANCE 0.0

◆ DART_MAX_ERV

#define DART_MAX_ERV 1e-3